Method for restoring the order of movers of a magnetic drive conveying system and related equipment

Abstract

The rotor sequence recovery method and related equipment for the magnetic drive conveying system proposed in the embodiments of this application. The magnetic drive conveying system includes a magnetic levitation conveying track and a plurality of rotors. The method includes: First, obtain the system backup number when the rotor runs on the magnetic levitation conveying track at the backup moment; then, obtain the system real-time number when the rotor runs on the magnetic levitation conveying track at the recovery moment, and the system real-time number is obtained based on the position sequence of the rotor on the magnetic levitation conveying track; finally, perform recovery adjustment on 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 rotor on the magnetic levitation conveying track according to the adjusted system real-time number, so as to more accurately recover the position sequence of the rotor before and after power failure.

Description

Technical Field

[0001] The present application relates to the field of control technologies, and in particular, to a method for restoring the order of movers in a magnetic drive conveying system and related devices. Background Art

[0002] In a magnetic drive conveying system, in order to avoid additional interference to the movers during operation, an electronic storage device is usually not provided on the movers, and only the control device in the magnetic drive conveying system controls the operation of the movers according to the system numbers corresponding to the operation order in real time based on the operation conditions of the movers obtained by the acquisition device. However, due to occasional inevitable situations such as power failure of the magnetic drive conveying system, after the power failure, the movers will still continue to run in the original running direction due to inertia, and due to accidental touching by humans during the power failure process, there is a small deviation in the operation order between the movers at the moment of power restoration and the moment of power failure. Moreover, since no electronic device is provided on the movers, that is, there is no fixed corresponding relationship between the movers and the system numbers, the movers cannot be directly restored by the original system numbers.

[0003] In the related art, for the magnetic drive conveying system at the moment of power restoration after power failure, usually, the position of the moving movers is restored manually after the power failure. However, this manual restoration method is prone to inaccurate restoration of the movers due to the dependence on the worker's own memory, resulting in inaccurate restoration of the movers. Summary of the Invention

[0004] The embodiments of the present application provide a method for restoring the order of movers in a magnetic drive conveying system and related devices, which can improve the accuracy of restoring the order of mover workstations in the magnetic drive conveying system after power failure.

[0005] To achieve the above object, a first aspect of the embodiments of the present application proposes a method for restoring the order of movers in a magnetic drive conveying system, the magnetic drive conveying system including a magnetic levitation conveying track and a plurality of movers, the method including:

[0006] Obtain the system backup number of the movers when running on the magnetic levitation conveying track at the backup moment;

[0007] Obtain the system real-time number of the movers on the magnetic levitation conveying track at the restoration moment, the system real-time number being obtained based on the position order of the movers on the magnetic levitation conveying track;

[0008] 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 order of the movers on the magnetic levitation conveying track according to the adjusted system real-time number.

[0009] In some embodiments, the maglev conveying track includes a plurality of track modules. 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:

[0010] Obtaining the number of backup module movers running on each of the track modules at the backup moment;

[0011] Obtaining the real-time module mover number of the movers existing on each of the track modules at the restoration moment;

[0012] Based on the numerical relationship between the real-time module mover number and the backup module mover number, sequentially select target adjustment modules from the plurality of track modules, and restore and adjust the system real-time numbers corresponding to the movers in the target adjustment modules based on the difference relationship between the system real-time number and the system backup number until the system real-time numbers of all the movers on all the target adjustment modules are restored and adjusted.

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

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

[0015] Sequentially select the target adjustment modules in ascending order of the module selection value.

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

[0017] Based on the module number value of the target adjustment module, calculate a plurality of test values according to the difference square relationship 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 magnitude relationship between the plurality of test values, restore and adjust the system real-time numbers corresponding to the movers in the target adjustment module.

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

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

[0021] Starting from the second real-time system number, accumulate the square of the difference between each real-time system number and the system backup number with the corresponding sequence number minus one to obtain a first intermediate test value, and accumulate the first intermediate test value, the square of the first real-time system number, and the square of the last system backup number to obtain the second test value;

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

[0023] In some embodiments, the restoration adjustment of the real-time system numbers corresponding to the movers in the target adjustment module based on the magnitude relationship between the multiple test values includes:

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

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

[0026] When the third test value is the smallest among the multiple test values, starting from the mover before the target adjustment module, update the real-time system numbers of the movers in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0027] In some embodiments, when the numerical value of the number of modules of the target adjustment module is one, the inspection value includes a fourth inspection value and a fifth inspection value. The multiple inspection values are calculated according to the square relationship of the difference between the 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:

[0028] Starting from the first real-time system number, accumulate the square of the difference between each real-time system number and the corresponding sequential system backup number, and the square of the last real-time system number, to obtain the fourth inspection value;

[0029] Starting from the second real-time system number, accumulate the square of the difference between each real-time system number and the system backup number with the corresponding sequential number minus one, and the square of the first real-time system number, to obtain the fifth inspection value.

