Rotor sequence recovery method of magnetic drive conveying system and related equipment

Abstract

According to the rotor sequence recovery method of the magnetic drive conveying system and the related equipment, the magnetic drive conveying system comprises a magnetic levitation conveying track and a plurality of rotors, and the method comprises the steps that firstly, system backup numbers of the rotors running on the magnetic levitation conveying track at the backup moment are obtained; then, the system real-time serial number of the rotor on the magnetic levitation conveying track at the recovery moment is obtained, and the system real-time serial number is obtained based on the position sequence of the rotor on the magnetic levitation conveying track; and finally, based on the difference relationship between the system real-time serial number and the system backup serial number, carrying out recovery adjustment on the system real-time serial number, and adjusting the position sequence of the mover on the magnetic suspension conveying track according to the adjusted system real-time serial number, thereby more accurately recovering the position sequence of the mover before and after power failure.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a method for sequentially restoring a mover of a magnetic drive conveying system and related equipment. Background Art

[0002] In order to prevent the mover from being disturbed during operation in the magnetic drive conveying system, usually no electronic storage device is provided on the mover, and only the control device in the magnetic drive conveying system controls the operation of the mover according to the system number corresponding to the operation sequence in real time based on the operation status of the mover obtained by the acquisition device. However, due to occasional unavoidable power outages in the magnetic drive conveying system, the mover will continue to run in the original direction due to inertia after the power outage, and human accidental contact during the power outage, resulting in a small deviation in the operation sequence of the mover after power is restored and at the time of power outage. In addition, since there is no electronic device on the mover, that is, the mover has no fixed correspondence with the system number, it is impossible to directly restore the mover through the original system number.

[0003] In the related art, when the magnetic drive conveying system is powered off and restored, the position of the moving element is usually restored manually after the power outage. However, this manual restoration method relies on the worker's own memory, which makes it easy for the restore of the mover to be inaccurate due to inaccurate memory. Summary of the invention

[0004] The embodiments of the present application provide a method and related equipment for sequentially restoring movers of a magnetically driven conveying system, which can improve the accuracy of sequentially restoring mover workstations of the magnetically driven conveying system after a power outage.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a method for sequentially restoring a mover of a magnetic drive conveying system, wherein the magnetic drive conveying system comprises a magnetic levitation conveying track and a plurality of movers, and the method comprises:

[0006] Acquire the system backup number when the mover is running on the magnetic levitation conveying track at the backup time;

[0007] Acquire a system real-time number of the mover on the magnetic levitation conveying track at the recovery time, wherein the system real-time number is obtained based on the position sequence of the mover on the magnetic levitation conveying track;

[0008] The system real-time number is restored and adjusted based on the difference relationship between the system real-time number and the system backup number, and the position sequence of the movers on the magnetic levitation conveying track is adjusted according to the adjusted system real-time number.

[0009] In some embodiments, the magnetic levitation transport track includes a plurality of track modules, and the restoring and adjusting the system real-time number based on the difference between the system real-time number and the system backup number includes:

[0010] Obtain the number of backup module movers of the movers running on each track module at the backup time;

[0011] Obtain the real-time module mover quantity of the movers existing on each track module at the recovery time;

[0012] Based on the numerical relationship between the number of movers in the real-time module and the number of movers in the backup module, the target adjustment module is selected from the multiple track modules in turn, and the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted based on the difference relationship between the system real-time number and the system backup number, until the system real-time number of the movers on all the target adjustment modules is restored and adjusted.

[0013] In some embodiments, the step of sequentially selecting a target adjustment module from the plurality of track modules based on the numerical relationship between the number of movers of the real-time module and the number of movers of the backup module includes:

[0014] Based on the difference between the number of real-time module movers and the number of backup module movers of each track module, a module quantity value is obtained, and based on the absolute value of the module quantity value, a module selection value is obtained;

[0015] The target adjustment modules are selected in sequence according to the module selection values ​​from small to large.

[0016] In some embodiments, the restoring and adjusting the system real-time number corresponding to the mover in the target adjustment module based on the difference relationship between the system real-time number and the system backup number includes:

[0017] Based on the module quantity value of the target adjustment module, multiple inspection values ​​are calculated according to the square relationship of the difference between the system real-time numbers of all the movers in the target adjustment module and all the system backup numbers corresponding to the target adjustment module;

[0018] Based on the size relationship between the multiple inspection values, the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted.

[0019] In some embodiments, when the module quantity value of the target adjustment module is zero, the test value includes a first test value, a second test value, and a third test value, and the multiple test values ​​are calculated based on the square relationship between the system real-time numbers of all the movers in the target adjustment module and the difference between all the system backup numbers corresponding to the target adjustment module, including:

[0020] Starting from the first system real-time number, accumulating the square of the difference between each system real-time number and the system backup number of the corresponding order to obtain the first test value;

[0021] Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding system backup number minus one is accumulated to obtain a first intermediate check value, and the first intermediate check value, the square of the first system real-time number and the square of the last system backup number are accumulated to obtain the second check value;

[0022] Starting from the first system real-time number, accumulate the square of the difference between each system real-time number and the corresponding system backup number plus one to obtain a second intermediate check value, and accumulate the second intermediate check value, the square of the last system real-time number and the square of the first system backup number to obtain the third check value.

[0023] In some embodiments, the recovery and adjustment of the system real-time number corresponding to the mover in the target adjustment module based on the size relationship between the plurality of inspection values ​​includes:

[0024] When the first inspection value is the smallest among the plurality of inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module;

[0025] When the second inspection value is the smallest among the plurality of inspection values, starting from the second mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module;

[0026] When the third inspection value is the smallest among the plurality of inspection values, starting from the previous mover of the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0027] In some embodiments, when the module quantity value of the target adjustment module is one, the test value includes a fourth test value and a fifth test value, and the plurality of test values ​​are calculated based on the square relationship between the system real-time numbers of all the movers in the target adjustment module and the difference between all the system backup numbers corresponding to the target adjustment module, including:

[0028] Starting from the first system real-time number, the square of the difference between each system real-time number and the system backup number in the corresponding order and the square of the last system real-time number are accumulated to obtain the fourth test value;

[0029] Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding system backup number minus one is accumulated, as well as the square of the first system real-time number to obtain the fifth check value.

[0030] In some embodiments, the recovery and adjustment of the system real-time number corresponding to the mover in the target adjustment module based on the size relationship between the plurality of inspection values ​​includes:

[0031] When the fourth inspection value is the smallest among the plurality of inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module;

[0032] When the fifth inspection value is the smallest among the plurality of inspection values, starting from the second mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0033] In some embodiments, when the module quantity value of the target adjustment module is negative one, the test value includes a sixth test value and a seventh test value, and the plurality of test values ​​are calculated based on the square relationship between the difference between the system real-time numbers of all the movers in the target adjustment module and all the system backup numbers corresponding to the target adjustment module, including:

[0034] Starting from the first system real-time number, accumulating the square of the difference between each system real-time number and the system backup number in the corresponding order, and the square of the last system backup number, to obtain the sixth test value;

[0035] Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding system backup number minus one is accumulated, as well as the square of the first system backup number, to obtain the seventh check value.