[0030] In some embodiments, the restoration adjustment of the real-time system numbers corresponding to the movers in the target adjustment module based on the magnitude relationship between multiple inspection values includes:

[0031] When the fourth inspection value is the smallest among multiple inspection values, starting from the first mover in the target adjustment module, update the real-time system numbers of the movers 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 multiple inspection values, starting from the second mover in the target adjustment module, update the real-time system numbers of the movers in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0033] In some embodiments, when the numerical value of the number of modules of the target adjustment module is negative one, the inspection value includes a sixth inspection value and a seventh inspection value. The multiple inspection values are calculated according to the square relationship of the difference between the 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 real-time system number, accumulate the square of the difference between each real-time system number and the corresponding sequential system backup number, and the square of the last system backup number, to obtain the sixth inspection value;

[0035] Starting from the second real-time system number, accumulate the square of the difference between each real-time system number and the system backup number with the corresponding sequential number minus one, and the square of the first system backup number, to obtain the seventh inspection value.

[0036] In some embodiments, the restoring and adjusting the real-time system number corresponding to the mover in the target adjustment module based on the magnitude relationship between the multiple inspection values includes:

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

[0039] To achieve the above object, a second aspect of the embodiments of the present application provides a mover control device for a magnetic drive conveying system, the magnetic drive conveying system including a magnetic levitation conveying track and a plurality of movers, the device including:

[0040] A backup number acquisition module, configured to acquire the system backup number of the mover when running on the magnetic levitation conveying track at the backup moment;

[0041] A real-time number acquisition module, configured to acquire the real-time system number of the mover on the magnetic levitation conveying track at the restoration moment, the real-time system number being obtained based on the position sequence of the mover on the magnetic levitation conveying track;

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

[0043] To achieve the above object, a third aspect of the embodiments of the present application provides an electronic device, the electronic device including a memory and a processor, the memory storing a computer program, and the processor implementing the mover order restoration method of the magnetic drive conveying system as described in the first aspect when executing the computer program.

[0044] To achieve the above object, a fourth aspect of the embodiments of the present application provides a storage medium, the storage medium being a computer-readable storage medium, the storage medium storing a computer program, and the computer program implementing the mover order restoration method of the magnetic drive conveying system as described in the first aspect when executed by a processor.

[0045] The rotor sequence recovery method and related equipment of the magnetic drive conveying system proposed in the embodiments of the present application. The magnetic drive conveying system includes a magnetic levitation conveying track and a plurality of rotors. The method includes: First, obtain the system backup number when the rotor runs on the magnetic levitation conveying track at the backup moment; Then, obtain the system real-time number of the rotor on the magnetic levitation conveying track at the recovery moment, and the system real-time number is obtained based on the position sequence of the rotor on the magnetic levitation conveying track; Finally, perform recovery adjustment on 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 rotor on the magnetic levitation conveying track according to the adjusted system real-time number. The embodiments of the present application utilize the difference relationship between the system backup number obtained by periodically backing up the position sequence of the rotor before power-off in the magnetic drive conveying system and the system real-time number obtained by numbering the position sequence of the rotor at the recovery moment to determine the misalignment situation of the rotor after power-off, and automatically perform recovery adjustment on the current system real-time number of the rotor, so as to more accurately restore the position sequence of the rotor before and after power-off.

[0046] Other features and advantages of the present application will be described in the following specification, and, in part, will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be realized and obtained through the structures specifically pointed out in the specification, claims, and drawings. Description of the Drawings

[0047] Figure 1 It is a schematic structural diagram of a magnetic levitation conveying track provided by an embodiment of the present application.

[0048] Figure 2 It is a schematic diagram of the misalignment of the rotors after power-off of a magnetic drive conveying system provided by another embodiment of the present application.

[0049] Figure 3 It is a flowchart of a method for restoring the rotor sequence after power-off of a magnetic drive conveying system provided by another embodiment of the present application.

[0050] Figure 4 Is Figure 3 The flowchart of step 303 in

[0051] Figure 5 It is a schematic diagram of the number of rotor modules on a magnetic levitation conveying track provided by another embodiment of the present application.

[0052] Figure 6 Is Figure 4 The flowchart of step 403 in

[0053] Figure 7 Is Figure 4 Another flowchart of step 403 in

[0054] Figure 8It is the flowchart for calculating the first inspection value provided by another embodiment of the present application.

[0055] Figure 9 It is the flowchart for the first number restoration adjustment provided by another embodiment of the present application.

[0056] Figure 10 It is the schematic diagram of the mover number restoration after the magnetic drive conveyor system is powered off provided by another embodiment of the present application.

[0057] Figure 11 It is the flowchart for calculating the first inspection value provided by another embodiment of the present application.

[0058] Figure 12 It is the flowchart for the second number restoration adjustment provided by another embodiment of the present application.

[0059] Figure 13 It is the schematic diagram of the mover number restoration after the magnetic drive conveyor system is powered off provided by another embodiment of the present application.

[0060] Figure 14 It is the flowchart for calculating the first inspection value provided by another embodiment of the present application.

[0061] Figure 15 It is the flowchart for the third number restoration adjustment provided by another embodiment of the present application.

[0062] Figure 16 It is the schematic diagram of the mover number restoration after the magnetic drive conveyor system is powered off provided by another embodiment of the present application.

[0063] Figure 17 It is the schematic diagram of the structure of the mover sequence restoration device of the magnetic drive conveyor system provided by an embodiment of the present application.

[0064] Figure 18 It is the schematic diagram of the hardware structure of the electronic device provided by an embodiment of the present application. Detailed implementation manners

[0065] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to 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 diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order from the module division in the device or the flowchart.