[0036] In some embodiments, the recovery and adjustment of the system real-time number corresponding to the mover in the target adjustment module based on the size relationship between the plurality of inspection values ​​includes:

[0037] When the sixth inspection value is the smallest among the plurality of inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module;

[0038] When the seventh inspection value is the smallest among the plurality of inspection values, starting from the previous mover of the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0039] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a mover control device of a magnetic drive conveying system, wherein the magnetic drive conveying system comprises a magnetic levitation conveying track and a plurality of movers, and the device comprises:

[0040] A backup number acquisition module, used to acquire the system backup number when the mover is running on the magnetic levitation conveying track at the backup time;

[0041] A real-time number acquisition module, used to acquire the system real-time number of the mover on the magnetic levitation conveying track at the recovery time, wherein the system real-time number is obtained based on the position sequence of the mover on the magnetic levitation conveying track;

[0042] The sequence adjustment module is used to restore and adjust the system real-time number based on the difference relationship between the system real-time number and the system backup number, and adjust the position sequence of the mover on the magnetic levitation conveying track according to the adjusted system real-time number.

[0043] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the method for sequential recovery of the movers of the magnetic drive conveying system as described in the first aspect.

[0044] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the method for sequentially restoring the movers of the magnetically driven conveying system described in the first aspect is implemented.

[0045] The embodiment of the present application proposes a method for restoring the sequence of movers of a magnetic drive conveying system and related equipment. The magnetic drive conveying system includes a magnetic levitation conveying track and multiple movers. The method includes: first, obtaining the system backup number when the mover is running on the magnetic levitation conveying track at the backup time; then, obtaining the system real-time number of the mover on the magnetic levitation conveying track at the recovery time, and the system real-time number is obtained based on the position sequence of the mover on the magnetic levitation conveying track; finally, based on the difference relationship between the system real-time number and the system backup number, the system real-time number is restored and adjusted, and the position sequence of the mover on the magnetic levitation conveying track is adjusted according to the adjusted system real-time number. The embodiment of the present application utilizes the system backup number of the magnetic drive conveying system that periodically backs up the position sequence of the movers before power failure, and the difference relationship between the system real-time number that numbers the position sequence of the movers at the recovery time, to determine the dislocation of the mover after power failure, and automatically restore and adjust the current system real-time number of the mover, so as to more accurately restore the position sequence of the mover before and after power failure.

[0046] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the structure of a magnetic levitation conveyor track provided in one embodiment of the present application.

[0048] Figure 2 This is a schematic diagram of a mover misalignment of a magnetic drive conveying system after power failure provided by another embodiment of the present application.

[0049] Figure 3 It is a flow chart of a method for sequentially restoring movers of a magnetic drive conveying system that is powered off, provided by another embodiment of the present application.

[0050] Figure 4 yes Figure 3 Flow chart of step 303 in FIG.

[0051] Figure 5 This is a schematic diagram of the number of movers of each module on a magnetic levitation conveyor track provided by another embodiment of the present application.

[0052] Figure 6 yes Figure 4 Flow chart of step 403 in FIG.

[0053] Figure 7 yes Figure 4 Another flow chart of step 403 in FIG.

[0054] Figure 8This is a calculation flow chart of the first type of first inspection value provided by another embodiment of the present application.

[0055] Fig. 9 This is a flowchart of the first type of number recovery adjustment provided by another embodiment of the present application.

[0056] Fig.10 This is a schematic diagram of restoring the mover numbering after power failure of the first magnetic drive conveying system provided by another embodiment of the present application.

[0057] Fig.11 This is a calculation flow chart of the second first inspection value provided by another embodiment of the present application.

[0058] Fig.12 This is a flowchart of the second type of number recovery adjustment provided by another embodiment of the present application.

[0059] Fig.13 This is a schematic diagram of restoring the mover numbering after power failure of a second magnetic drive conveying system provided by another embodiment of the present application.

[0060] Fig.14 This is a calculation flow chart of the third first inspection value provided by another embodiment of the present application.

[0061] Fig.15 This is a flowchart of a third type of number recovery adjustment provided by another embodiment of the present application.

[0062] Fig.16 This is a schematic diagram of restoring the mover numbering after power failure of a third magnetic drive conveying system provided by another embodiment of the present application.

[0063] Fig.17 It is a structural schematic diagram of a mover sequence recovery device of a magnetic drive conveying system provided in one embodiment of the present application.

[0064] Fig.18 It is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0068] In order to prevent the mover from being disturbed during operation in the magnetic drive conveying system, usually no electronic storage device is provided on the mover, and only the control device in the magnetic drive conveying system controls the operation of the mover according to the system number corresponding to the operation sequence in real time based on the operation status of the mover obtained by the acquisition device. However, due to occasional unavoidable power outages in the magnetic drive conveying system, the mover will continue to run in the original direction due to inertia after the power outage, and human accidental contact during the power outage, resulting in a small deviation in the operation sequence of the mover after power is restored and at the time of power outage. In addition, since there is no electronic device on the mover, that is, the mover has no fixed correspondence with the system number, it is impossible to directly restore the mover through the original system number.

[0069] In the related art, when the magnetic drive conveying system is powered off and restored, the position of the moving element is usually restored manually after the power outage. However, this manual restoration method relies on the worker's own memory, which makes it easy for the restore of the mover to be inaccurate due to inaccurate memory.

[0070] In order to improve the accuracy of restoring the mover position sequence of the magnetic drive conveying system after a power outage, the embodiment of the present application utilizes the difference between the system backup number of the magnetic drive conveying system that periodically backs up the mover position sequence before power outage, and the system real-time number that numbers the mover position sequence at the time of recovery, to determine the misalignment of the mover after power outage, and automatically restore and adjust the current system real-time number of the mover, thereby more accurately restoring the position sequence of the mover before and after power outage.

[0071] In order to better illustrate the mover sequence recovery method of the magnetic drive conveying system provided in the embodiment of the present application, this embodiment first describes the magnetic drive conveying system using the mover control method. Figure 1 As shown in FIG. 1 , it is a schematic diagram of the structure of a magnetic drive conveying system provided in an embodiment of the present application. Figure 1 As shown, the magnetic drive conveying system includes a magnetic levitation conveying track and a plurality of movers running on the magnetic levitation conveying track. In addition, a plurality of processing equipment is arranged next to the magnetic levitation conveying track, and the processing equipment processes the workpieces carried by the movers passing through the fixed position on the magnetic levitation conveying track. Among them, the magnetic levitation conveying track is composed of a plurality of track modules, and the movers run on the track modules, such as two movers running on the track module 1, three movers running on the track module 2, and two movers running on the track module 3.

[0072] Since traditional electronic devices will generate magnetic fields, electromagnetic waves, and currents when in operation, if the mover carries electronic devices and runs on the maglev conveyor track, it will interfere with the magnetic field generated on the maglev conveyor track, resulting in related safety hazards and control errors. For example, electronic devices may generate a certain magnetic field during operation, which may interfere with the magnetic drive conveyor line, causing the trolley to fail to operate normally; and, electronic devices may generate electromagnetic waves during operation, which may interfere with the control system, causing the control system to fail to accurately control the trolley; in addition, electronic devices may generate current during operation, which may interfere with the trolley's power supply system, causing the power supply system to fail to stably provide power to the trolley.

[0073] Therefore, in this embodiment, in order to prevent the mover from being subjected to additional interference during operation, in the magnetic drive conveying system, no relevant electronic equipment will be provided on the mover, so the mover itself cannot store relevant data information in real time.

[0074] Based on this, in the magnetic drive conveying system, the relevant control data information of the mover is stored and backed up in real time in the controller connected to the maglev conveying track. The data information includes the system numbers of multiple movers when they are running on the maglev conveying track. These system numbers are sorted in sequence based on the order in which the multiple movers are running on the maglev conveying track, and these system numbers will be initialized after each restart of the magnetic drive conveying system, that is, the relationship between the system number and the trolley is not always fixed and matched, but is only associated in each conveying task process.

[0075] When an unexpected event such as power failure occurs in the magnetic drive conveying system, the controller in the magnetic drive conveying system is shut down, but the movers on the maglev conveying track are still sliding forward due to inertia, causing the position sequence of multiple movers on the maglev conveying track to be disordered after the power failure. Therefore, after the power is restored, if the system is coded according to the position of the movers at the time of restoration, the system code will not match the same mover as the one before the power failure. Figure 2 , is a schematic diagram of a mover misalignment after power failure in a magnetic drive conveying system provided in an embodiment of the present application. Figure 2 As shown in Figure 1 Schematic diagram of the magnetic drive conveying system after a power outage occurs, the mover is moved due to its own running inertia, or the mover is moved manually at the time of the power outage. Figure 2 In the Figure 1The positions of multiple movers in the track module have changed, and the number of movers on the track module may also have changed. Therefore, when processing these movers according to the original process flow before the power failure, there is a risk of processing errors. Therefore, it is necessary to restore the position sequence of the movers at the time of recovery.

[0076] Understandably, Figure 1 and Figure 2 The magnetic drive conveying system shown is for illustration only. The magnetic levitation conveying track in the actual magnetic drive conveying system is usually a plane (on which multiple movers can run side by side), and is not a one-way track, that is, it can be a complex magnetic levitation conveying track with forks and confluences. The specific settings can be made according to the actual situation, which will not affect the implementation of the embodiments of the present application.

[0077] Based on the above-mentioned magnetic drive conveying system, the following will specifically describe the mover sequence recovery method of the magnetic drive conveying system in the embodiment of the present application. Figure 3 , which is an optional flow chart of a method for restoring the mover sequence of a magnetic drive conveying system provided in an embodiment of the present application, Figure 3 The method in the embodiment may include but is not limited to steps 301 to 303. Figure 3 The order of step 301 to step 303 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs. The mover sequence recovery method of the magnetic drive conveying system provided in the embodiment of the present application can be applied to a controller connected to the maglev conveying track, and the controller can be an intelligent terminal, a server, a computer, etc.

[0078] Step 301: Obtain the system backup number when the mover is running on the maglev conveyor track at the backup time.

[0079] Step 301 is described in detail below.

[0080] In some embodiments, when the magnetically driven conveying system is operating normally, the operating data of multiple movers (including data related to the work station sequence and operating speed) will be planned in advance, and then the multiple movers will be numbered according to the work station sequence of the movers, and the relevant data of the movers will be backed up after a certain time period, including the system backup number (i.e., the system number at the backup time), the backup mover position, etc. when the multiple movers are running on the magnetic levitation conveying track.

[0081] At the moment of recovery after the magnetic drive conveying system is powered off, in order to check and restore the station sequence of the mover, it is necessary to first obtain the system backup number when the mover was running on the maglev conveying track at the most recent backup moment.

[0082] Step 302: Obtain the system real-time number of the mover on the magnetic levitation conveyor track at the recovery time.

[0083] Step 302 is described in detail below.

[0084] In some embodiments, in addition to obtaining the system backup number, it is also necessary to obtain the system real-time number generated by the mover on the magnetic levitation conveyor track at the recovery time according to the current position sequence of the mover, so as to facilitate the subsequent use of the system backup number and the system real-time number to check and restore the work station sequence of the mover.

[0085] Step 303: Restoring and adjusting the system real-time number based on the difference between the system real-time number and the system backup number, and adjusting the position sequence of the movers on the maglev conveying track according to the adjusted system real-time number.

[0086] Step 303 is described in detail below.

[0087] In some embodiments, after obtaining the system real-time number and the system backup number, the system real-time numbers corresponding to the current movers will be restored and adjusted one by one based on the difference between the two, and the position sequence of the movers on the magnetic levitation conveyor track will be adjusted according to the adjusted system real-time numbers, so that the position sequence of the movers after restoration is consistent with that before power failure, thereby ensuring the reliability of processing these movers according to the original process flow before power failure.

[0088] Reference Figure 4 , based on the difference between the system real-time number and the system backup number, the system real-time number is restored and adjusted, including the following steps 401 to 403.

[0089] Step 401: Obtain the number of backup module movers running on each track module at the backup time.

[0090] Step 402: Obtain the real-time module mover quantity of movers existing on each track module at the time of recovery.

[0091] Step 403: Based on the numerical relationship between the number of movers in the real-time module and the number of movers in the backup module, select the target adjustment module from multiple track modules in turn, and restore and adjust the system real-time number corresponding to the mover in the target adjustment module based on the difference relationship between the system real-time number and the system backup number, until the system real-time number of the movers on all target adjustment modules is restored and adjusted.

[0092] Steps 401 to 403 are described in detail below.

[0093] In some embodiments, in order to further accurately restore the system real-time number of the mover, the system real-time number of the mover on each track module will be restored one by one until the system real-time number of the salary on all track modules is restored. In order to select the appropriate recovery order of the track modules, it is necessary to obtain the number of backup module movers of the movers running on each track module at the backup time, and to obtain the number of real-time module movers of the movers existing on each track module at the recovery time. It can be understood that the number of movers on each track module can be obtained by matching the position information of the mover with the module position information of the track module.

[0094] Reference Figure 5 , is a schematic diagram of the number of movers of each module on a magnetic levitation conveyor track provided by an embodiment of the present application. Figure 5 As shown in Figure 1 and Figure 2 The system numbers corresponding to the movers on the maglev conveying track before and after the power failure and the number of movers corresponding to each track module are shown. For example, before the magnetic drive conveying system is powered off, there are two movers on the track module 1, whose system backup numbers are 1 and 2 respectively, and the number of backup module movers of the track module 1 is 2; and after the magnetic drive conveying system is powered off and restored, there is one mover on the track module 1, whose system real-time number is 1, and the number of real-time module movers of the track module 1 is 1. The other track modules are similar.