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

[0068] In a magnetic drive conveying system, in order to avoid the mover being subjected to additional interference during operation, an electronic storage device is usually not provided on the mover. 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 condition of the mover obtained by the acquisition device. However, due to occasional inevitable situations such as power failure of the magnetic drive conveying system, after the power failure, the mover will still continue to run in the original running direction due to inertia, and due to accidental human touch during the power failure, a small deviation occurs in the operation sequence between the mover after power restoration and the moment of power failure. And since no electronic device is provided on the mover, that is, there is no fixed corresponding relationship between the mover and the system number, it is impossible to directly restore the mover through the original system number.

[0069] In the related art, for the magnetic drive conveying system at the moment of power failure recovery, usually, after the power failure, the position of the moving mover is restored manually. However, this manual restoration method is prone to inaccurate restoration of the mover due to inaccurate memory of the worker.

[0070] In order to improve the accuracy of the mover station sequence recovery of the magnetic drive conveying system after power failure, the embodiment of this application uses the difference relationship between the system backup number obtained by periodically backing up the mover position sequence of the magnetic drive conveying system before power failure and the system real-time number obtained by numbering the mover position sequence at the recovery moment to determine the misalignment situation of the mover after power failure, and automatically adjusts the current system real-time number of the mover to more accurately restore the position sequence of the mover before and after power failure.

[0071] To better illustrate the mover sequence recovery method of the magnetic drive conveying system provided by the embodiment of this application, this embodiment first describes the magnetic drive conveying system applying the mover control method. Refer to Figure 1 As shown, it is a schematic structural diagram of a magnetic drive conveying system provided by an embodiment of this application. As Figure 1 shown, the magnetic drive conveying system includes a magnetic levitation conveying track and a plurality of movers running on the magnetic levitation conveying track. Moreover, a plurality of processing devices are arranged beside the magnetic levitation conveying track, and the processing devices process the workpieces carried on the movers passing through fixed positions 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. For example, two movers run on track module 1, three movers run on track module 2, and two movers run on track module 3.

[0072] Since traditional electronic devices generate magnetic fields, electromagnetic waves, currents, etc. during operation, if the mover carries an electronic device and runs on the maglev conveyor track, it will interfere with the magnetic field generated on the maglev conveyor track, etc., thus posing relevant safety hazards and control errors, etc. For example, the electronic device may generate a certain magnetic field during operation, and this magnetic field may interfere with the magnetic drive conveyor line, causing the trolley to malfunction; also, the electronic device may generate electromagnetic waves during operation, and these electromagnetic waves may interfere with the control system, causing the control system to be unable to accurately control the trolley; in addition, the electronic device may generate a current during operation, and this current may interfere with the power supply system of the trolley, causing the power supply system to be unable to stably supply power to the trolley.

[0073] Therefore, in this embodiment, in order to prevent the mover from being additionally interfered with during operation, in this magnetic drive conveyor system, no relevant electronic devices are provided on the mover, so the mover itself cannot store relevant data information in real time.

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

[0075] When an unexpected event such as a power outage occurs in the magnetic drive conveyor system, the controller in the magnetic drive conveyor system shuts down. However, at this time, the movers on the maglev conveyor track still slide forward due to inertia, resulting in the disorder of the working positions of multiple movers on the maglev conveyor track after the power outage. Therefore, after the power is restored, if the system coding is performed according to the positions of the movers at the moment of restoration, there will be a situation where the same mover does not match the system coding before the power outage. Refer to Figure 2 , which is a schematic diagram of the misalignment of the movers after a power outage in a magnetic drive conveyor system provided by an embodiment of the present application. As Figure 2 shown in Figure 1 , it is a schematic diagram of the magnetic drive conveyor system based on Figure 2 after a power outage. Due to the original running inertia of the movers themselves, or the magnetic drive conveyor system after the movers are manually moved at the moment of power outage. In Figure 1The positions of multiple movers 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 power-off, there is a risk of processing errors. Therefore, it is necessary to restore the station order of the movers first at the recovery moment.

[0076] It can be understood that Figure 1 and Figure 2 The magnetic drive conveying system shown is only for illustration. The maglev conveying track in the actual magnetic drive conveying system is usually a plane (which can accommodate multiple movers running side by side), and it is not a one-way track, that is, it can be a complex maglev conveying track with fork and confluence entrances. Specifically, it can be set according to the actual situation, which does not affect the implementation of the embodiments of the present application.

[0077] Based on the above magnetic drive conveying system, the mover order restoration method in the embodiments of the present application will be specifically described below. Referring to Figure 3 which is an optional flowchart of the mover order restoration method for the magnetic drive conveying system provided by the embodiments of the present application, Figure 3 The method in Figure 3 may include but is not limited to steps 301 to 303. At the same time, it can be understood that the order of steps 301 to 303 in this embodiment is not specifically limited, and the step order can be adjusted according to actual needs or some steps can be reduced or added. The mover order restoration method for the magnetic drive conveying system provided by the embodiments of the present application can be applied to a controller connected to the maglev conveying track, and the controller can be a smart terminal, a server, a computer, etc.

[0078] Step 301: Obtain the system backup number when the mover runs on the maglev conveying track at the backup moment.

[0079] The following will describe step 301 in detail.

[0080] In some embodiments, when the magnetic drive conveying system is running normally, the operation data of multiple movers (including data related to the station order and running speed) will be planned in advance, and then the movers will be numbered according to their station order. After a certain time period, the relevant data of the movers will be backed up, including the system backup number when the movers run on the maglev conveying track (i.e., the system number at the backup moment), the backup mover positions, etc.

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

[0083] The following is a detailed description of step 302.

[0084] In some embodiments, in addition to obtaining the system backup number, it is also necessary to obtain the system real-time number generated according to the current position order of the mover on the maglev conveying track at the recovery moment, so as to facilitate subsequent checking and recovery of the station order of the mover using the system backup number and the system real-time number.

[0085] Step 303: Perform recovery adjustment on 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 order of the mover on the maglev conveying track according to the adjusted system real-time number.

[0086] The following is a detailed description of step 303.

[0087] In some embodiments, after obtaining the system real-time number and the system backup number, the system real-time number corresponding to the current mover will be recovered and adjusted one by one based on the difference relationship between the two, and the position order of the mover on the maglev conveying track will be adjusted according to the adjusted system real-time number, so that the position order of the recovered mover is consistent with that before power-off, thereby ensuring the reliability of processing these movers according to the original process flow before power-off.

[0088] Refer to Figure 4 , performing recovery adjustment on the system real-time number based on the difference relationship between the system real-time number and the system backup number includes the following steps 401 to 403.

[0089] Step 401: Obtain the number of mover in the backup module running on each track module at the backup moment.

[0090] Step 402: Obtain the number of real-time mover in each track module existing at the recovery moment.

[0091] Step 403: Based on the numerical relationship between the number of real-time mover in the module and the number of mover in the backup module, select the target adjustment module from multiple track modules in sequence, and perform recovery adjustment on 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 numbers of all the movers on the target adjustment module are recovered and adjusted.

[0092] The following is a detailed description of steps 401 to 403.

[0093] In some embodiments, in order to further accurately restore the system real-time numbering of the movers, the system real-time numbering of the movers on each track module will be restored one by one until the system real-time numbering of all the movers on all the track modules is restored. To select an appropriate restoration order for 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 obtain the number of real-time module movers of the movers existing on each track module at the restoration time. It can be understood that the number of movers on each track module can be obtained by matching the position information of the movers with the module position information of the track module.

[0094] Refer to Figure 5 , which is a schematic diagram of the number of movers of each module on a maglev transportation track provided by an embodiment of the present application. As Figure 5 shown in Figure 1 and Figure 2 shown, it shows the system numbers corresponding to the movers on the maglev transportation track before and after power-off and the number of movers corresponding to each track module. For example, before the maglev drive system is powered off, there are two movers on track module 1, and their system backup numbers are 1 and 2 respectively, and the number of backup module movers of this track module 1 is 2; and after the power-off recovery of the maglev drive system, there is one mover on track module 1, and its system real-time number is 1, and the number of real-time module movers of this track module 1 is 1. The same is true for the other track modules.

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

[0096] Refer to 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 sequence, including the following steps 601 to step 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, obtain a module quantity value, and obtain a module selection value based on the absolute value of the module quantity value.

[0098] Step 602: Select the target adjustment module in sequence according to the ascending order of the module selection values.

[0099] The following will describe steps 601 to 602 in detail.

[0100] In some embodiments, the number of real-time module movers of each track module is successively subtracted by 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 number value c i , the module selection value |c i | is obtained based on the absolute value. Then, in ascending order of the module selection value |c i |, the track modules for checking and restoring the system real-time numbers of the movers are successively selected as the target adjustment modules.

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

[0103] Through the above steps 601 to 602, using the module selection value obtained from the difference between the number of real-time module movers and the number of backup module movers of the track module as the judgment parameter for target adjustment module selection, effectively preferentially select 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 preferentially restore the ones with 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 movers each time, the system real-time number of the movers will be further checked and adjusted according to the numerical relationship between the system real-time number and the system backup number of the movers in the target adjustment module, which will be further described in detail below.

[0105] Referring to 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 movers in the target adjustment module is restored and adjusted, including the following steps 701 to 702.

[0106] Step 701: Based on the module number value of the target adjustment module, according to the square relationship of the differences between the system real-time numbers of all the movers in the target adjustment module and the corresponding all system backup numbers, a plurality of test values are calculated.

[0107] Step 702: Based on the magnitude relationship between the plurality of test values, the system real-time number corresponding to the movers in the target adjustment module is restored and adjusted.

[0108] The following provides a detailed description of steps 701 to 702.

[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), 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, a plurality of test values are calculated. It can be understood that different module quantity values include different test values. Specifically, when the module quantity value is zero, the test values include the first test value, the second test value, and the third test value; when the module quantity value is positive one, the test values include the fourth test value and the fifth test value; when the module quantity value is negative one, the test values include the sixth test value and the sixth test value.

[0110] After obtaining a plurality of test values, according to the magnitude relationship between the test values, a restoration adjustment is performed on the system real-time numbers corresponding to the movers in the target adjustment module. The specific description is as follows.

[0111] Refer to Figure 8 , when the module quantity value of the target adjustment module is zero, 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, a plurality of test values are calculated, including the following steps 801 to 803.