[0095] After determining the number of backup module movers and the number of real-time module movers of each track module, based on the numerical relationship between the number of real-time module movers and the number of backup module movers of each track module, target adjustment modules are selected from multiple track modules in turn to check and restore the system real-time number of movers, until the system real-time number of movers on all target adjustment modules is restored and adjusted. How to select a target adjustment module will be further described below.

[0096] Reference Figure 6 , based on the numerical relationship between the number of real-time module movers and the number of backup module movers, the target adjustment module is selected from multiple track modules in turn, including the following steps 601 to 602.

[0097] Step 601: Based on the difference between the number of real-time module movers and the number of backup module movers of each track module, a module quantity value is obtained, and based on the absolute value of the module quantity value, a module selection value is obtained.

[0098] Step 602: Select target adjustment modules in order according to the module selection values ​​from small to large.

[0099] Steps 601 to 602 are described in detail below.

[0100] In some embodiments, the number of real-time module movers of each track module is subtracted from the number of backup module movers to obtain the module number value c of each track module. i , where i is the serial number of the track module.

[0101] Next, based on the module quantity value c i The absolute value of the module selection value | c i |. Then select the value according to the module|c i |In order from small to large, select the track modules for checking and restoring the system real-time numbering of the mover as the target adjustment modules.

[0102] It can be understood that when there are multiple track modules with consistent module selection values, the track module closest to the previous target adjustment module will be preferentially selected as the new target adjustment module, thereby improving the continuity of the movers on the continuous track modules and improving the accuracy and reliability of the mover recovery.

[0103] Through the above steps 601 to 602, the module selection value obtained by the difference between the number of real-time module movers of the track module and the number of backup module movers is used to adjust the judgment parameters of the module selection, so as to effectively give priority to the track modules with small changes in the number of movers to check and restore the system real-time number of movers, so as to give priority to the recovery of the low difficulty, and use the restored data to gradually restore the track modules with high difficulty, thereby effectively improving the accuracy and reliability of the system real-time number recovery of the movers.

[0104] After determining the target adjustment module for checking and restoring the system real-time number of the mover each time, the system real-time number of the mover will be checked and adjusted based on the numerical relationship between the system real-time number and the system backup number of the mover in the target adjustment module, which will be further described in detail below.

[0105] Reference Figure 7 , based on the difference relationship between the system real-time number and the system backup number, the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted, including the following steps 701 to 702.

[0106] Step 701: Based on the module quantity value of the target adjustment module, multiple inspection values ​​are calculated according to the square relationship of the difference between the system real-time numbers of all movers in the target adjustment module and all system backup numbers corresponding to the target adjustment module.

[0107] Step 702: Based on the size relationship between the multiple inspection values, restore and adjust the system real-time number corresponding to the mover in the target adjustment module.

[0108] Steps 701 to 702 are described in detail below.

[0109] In some embodiments, after determining the target adjustment module, based on the module quantity values ​​of different target adjustment modules (such as zero, positive one or negative one), multiple test values ​​are calculated according to the square relationship between the system real-time numbers of all movers in the target adjustment module and all system backup numbers corresponding to the target adjustment module. It can be understood that different test values ​​are included according to different module quantity values, specifically including, when the module quantity value is zero, the test value includes the first test value, the second test value and the third test value, when the module quantity value is positive one, the test value includes the fourth test value and the fifth test value, and when the module quantity value is negative one, the test value includes the sixth test value and the sixth test value.

[0110] After obtaining multiple inspection values, the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted according to the size relationship between the inspection values. The details are described as follows.

[0111] Reference Figure 8 When the module quantity value of the target adjustment module is zero, multiple inspection values ​​are calculated according to the difference square relationship between the system real-time numbers of all movers in the target adjustment module and all system backup numbers corresponding to the target adjustment module, including the following steps 801 to 803.

[0112] Step 801: Starting from the first system real-time number, the square of the difference between each system real-time number and the system backup number of the corresponding sequence is accumulated to obtain a first test value.

[0113] Step 802: Starting from the second system real-time number, accumulate the square of the difference between each system real-time number and the corresponding system backup number minus one to obtain a first intermediate check value, and accumulate the first intermediate check value, the square of the first system real-time number, and the square of the last system backup number to obtain a second check value.

[0114] Step 803: Starting from the first system real-time number, accumulate the square of the difference between each system real-time number and the corresponding system backup number plus one to obtain a second intermediate check value, and accumulate the second intermediate check value, the square of the last system real-time number and the square of the first system backup number to obtain a third check value.

[0115] Steps 801 to 803 are described in detail below.

[0116] In some embodiments, when the module quantity value of the target adjustment module is zero, that is, the number of movers in the target adjustment module at the backup time and the target adjustment module at the recovery time is consistent, the corresponding test values ​​include a first test value tmp_val_1, a second test value tmp_val_2, and a third test value tmp_val_3. How to obtain them will be described below.

[0117] First, starting from the first system real-time number a1 in the target adjustment module, each system real-time number (which includes {a1,...,a n}) and the corresponding order of system backup numbers (which include {b1,...,b n}) to obtain the first test value tmp_val_1 as shown in the following formula (1).

[0118]

[0119] Wherein, n is the number of system real-time numbers in the target adjustment module. It can be understood that formula (1) is to obtain the sum of squares of the deviations between the two sequence states (including the system real-time number and the system backup number) of the mover in the alignment state as the first test value.

[0120] Next, starting from the second system real-time number a2, add up each system real-time number a j The system backup number b with the corresponding sequence minus one j-1 The square of the difference is used to obtain the first intermediate test value, and the square of the first intermediate test value and the first system real-time number is accumulated. and the square of the last system backup number The second test value is obtained as shown in the following formula (2).

[0121]

[0122] It can be understood that formula (2) is to obtain the minimum value of the interpolation square sum between two sequence states (including the system real-time number and the system backup number) when the sequence is shifted to the left by one position as the second test value.

[0123] And, starting from the first system real-time number a1, each system real-time number a is accumulated j The system backup number b with the corresponding sequence plus one j+1 The second intermediate test value is obtained by square of the difference, and the second intermediate test value and the square of the last system real-time number are accumulated. and the square of the first system backup number The third test value is obtained as shown in the following formula (3).

[0124]

[0125] It can be understood that formula (3) is to obtain the minimum value of the interpolation square sum between two sequence states (including the system real-time number and the system backup number) when the sequence is shifted to the right by one position as the third test value.

[0126] When the module quantity value of the target adjustment module is zero, after obtaining the first test value tmp_val_1, the second test value tmp_val_2 and the third test value tmp_val_3, the system real-time number corresponding to the mover in the target adjustment module will be restored and adjusted based on the size relationship between these three test values, as described in detail below.

[0127] Reference Fig. 9 Based on the size relationship between multiple inspection values, the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted, including the following steps 901 to 903.

[0128] Step 901: When the first inspection value is the smallest among multiple inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0129] Step 902: When the second inspection value is the smallest among the multiple inspection values, starting from the second mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0130] Step 903: When the third inspection value is the smallest among the multiple inspection values, starting from the previous mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0131] Steps 901 to 903 are described in detail below.

[0132] In some embodiments, when the module quantity value of the target adjustment module is zero, when the first test value tmp_val_1 is the smallest of multiple test values, it means that in the target adjustment module at the time of recovery, the distance between the system real-time number and the system backup number of the mover is short, indicating that the mover has been in an aligned state before and after power failure, that is, it means that there is no new or reduced mover on the left or right side of the target adjustment module. Therefore, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0133] Also, when the module quantity value of the target adjustment module is zero, when the second test value tmp_val_2 is the smallest of multiple test values, it means that the distance between the system real-time number and the system backup number of the actuator in the target adjustment module at the time of recovery is not the shortest, indicating that the actuator is not in an aligned state before and after power failure, and indicating that a new actuator is added to the left side of the target adjustment module and a new actuator is removed from the right side. Therefore, in this case, starting from the second actuator in the target adjustment module, the system real-time number of the actuator is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0134] Furthermore, when the module quantity value of the target adjustment module is zero, when the third test value tmp_val_3 is the smallest among multiple test values, it means that in the target adjustment module at the time of recovery, the distance between the system real-time number and the system backup number of the mover is not the shortest, indicating that the mover is not in an aligned state before and after power failure, and indicating that a mover is reduced on the left side of the target adjustment module and a mover is added on the right side. Therefore, in this case, starting from the previous mover of the target adjustment module (that is, the last mover of the previous track module of the target adjustment module), the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0135] Reference Fig.10 , is a schematic diagram of restoring the mover number after power failure of the first magnetic drive conveying system provided in the embodiment of the present application. Fig.10 As shown in , when the module quantity value of the target adjustment module is zero, that is, Fig.10 In the case where the number of movers of the track module 2 shown in the figure is consistent before and after power failure, the system real-time number of the mover is restored accordingly for the comparison of the three test values. For example, when the first test value is the smallest among multiple test values, the system backup number {3,4,5} in the target adjustment module is directly aligned and used in sequence as the recovery number of the mover (i.e., the new system real-time number); when the second test value is the smallest among multiple test values, the system backup number in the target adjustment module is used in sequence after being delayed by one mover (i.e., corresponding to {2,3,4} in the track module); when the third test value is the smallest among multiple test values, the system backup number in the target adjustment module is used in sequence as the recovery number of the mover after being advanced by one mover (i.e., corresponding to {3,4,5} in the track module).

[0136] Through the above steps 801 to 803, and steps 901 to 903, when the module quantity value of the target adjustment module is zero, the check values ​​obtained by the sum of the squares of the differences between the corresponding system real-time number and the system backup number in different situations of alignment, sequence shifting one position to the left, and sequence shifting one position to the right in the target adjustment module are compared, and the system real-time number of the mover in the target adjustment module is restored using the system backup number according to different comparison results, thereby improving the accuracy and reliability of the restore of the mover station sequence in the magnetic drive conveying system.

[0137] Reference Fig.11 When the module quantity value of the target adjustment module is one, multiple inspection values ​​are calculated according to the difference square relationship between the system real-time numbers of all movers in the target adjustment module and all system backup numbers corresponding to the target adjustment module, including the following steps 1101 to 1102.

[0138] Step 1101: Starting from the first system real-time number, the square of the difference between each system real-time number and the system backup number of the corresponding sequence and the square of the last system real-time number are accumulated to obtain a fourth test value.

[0139] Step 1102: Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding sequential system backup number minus one, and the square of the first system real-time number are accumulated to obtain a fifth test value.

[0140] Steps 1101 to 1102 are described in detail below.

[0141] In some embodiments, when the module quantity value of the target adjustment module is positive one, that is, the target adjustment module at the backup time has one less actuator than the target adjustment module at the recovery time, the corresponding test value includes a fourth test value tmp_val_4 and a fifth test value tmp_val_5. How to obtain the values ​​will be described below.

[0142] First, starting from the first system real-time number a1, accumulate each system real-time number a j System backup number b corresponding to the order j The square of the difference and the square of the last system real-time number The fourth test value tmp_val_4 is obtained as shown in the following formula (4).

[0143]

[0144] Wherein, n is the number of system real-time numbers in the target adjustment module. It can be understood that formula (4) is to obtain the sum of squares of the deviations between the two sequence states (including the system real-time number and the system backup number) of the mover in the alignment state as the fourth test value.

[0145] Next, starting from the second system real-time number a2, add up each system real-time number a j The system backup number b with the corresponding sequence minus one j-1 The square of the difference between The fifth test value is obtained as shown in the following formula (5).

[0146]

[0147] It can be understood that formula (2) is to obtain the minimum value of the interpolation square sum between two sequence states (including the system real-time number and the system backup number) when the sequence is shifted to the left by one position as the fifth test value.

[0148] When the module quantity value of the target adjustment module is positive one, after obtaining the fourth test value tmp_val_4 and the fifth test value tmp_val_5, the system real-time number corresponding to the mover in the target adjustment module will be restored and adjusted based on the size relationship between the two test values, as described in detail below.

[0149] Reference Fig.12 Based on the size relationship between multiple inspection values, the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted, including the following steps 1201 to 1202.

[0150] Step 1201: When the fourth inspection value is the smallest among the multiple inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0151] Step 1202: When the fifth inspection value is the smallest among the multiple inspection values, starting from the second mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0152] Steps 1201 to 1202 are described in detail below.

[0153] In some embodiments, when the module quantity value of the target adjustment module is positive one, when the fourth test value tmp_val_4 is the smallest of the multiple test values, it means that in the target adjustment module at the time of recovery, the distance between the system real-time number and the system backup number of the mover is short, indicating that the movers in the target adjustment module at the time of recovery have been in an aligned state before and after power failure, but there is an extra mover on the right. Therefore, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0154] Also, when the module quantity value of the target adjustment module is positive one, when the fifth test value tmp_val_5 is the smallest of the multiple test values, it means that the distance between the system real-time number and the system backup number of the actuator in the target adjustment module at the time of recovery is not the shortest, indicating that the actuator is not in an aligned state before and after power failure, indicating that at the time of recovery, a new actuator is added to the left side of the target adjustment module. Therefore, in this case, starting from the second actuator in the target adjustment module, the system real-time number of the actuator is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0155] Reference Fig.13 , is a schematic diagram of restoring the mover number after power failure of the second magnetic drive conveying system provided in the embodiment of the present application. Fig.13 As shown in , when the module quantity value of the target adjustment module is positive one, that is, Fig.13 In the case where the number of movers at the recovery time of the track module 3 shown in the figure is one more than that at the backup time, the system real-time number of the mover is restored accordingly for the comparison of the two test values. For example, when the fourth test value is the smallest among multiple test values, the system backup number {6,7} in the target adjustment module is directly aligned and used in sequence as the recovery number of the mover (that is, the new system real-time number {6,7,8}); when the fifth test value is the smallest among multiple test values, the system backup number in the target adjustment module is used in sequence after being delayed by one mover (that is, corresponding to {5,6,7} in the track module).