[0112] Step 801: Starting from the first system real-time number, accumulate the square of the difference between each system real-time number and the system backup number in the corresponding order to obtain the 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 system backup number in the corresponding order minus one to obtain the first intermediate test value, and accumulate the first intermediate test value, the square of the first system real-time number, and the square of the last system backup number to obtain the second test 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 system backup number in the corresponding order plus one to obtain the second intermediate test value, and accumulate the second intermediate test value, the square of the last system real-time number, and the square of the first system backup number to obtain the third test value.

[0115] The following provides a detailed description of steps 801 to 803.

[0116] In some embodiments, when the number value of the target adjustment module is zero, that is, the number of movers in the target adjustment module at the backup moment is the same as that in the target adjustment module at the restoration moment. At this time, 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, accumulate the square of the difference between each system real-time number (which includes {a1,..., a n}) and the corresponding sequential system backup number (which includes {b1,..., b n}) to obtain the first test value tmp_val_1 as shown in the following formula (1).

[0118]

[0119] Where 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 the squares of the deviations between two sequence states of the movers (including system real-time numbers and system backup numbers) in the aligned state as the first test value.

[0120] Next, starting from the second system real-time number a2, accumulate the square of the difference between each system real-time number a j and the corresponding sequential system backup number b j-1 minus one to obtain a first intermediate test value, and accumulate the first intermediate test value, the square of the first system real-time number and the square of the last system backup number to obtain the second test value as shown in the following formula (2).

[0121]

[0122] It can be understood that formula (2) is to obtain the minimum value of the sum of the interpolation squares between two sequence states (including system real-time numbers and system backup numbers) in the state where the sequence is shifted one place to the left as the second test value.

[0123] And, starting from the first system real-time number a1, accumulate the square of the difference between each system real-time number a j and the corresponding sequential system backup number b j+1 plus one to obtain a second intermediate test value, and accumulate the second intermediate test value, the square of the last system real-time number and the square of the first system backup number to obtain the third test value as shown in the following formula (3).

[0124]

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

[0126] When the number of modules in 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 real-time system number corresponding to the mover in the target adjustment module will be further restored and adjusted based on the magnitude relationship between these three test values, as described in detail below.

[0127] Refer to Figure 9 , based on the magnitude relationship between multiple test values, the real-time system 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 test value is the smallest among multiple test values, starting from the first mover in the target adjustment module, update the real-time system number of the mover in sequence based on all the system backup numbers corresponding to the target adjustment module.

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

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

[0131] The following describes steps 901 to 903 in detail.

[0132] In some embodiments, when the number of modules in the target adjustment module is zero and the first test value tmp_val_1 is the smallest among multiple test values, this indicates that in the target adjustment module at the recovery moment, the distance between the real-time system number and the system backup number of the mover is relatively short, indicating that the mover has been in an aligned state before and after power-off, that is, there is no situation of adding or reducing movers on the left or right side of the target adjustment module. Therefore, directly starting from the first mover in the target adjustment module, update the real-time system number of the mover in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0133] Moreover, when the number value of the target adjustment module is zero, and when the second test value tmp_val_2 is the smallest among multiple test values, it indicates that in the target adjustment module at the recovery moment, the distance between the system real-time number and the system backup number of the mover is not the shortest, meaning that the mover is not in an aligned state before and after power-off, and it indicates that a mover is added to the left side of the target adjustment module and a mover is reduced on the right side. Therefore, in this case, 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 the system backup numbers corresponding to the target adjustment module.

[0134] Furthermore, when the number value of the target adjustment module is zero, and when the third test value tmp_val_3 is the smallest among multiple test values, it indicates that in the target adjustment module at the recovery moment, the distance between the system real-time number and the system backup number of the mover is not the shortest, meaning that the mover is not in an aligned state before and after power-off, and it indicates 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 mover before the target adjustment module (i.e., starting from the last mover of the previous track module of the target adjustment module), the system real-time numbers of the movers are updated in sequence based on all the system backup numbers corresponding to the target adjustment module.

[0135] Refer to Figure 10 , which is the schematic diagram of the mover number recovery after power-off of the first magnetic drive conveying system provided by the embodiment of the present application. As Figure 10 shown, for the case where the number value of the target adjustment module is zero, that is, for the case where the number of movers of the track module 2 shown in Figure 10 is the same before and after power-off, for the comparison of the three test values, the system real-time numbers of the movers are correspondingly recovered. For example, when the first test value is the smallest among multiple test values, the system backup numbers {3, 4, 5} in the target adjustment module are directly used as the recovery numbers of the movers in sequence (i.e., the new system real-time numbers); when the second test value is the smallest among multiple test values, the system backup numbers in the target adjustment module are used as the recovery numbers of the movers in sequence after delaying 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 numbers in the target adjustment module are used as the recovery numbers of the movers in sequence after advancing 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 number of modules of the target adjustment module is zero, the squares of the differences between the system real-time numbers and the system backup numbers corresponding to different cases of alignment, one-bit left shift of the sequence, and one-bit right shift of the sequence in the target adjustment module are used to obtain the test values in different cases for magnitude comparison, and the system real-time numbers of the movers in the target adjustment module are restored using the system backup numbers 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.