[0156] Through the above steps 1101 to 1103, and steps 1201 to 1202, when the number of movers at the recovery time is one more than that at the backup time, the check values ​​obtained by the sum of the squares of the differences between the corresponding system real-time number and the system backup number in different cases of alignment and sequence to the left in the target adjustment module are compared, and the system real-time number of the mover in the target adjustment module is restored using the system backup number according to different comparison results, thereby improving the accuracy and reliability of the restoration of the mover station sequence in the magnetic drive conveying system.

[0157] Reference Fig.14 When the module quantity value of the target adjustment module is negative one, multiple inspection values ​​are calculated based on the difference square relationship between the system real-time numbers of all movers in the target adjustment module and all system backup numbers corresponding to the target adjustment module, including the following steps 1401 to 1402.

[0158] Step 1401: Starting from the first system real-time number, the square of the difference between each system real-time number and the system backup number of the corresponding sequence and the square of the last system backup number are accumulated to obtain a sixth test value.

[0159] Step 1402: Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding sequential system backup number minus one, and the square of the first system backup number are accumulated to obtain a seventh test value.

[0160] Steps 1401 to 1402 are described in detail below.

[0161] In some embodiments, when the module quantity value of the target adjustment module is negative one, that is, the target adjustment module at the backup time has one more actuator than the target adjustment module at the recovery time, the corresponding test values ​​include the sixth test value tmp_val_6 and the sixth test value tmp_val_7. How to obtain them will be described below.

[0162] First, starting from the first system real-time number a1, accumulate each system real-time number a j System backup number b corresponding to the order j The square of the difference between the last system backup number and the square of the last system backup number The sixth test value tmp_val_6 is obtained as shown in the following formula (6).

[0163]

[0164] Wherein, n is the number of system real-time numbers in the target adjustment module. It can be understood that formula (4) is to obtain the sum of squares of the deviations between the two sequence states (including the system real-time number and the system backup number) of the mover in the alignment state as the sixth test value.

[0165] Next, starting from the second system real-time number a2, add up each system real-time number a j+1 The system backup number b with the corresponding sequence minus one j The square of the difference between The square of , the seventh test value tmp_val_7 is obtained as shown in the following formula (7).

[0166]

[0167] It can be understood that formula (2) is to obtain the minimum value of the interpolation square sum between two sequence states (including the system real-time number and the system backup number) when the sequence is shifted to the right by one position as the seventh test value.

[0168] When the module quantity value of the target adjustment module is negative one, after obtaining the sixth test value tmp_val_6 and the seventh test value tmp_val_7, the system real-time number corresponding to the mover in the target adjustment module will be restored and adjusted based on the size relationship between the two test values, as described in detail below.

[0169] Reference Fig.15 Based on the size relationship between multiple inspection values, the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted, including the following steps 1501 to 1502.

[0170] Step 1501: When the sixth inspection value is the smallest among the multiple inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0171] Step 1502: When the seventh inspection value is the smallest among the multiple inspection values, starting from the previous mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0172] Steps 1501 to 1502 are described in detail below.

[0173] In some embodiments, when the module quantity value of the target adjustment module is negative one, when the sixth test value tmp_val_6 is the smallest of the multiple test values, it means that in the target adjustment module at the time of recovery, the distance between the system real-time number and the system backup number of the mover is short, indicating that the movers in the target adjustment module at the time of recovery have been in an aligned state before and after power failure, but there is a situation where one mover is missing on the right side. Therefore, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0174] Also, when the module quantity value of the target adjustment module is negative one, when the seventh test value tmp_val_7 is the smallest of the multiple test values, it means that the distance between the system real-time number and the system backup number of the actuator in the target adjustment module at the time of recovery is not the shortest, indicating that the actuator is not in an aligned state before and after power failure, and that at the time of recovery, one actuator is reduced on the left side of the target adjustment module. Therefore, in this case, starting from the second actuator in the target adjustment module, the system real-time number of the actuator is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0175] Reference Fig.16 , is a schematic diagram of restoring the mover number after power failure of the third magnetic drive conveying system provided in the embodiment of the present application. Fig.16 As shown in , when the module quantity value of the target adjustment module is negative one, that is, Fig.16 In the case where the number of movers at the restoration time of the track module 1 shown in the figure is one less than that at the backup time, the system real-time number of the mover is restored accordingly for the comparison of the two test values. For example, when the sixth test value is the smallest among multiple test values, the system backup number {6,7} in the target adjustment module is directly aligned and used in sequence as the recovery number of the mover (i.e., the new system real-time number {6}); when the seventh test value is the smallest among multiple test values, the system backup number in the target adjustment module is used in sequence after being delayed by one mover (i.e., corresponding to {2} in the track module).

[0176] Through the above steps 1401 to 1403, and steps 1501 to 1502, when the number of movers at the recovery time is one more than that at the backup time, the check values ​​obtained by the sum of the squares of the differences between the corresponding system real-time number and the system backup number in different cases of alignment and sequence to the right in the target adjustment module are compared, and the system real-time number of the mover in the target adjustment module is restored using the system backup number according to different comparison results, thereby improving the accuracy and reliability of the sequential recovery of the mover stations in the magnetic drive conveying system.

[0177] In some embodiments, the method for restoring the mover sequence of the magnetic drive conveying system proposed in the present application describes the situation where the difference in the number of movers of multiple track modules in the maglev conveying track before and after power failure is not large (i.e., the difference is 0 or 1), and the remaining number differences (such as 2 or 3) can also be derived through the above related processes. However, it can be understood that the method for restoring the mover sequence of the magnetic drive conveying system provided in the present application is aimed at the situation where the sequence of the mover stations of the magnetic drive conveying system before and after power failure does not change much, and can accurately restore the original sequence of the mover stations.

[0178] In some embodiments, after the magnetic drive conveying system restores the station sequence of the movers at the recovery time, multiple movers can be further restored according to the positions of the movers at the backup time to ensure the processing requirements of the processing equipment in the magnetic drive conveying system.

[0179] The present application proposes a method and related equipment for sequential recovery of movers of a magnetic drive conveying system, wherein the magnetic drive conveying system includes a maglev conveying track and a plurality of movers, and the method includes: first, obtaining a system backup number when the mover is running on the maglev conveying track at the backup time; then, obtaining a system real-time number when the mover is on the maglev conveying track at the recovery time, wherein the system real-time number is obtained based on the position sequence of the mover on the maglev conveying track; finally, obtaining the number of backup module movers of the movers running on each track module at the backup time, obtaining the number of real-time module movers of the movers existing on each track module at the recovery time, and obtaining the number of real-time module movers of each track module based on the real-time module mover number of each track module; The module quantity value is obtained by calculating the difference between the quantity of the actual module and the quantity of the backup module movers, and the module selection value is obtained based on the absolute value of the module quantity value. The target adjustment modules are selected in order of the module selection values ​​from small to large, and based on the module quantity value of the target adjustment module, according to the square relationship between the system real-time numbers of all movers in the target adjustment module and the difference between all system backup numbers corresponding to the target adjustment module, multiple inspection values ​​are calculated, and based on the size relationship between the multiple inspection values, the system real-time numbers corresponding to the movers in the target adjustment module are restored and adjusted until the system real-time numbers of the movers on all target adjustment modules are restored and adjusted.

[0180] The embodiment of the present application utilizes the module selection value obtained by the difference between the number of real-time module movers of the track module and the number of backup module movers as the judgment parameter for the target adjustment module selection, thereby effectively giving priority to selecting the track module with a small change in the number of movers to check and restore the system real-time number of the movers, so as to give priority to the recovery of the low difficulty, and use the restored data to gradually restore the track modules with high difficulty, thereby effectively improving the accuracy and reliability of the system real-time number recovery of the movers; and for the different values ​​of the number of modules of the target adjustment module, the different formulas in the target adjustment module for alignment, sequence left and sequence right shifting by one position, and the corresponding test values ​​obtained in different situations by the sum of the squares of the difference between the system real-time number and the system backup number are used for size comparison, and the misalignment of the mover after power failure is determined according to different comparison results, and the system real-time number of the mover in the target adjustment module is automatically restored using the system backup number, thereby improving the accuracy and reliability of the restoration of the mover station sequence in the magnetic drive conveying system.

[0181] The present application also provides a device for recovering the sequence of a mover of a magnetic drive conveying system, which can realize the method for recovering the sequence of a mover of the magnetic drive conveying system. Fig.17 , the device 1700 comprises:

[0182] The backup number acquisition module 1710 is used to acquire the system backup number when the mover is running on the maglev conveyor track at the backup time;

[0183] A real-time number acquisition module 1720 is used to acquire the system real-time number of the mover on the maglev conveying track at the recovery time, where the system real-time number is obtained based on the position sequence of the mover on the maglev conveying track;

[0184] The sequence adjustment module 1730 is used to restore and adjust the system real-time number based on the difference relationship between the system real-time number and the system backup number, and adjust the position sequence of the mover on the maglev conveying track according to the adjusted system real-time number.

[0185] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0186] Get the number of backup module movers running on each track module at the backup time;

[0187] Get the real-time module mover quantity of movers existing on each track module at the time of recovery;

[0188] Based on the numerical relationship between the number of movers in the real-time module and the number of movers in the backup module, the target adjustment module is selected from multiple track modules in turn, and the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted based on the difference relationship between the system real-time number and the system backup number until the system real-time number of the movers on all target adjustment modules is restored and adjusted.

[0189] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0190] Based on the difference between the number of real-time module movers and the number of backup module movers of each track module, a module quantity value is obtained, and based on the absolute value of the module quantity value, a module selection value is obtained;

[0191] Select the target adjustment modules in order from small to large module selection values.

[0192] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0193] Based on the module quantity value of the target adjustment module, multiple inspection values ​​are calculated according to the square relationship of the difference between the system real-time numbers of all movers in the target adjustment module and all system backup numbers corresponding to the target adjustment module;

[0194] Based on the size relationship between multiple inspection values, the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted.

[0195] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0196] Starting from the first system real-time number, the square of the difference between each system real-time number and the system backup number of the corresponding order is accumulated to obtain a first test value;

[0197] Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding system backup number minus one is accumulated to obtain a first intermediate check value, and the first intermediate check value, the square of the first system real-time number and the square of the last system backup number are accumulated to obtain a second check value;

[0198] Starting from the first system real-time number, accumulate the square of the difference between each system real-time number and the corresponding system backup number plus one to obtain the second intermediate check value, and accumulate the second intermediate check value, the square of the last system real-time number and the square of the first system backup number to obtain the third check value.

[0199] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0200] When the second inspection value is the smallest among the multiple inspection values, starting from the second mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module;

[0201] When the third inspection value is the smallest among the multiple inspection values, starting from the previous mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0202] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0203] Starting from the first system real-time number, the square of the difference between each system real-time number and the system backup number of the corresponding order and the square of the last system real-time number are accumulated to obtain a fourth test value;

[0204] Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding sequential system backup number minus one, and the square of the first system real-time number are accumulated to obtain a fifth test value.

[0205] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0206] When the fourth inspection value is the smallest among the multiple inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module;

[0207] When the fifth inspection value is the smallest among the multiple inspection values, starting from the second mover in the target adjustment module, the system real-time numbers of the movers are updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0208] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0209] Starting from the first system real-time number, the square of the difference between each system real-time number and the system backup number of the corresponding order and the square of the last system backup number are accumulated to obtain a sixth test value;

[0210] Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding sequential system backup number minus one, and the square of the first system backup number are accumulated to obtain a seventh test value.

[0211] In some embodiments, the sequence adjustment module 1730 is further configured to:

[0212] When the sixth inspection value is the smallest among the multiple inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module;

[0213] When the seventh inspection value is the smallest among the multiple inspection values, starting from the previous mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all system backup numbers corresponding to the target adjustment module.

[0214] In the above embodiments, the description of each embodiment has its own emphasis. For the part that is not described in detail in a certain embodiment, the specific implementation method of the mover sequence recovery device of the magnetic drive conveying system is basically the same as the specific implementation method of the mover sequence recovery method of the above-mentioned magnetic drive conveying system, and will not be repeated here.

[0215] In the embodiment of the present application, the mover sequence recovery device of the magnetic drive conveying system uses the module selection value obtained by the difference between the number of movers of the real-time module of the track module and the number of movers of the backup module as the judgment parameter for the selection of the target adjustment module, thereby effectively giving priority to selecting the track module with a small change in the number of movers to check and restore the system real-time number of the movers, so as to give priority to the recovery of the low difficulty, and use the restored data to gradually restore the track modules with high difficulty, thereby effectively improving the accuracy and reliability of the system real-time number recovery of the movers; and for the different values ​​of the number of modules of the target adjustment module, the different formulas in the target adjustment module for alignment, sequence left and sequence right shifting by one position, and the corresponding test values ​​in different situations obtained by the sum of the squares of the difference between the system real-time number and the system backup number are used for size comparison, and the misalignment of the mover after power failure is determined according to different comparison results, and the system real-time number of the mover in the target adjustment module is automatically restored using the system backup number, thereby improving the accuracy and reliability of the mover station sequence recovery in the magnetic drive conveying system.

[0216] The present application also provides an electronic device, including:

[0217] at least one memory;

[0218] at least one processor;

[0219] at least one program;

[0220] The program is stored in the memory, and the processor executes the at least one program to implement the method for restoring the mover sequence of the magnetic drive conveying system implemented in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a car computer, etc.