[0137] Refer to Figure 11 , when the number of modules of the target adjustment module is one, according to the square difference 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, multiple test values are calculated, including the following steps 1101 to 1102.

[0138] Step 1101: Starting from the first system real-time number, accumulate 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, to obtain the fourth test value.

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

[0140] The following is a detailed description of steps 1101 to 1102.

[0141] In some embodiments, when the number of modules of the target adjustment module is positive one, that is, the number of movers in the target adjustment module at the backup moment is one less than that in the target adjustment module at the restoration moment. At this time, the corresponding test values include the fourth test value tmp_val_4 and the fifth test value tmp_val_5. The following will describe how to obtain them.

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

[0143]

[0144] Among them, n is the number of numbers of the 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 aligned state as the fourth test value.

[0145] Next, starting from the second system real-time number a2, accumulate each system real-time number a j and the square of the difference from the system backup number b that is one less in the corresponding order j-1 as well as the square of the first system real-time number to obtain the fifth test value as shown in the following formula (5).

[0146]

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

[0148] When the number value of the number of modules in 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 further restored and adjusted based on the magnitude relationship between these two test values, as described in detail below.

[0149] Refer to Figure 12 , based on the magnitude relationship between multiple test values, restore and adjust the system real-time number corresponding to the mover in the target adjustment module, including the following steps 1201 to step 1202.

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

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

[0152] The following details steps 1201 to 1202.

[0153] In some embodiments, when the number value of the target adjustment module is positive one, and when the fourth test value tmp_val_4 is the smallest among multiple test values, it indicates that in the target adjustment module at the recovery moment, the distance between the system real-time number and the system backup number of the mover is relatively short, which means that the mover in the target adjustment module at the recovery moment has been in an aligned state before and after power-off, 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 sequentially based on all the system backup numbers corresponding to the target adjustment module.

[0154] Moreover, when the number value of the target adjustment module is positive one, and when the fifth test value tmp_val_5 is the smallest among multiple test values, it indicates that in the target adjustment module at the recovery moment, the distance between the system real-time number and the system backup number of the mover is not the shortest, which means that the mover is not in an aligned state before and after power-off, indicating that a new mover has been added to the left of the target adjustment module at the recovery moment. Therefore, in this case, starting from the second mover in the target adjustment module, the system real-time number of the mover is updated sequentially based on all the system backup numbers corresponding to the target adjustment module.

[0155] Refer to Figure 13 , which is the schematic diagram of the mover number recovery after power-off of the second magnetic drive conveying system provided by the embodiment of the present application. As Figure 13 shown, for the case where the number value of the target adjustment module is positive one, that is, the case where the number of movers in the track module 3 at the recovery moment is one more than that at the backup moment as shown in Figure 13 shown, for the comparison of the two test values, the system real-time number of the mover is correspondingly recovered. For example, when the fourth test value is the smallest among multiple test values, the system backup numbers {6, 7} in the target adjustment module are directly aligned and sequentially used as the recovery numbers of the mover (i.e., the new system real-time numbers {6, 7, 8}); when the fifth test value is the smallest among multiple test values, the system backup numbers in the target adjustment module are sequentially used as the recovery numbers of the mover after delaying one mover (i.e., {5, 6, 7} corresponding to the track module).

[0156] Through the above steps 1101 to 1103, and steps 1201 to 1202, when the number of movers at the recovery moment is more than that at the backup moment, by comparing the sizes of the test values obtained from the sum of the squared differences between the system real-time numbers and the system backup numbers in the target adjustment module under different alignment and sequence leftward conditions, and according to different comparison results, the system real-time numbers of the movers in the target adjustment module are recovered using the system backup numbers, thereby improving the accuracy and reliability of the mover station sequence recovery in the magnetic drive conveying system.

[0157] Reference Figure 14 When the number value of the target adjustment module is -1, 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, a plurality of test values are calculated, including the following steps 1401 to step 1402.

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

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

[0160] The following gives a detailed description of steps 1401 to 1402.

[0161] In some embodiments, when the number value of the target adjustment module is -1, that is, the target adjustment module at the backup moment has one more mover than the target adjustment module at the recovery moment. At this time, the corresponding test values include the sixth test value tmp_val_6 and the seventh test value tmp_val_7. The following will describe how to obtain them.

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

[0163]

[0164] Among them, 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 the squares of the deviations between the two sequence states of the movers (including system real-time numbers and system backup numbers) in the aligned state as the sixth test value.

[0165] Next, starting from the second system real-time number a2, accumulate each system real-time number a j+1 and the square of the difference from the system backup number corresponding to the sequential minus one b j , and the square of the first system backup number to obtain the seventh test value tmp_val_7 as shown in the following formula (7).

[0166]

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

[0168] When the number of modules in the target adjustment module is -1, 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 magnitude relationship between these two test values, as described in detail below.

[0169] Refer to Figure 15 , based on the magnitude relationship between multiple test 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 test value is the smallest among multiple test 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.

[0171] Step 1502: When the seventh test value is the smallest among multiple test values, starting from the mover before 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.

[0172] The following is a detailed description of steps 1501 to 1502.