[0221] See also Fig.18 , Fig.18 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0222] The processor 1801 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0223] The memory 1802 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 1802 can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1802, and the processor 1801 calls and executes the mover sequence recovery method of the magnetic drive conveying system of the embodiment of the present application;

[0224] Input / output interface 1803, used to implement information input and output;

[0225] The communication interface 1804 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0226] A bus 1805 that transmits information between the various components of the device (e.g., the processor 1801, the memory 1802, the input / output interface 1803, and the communication interface 1804);

[0227] The processor 1801 , the memory 1802 , the input / output interface 1803 and the communication interface 1804 are connected to each other in communication within the device via the bus 1805 .

[0228] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the mover sequence recovery method of the magnetic drive conveying system is implemented.

[0229] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0230] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0231] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0232] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0233] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0234] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0235] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0236] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0237] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0238] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0239] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0240] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for restoring the sequence of movers in a magnetic drive conveying system, characterized in that: The magnetic drive conveying system comprises a magnetic levitation conveying track and a plurality of movers, and the method comprises: Acquire the system backup number when the mover is running on the magnetic levitation conveying track at the backup time; Acquire a system real-time number of the mover on the magnetic levitation conveying track at the recovery time, wherein the system real-time number is obtained based on the position sequence of the mover on the magnetic levitation conveying track; The system real-time number is restored and adjusted based on the difference relationship between the system real-time number and the system backup number, and the position sequence of the movers on the magnetic levitation conveying track is adjusted according to the adjusted system real-time number.

2. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 1 is characterized in that: The magnetic levitation conveying track includes a plurality of track modules, and the restoring and adjusting the system real-time number based on the difference relationship between the system real-time number and the system backup number includes: Obtain the number of backup module movers of the movers running on each track module at the backup time; Obtain the real-time module mover quantity of the movers existing on each track module at the recovery time; Based on the numerical relationship between the number of movers in the real-time module and the number of movers in the backup module, the target adjustment module is selected from the multiple track modules in turn, and the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted based on the difference relationship between the system real-time number and the system backup number, until the system real-time number of the movers on all the target adjustment modules is restored and adjusted.

3. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 2 is characterized in that: The step of selecting a target adjustment module from the plurality of track modules in sequence based on the numerical relationship between the number of movers of the real-time module and the number of movers of the backup module includes: Based on the difference between the number of real-time module movers and the number of backup module movers of each track module, a module quantity value is obtained, and based on the absolute value of the module quantity value, a module selection value is obtained; The target adjustment modules are selected in sequence according to the module selection values ​​from small to large.

4. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 3 is characterized in that: The restoring and adjusting the system real-time number corresponding to the mover in the target adjustment module based on the difference relationship between the system real-time number and the system backup number includes: Based on the module quantity value of the target adjustment module, multiple inspection values ​​are calculated according to the square relationship of the difference between the system real-time numbers of all the movers in the target adjustment module and all the system backup numbers corresponding to the target adjustment module; Based on the size relationship between the multiple inspection values, the system real-time number corresponding to the mover in the target adjustment module is restored and adjusted.

5. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 4 is characterized in that: When the module quantity value of the target adjustment module is zero, the test value includes a first test value, a second test value and a third test value, and the multiple test values ​​are calculated based on the square relationship between the system real-time numbers of all the movers in the target adjustment module and the difference between all the system backup numbers corresponding to the target adjustment module, including: Starting from the first system real-time number, accumulating the square of the difference between each system real-time number and the system backup number of the corresponding order to obtain the first test value; Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding system backup number minus one is accumulated to obtain a first intermediate check value, and the first intermediate check value, the square of the first system real-time number and the square of the last system backup number are accumulated to obtain the second check value; Starting from the first system real-time number, accumulate the square of the difference between each system real-time number and the corresponding system backup number plus one to obtain a second intermediate check value, and accumulate the second intermediate check value, the square of the last system real-time number and the square of the first system backup number to obtain the third check value.

6. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 5, characterized in that: The restoring and adjusting the system real-time number corresponding to the mover in the target adjustment module based on the size relationship between the plurality of inspection values ​​includes: When the first inspection value is the smallest among the plurality of inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module; When the second inspection value is the smallest among the plurality of inspection values, starting from the second mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module; When the third inspection value is the smallest among the plurality of inspection values, starting from the previous mover of the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

7. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 4, characterized in that: When the module quantity value of the target adjustment module is one, the test value includes a fourth test value and a fifth test value, and the plurality of test values ​​are calculated based on the square relationship between the difference between the system real-time numbers of all the movers in the target adjustment module and all the system backup numbers corresponding to the target adjustment module, including: Starting from the first system real-time number, the square of the difference between each system real-time number and the system backup number in the corresponding order and the square of the last system real-time number are accumulated to obtain the fourth test value; Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding system backup number minus one is accumulated, as well as the square of the first system real-time number to obtain the fifth check value.

8. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 7, characterized in that: The restoring and adjusting the system real-time number corresponding to the mover in the target adjustment module based on the size relationship between the plurality of inspection values ​​includes: When the fourth inspection value is the smallest among the plurality of inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module; When the fifth inspection value is the smallest among the plurality of inspection values, starting from the second mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

9. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 4, characterized in that: When the module quantity value of the target adjustment module is negative one, the test value includes a sixth test value and a seventh test value, and the plurality of test values ​​are calculated based on the square relationship between the difference between the system real-time numbers of all the movers in the target adjustment module and all the system backup numbers corresponding to the target adjustment module, including: Starting from the first system real-time number, accumulating the square of the difference between each system real-time number and the system backup number in the corresponding order, and the square of the last system backup number, to obtain the sixth test value; Starting from the second system real-time number, the square of the difference between each system real-time number and the corresponding system backup number minus one is accumulated, as well as the square of the first system backup number, to obtain the seventh check value.

10. The method for restoring the mover sequence of the magnetic drive conveying system according to claim 9, characterized in that: The restoring and adjusting the system real-time number corresponding to the mover in the target adjustment module based on the size relationship between the plurality of inspection values ​​includes: When the sixth inspection value is the smallest among the plurality of inspection values, starting from the first mover in the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module; When the seventh inspection value is the smallest among the plurality of inspection values, starting from the previous mover of the target adjustment module, the system real-time number of the mover is updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

11. A mover sequence recovery device for a magnetic drive conveying system, characterized in that: The magnetic drive conveying system comprises a magnetic levitation conveying track and a plurality of movers, and the device comprises: A backup number acquisition module, used to acquire the system backup number when the mover is running on the magnetic levitation conveying track at the backup time; A real-time number acquisition module, used to acquire the system real-time number of the mover on the magnetic levitation conveying track at the recovery time, wherein the system real-time number is obtained based on the position sequence of the mover on the magnetic levitation conveying track; The sequence adjustment module is used to restore and adjust the system real-time number based on the difference relationship between the system real-time number and the system backup number, and adjust the position sequence of the mover on the magnetic levitation conveying track according to the adjusted system real-time number.

12. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the mover sequence recovery method of the magnetic drive conveying system according to any one of claims 1 to 10 is implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mover sequence recovery method of the magnetic drive conveying system according to any one of claims 1 to 10 is implemented.

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