[0173] In some embodiments, when the number of modules in the target adjustment module is -1, when the sixth test value tmp_val_6 is the smallest among multiple test values, this indicates that in the target adjustment module at the recovery moment, the distance between the system real-time number and the system backup number of the mover is relatively short, indicating that the mover in the target adjustment module at the recovery moment has been in an aligned state before and after power-off, but there is a situation where there is one mover missing 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.

[0174] Also, when the number value of the target adjustment module is -1, when the seventh test value tmp_val_7 is the smallest among multiple test values, it indicates that in the target adjustment module at the recovery moment, the distance between the system real-time number and the system backup number of the mover is not the shortest, which means the mover is not in the aligned state before and after power-off, and it indicates that at the recovery moment, there is a situation where one mover is reduced on the left side of the target adjustment module. Therefore, in this case, 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.

[0175] Refer to Figure 16 , which is the third schematic diagram of the mover number recovery after power-off of the magnetic drive conveying system provided by the embodiment of the present application. As Figure 16 shown, for the case where the number value of the target adjustment module is -1, that is, as Figure 16 shown in the track module 1 where the number of movers at the recovery moment is one less than that at the backup moment, for the comparison of the two test values, the system real-time number of the mover is correspondingly recovered. For example, when the sixth test value is the smallest among multiple test values, the system backup numbers {6, 7} in the target adjustment module are directly used as the recovery numbers of the mover in sequence (i.e., the new system real-time number {6}); when the seventh test value is the smallest among multiple test values, the system backup numbers in the target adjustment module are used as the recovery numbers of the mover in sequence after delaying one mover (i.e., {2} corresponding to the track module).

[0176] Through the above steps 1401 to 1403, and steps 1501 to 1502, for the case where the number of movers at the recovery moment is more than that at the backup moment, by using the sum of the squared differences between the system real-time number and the system backup number corresponding to different situations of alignment and sequence shifting to the right in the target adjustment module to compare the sizes of the test values obtained in different situations, and according to different comparison results, the system real-time number of the mover in the target adjustment module is recovered using the system backup number, thereby improving the accuracy and reliability of the mover station sequence recovery in the magnetic drive conveying system.

[0177] In some embodiments, the mover sequence recovery method of the magnetic drive conveying system proposed in the present application describes the situation where the difference in the number of movers before and after power-off in multiple track modules of the maglev conveying track is not large (i.e., the difference is 0 or 1), and the remaining quantity differences (such as 2 or 3) can also be derived through the above relevant processes. However, it can be understood that the mover sequence recovery method of the magnetic drive conveying system provided by the present application is for the situation where the mover station sequence changes little before and after power-off of the magnetic drive conveying system, and can accurately recover the original mover station sequence.

[0178] In some embodiments, after the magnetic drive conveying system restores the station order of the movers at the restoration moment, it can further restore the multiple movers according to the positions of the movers at the backup moment to ensure the processing requirements of the processing equipment in the magnetic drive conveying system.

[0179] The mover order restoration method and related equipment of the magnetic drive conveying system provided by the embodiments of the present application, the magnetic drive conveying system includes a magnetic levitation conveying track and multiple movers, and the method includes: First, obtain the system backup number when the mover runs on the magnetic levitation conveying track at the backup moment; Then, obtain the system real-time number of the mover on the magnetic levitation conveying track at the restoration moment, and the system real-time number is obtained based on the position order of the mover on the magnetic levitation conveying track; Finally, obtain the number of backup module movers running on each track module at the backup moment, obtain the number of real-time module movers existing on each track module at the restoration moment, based on the difference between the number of real-time module movers and the number of backup module movers of each track module, obtain the module number value, and based on the absolute value of the module number value, obtain the module selection value. Select the target adjustment modules in turn according to the ascending order of the module selection values, and based on the module number value of the target adjustment module, calculate multiple test values 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 magnitude relationship between the multiple test values, restore and adjust the system real-time numbers of the movers corresponding to the target adjustment module until the system real-time numbers of all the movers on all the target adjustment modules are restored and adjusted.

[0180] The embodiments of the present application use the module selection value obtained from the difference between the number of real-time module movers and the number of backup module movers of the track module as the judgment parameter for selecting the target adjustment module, so as to effectively give 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 restoring the ones with 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 restoration of the system real-time number of the movers; And for the case where the module number values of the target adjustment modules are different, use different formulas for aligning, shifting the sequence one place to the left, and shifting the sequence one place to the right in the target adjustment module, and the square sum of the differences between the corresponding system real-time numbers and system backup numbers to obtain the test values in different cases for magnitude comparison, and determine the misalignment situation of the movers after power-off according to different comparison results, and automatically restore the system real-time numbers of the movers in the target adjustment module by using the system backup numbers, so as to improve the accuracy and reliability of the restoration of the mover station order in the magnetic drive conveying system.

[0181] The embodiments of the present application also provide a mover order restoration device for a magnetic drive conveying system, which can implement the mover order restoration method of the above magnetic drive conveying system, refer toFigure 17 , the device 1700 includes:

[0182] A backup number acquisition module 1710, configured to acquire a system backup number when the mover runs on the maglev conveying track at the backup moment;

[0183] A real-time number acquisition module 1720, configured to acquire a system real-time number when the mover runs on the maglev conveying track at the recovery moment, and the system real-time number is obtained based on the position sequence of the mover on the maglev conveying track;

[0184] An order adjustment module 1730, configured to perform recovery adjustment on 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 order adjustment module 1730 is further configured to:

[0186] Acquire the number of mover in the backup module on each track module at the backup moment;

[0187] Acquire the number of mover in the real-time module on each track module at the recovery moment;

[0188] Based on the numerical relationship between the number of mover in the real-time module and the number of mover in the backup module, sequentially select target adjustment modules from multiple track modules, and perform recovery adjustment on 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 numbers of all the mover on all the target adjustment modules are recovered and adjusted.

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

[0190] Based on the difference between the number of mover in the real-time module and the number of mover in the backup module of each track module, obtain a module number value, and obtain a module selection value based on the absolute value of the module number value;

[0191] Sequentially select target adjustment modules in ascending order of the module selection value.

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

[0193] Based on the module number value of the target adjustment module, calculate multiple test values according to the difference square relationship between the system real-time numbers of all the mover in the target adjustment module and all the system backup numbers corresponding to the target adjustment module;

[0194] Based on the magnitude relationship between multiple test values, perform recovery adjustment on the system real-time number corresponding to the mover in the target adjustment module.

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

[0196] Starting from the real-time number of the first system, accumulate the squares of the differences between each real-time number of the system and the backup number of the system corresponding to the corresponding sequence to obtain a first test value;

[0197] Starting from the real-time number of the second system, accumulate the squares of the differences between each real-time number of the system and the backup number of the system with the corresponding sequence minus one to obtain a first intermediate test value, and accumulate the first intermediate test value, the square of the real-time number of the first system, and the square of the backup number of the last system to obtain a second test value;

[0198] Starting from the real-time number of the first system, accumulate the squares of the differences between each real-time number of the system and the backup number of the system with the corresponding sequence plus one to obtain a second intermediate test value, and accumulate the second intermediate test value, the square of the real-time number of the last system, and the square of the backup number of the first system to obtain a third test value.

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

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

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

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

[0203] Starting from the real-time number of the first system, accumulate the squares of the differences between each real-time number of the system and the backup number of the system corresponding to the corresponding sequence, and the square of the real-time number of the last system, to obtain a fourth test value;

[0204] Starting from the real-time number of the second system, accumulate the squares of the differences between each real-time number of the system and the backup number of the system with the corresponding sequence minus one, and the square of the real-time number of the first system, to obtain a fifth test value.

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

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

[0207] When the fifth test value is the smallest among multiple test values, starting from the second mover in the target adjustment module, update the system real-time numbers of the movers 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, accumulate the square of the difference between each system real-time number and the system backup number corresponding to the corresponding sequence, as well as the square of the last system backup number, to obtain the sixth test value;

[0210] Starting from the second system real-time number, accumulate the square of the difference between each system real-time number and the system backup number corresponding to the sequence minus one, as well as the square of the first system backup number, to obtain the seventh test value.

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

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

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

[0214] In the above embodiments, the descriptions of the various embodiments have their own focuses. For the parts not detailed in a certain embodiment, the specific implementation manner of the mover sequence recovery device of the magnetic drive conveying system is basically the same as the specific implementation manner of the above-mentioned mover sequence recovery method of the magnetic drive conveying system, and will not be elaborated 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 from the difference between the real-time module mover quantity and the backup module mover quantity of the track module as the judgment parameter for target adjustment module selection, so as to effectively preferentially select the track module with a small change in the mover quantity for checking and recovery of the system real-time numbering of the movers, so as to preferentially recover the ones with low difficulty, and use the recovered data to gradually recover the track modules with high difficulty, thereby effectively improving the accuracy and reliability of the system real-time numbering recovery of the movers; and for the case where the module quantity values of the target adjustment modules are different, different formulas for alignment, sequence shifting one bit to the left, and sequence shifting one bit to the right in the target adjustment module, and the squared sum of the differences between the corresponding system real-time numbering and system backup numbering are used to obtain the test values in different cases for size comparison, and different comparison results are used to determine the misalignment situation of the movers after power-off, and the system backup numbering is automatically used to recover the system real-time numbering of the movers in the target adjustment module, thereby improving the accuracy and reliability of the mover station sequence recovery in the magnetic drive conveying system.

[0216] The embodiment of 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 mover sequence recovery method of the magnetic drive conveying system as described above in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA for short), an in-vehicle computer, etc.

[0221] Please refer to Figure 18 , Figure 18 which shows the hardware structure of an electronic device in another embodiment. The electronic device includes:

[0222] A processor 1801, which can be implemented in the form of a general-purpose CPU (Central Processing Unit, central processor), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present application;

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

[0224] The input / output interface 1803 is used to implement information input and output;

[0225] The communication interface 1804 is used to implement communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0226] The bus 1805 transmits information between various components of the device (such as the processor 1801, the memory 1802, the input / output interface 1803, and the communication interface 1804);

[0227] Among them, the processor 1801, the memory 1802, the input / output interface 1803, and the communication interface 1804 achieve communication connections with each other inside the device through the bus 1805.

[0228] The embodiments of this application also provide a storage medium. The storage medium is a computer-readable storage medium. This storage medium stores a computer program, and when the computer program is executed by a processor, it implements the above-mentioned mover sequence recovery method of the magnetic drive conveying system.

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

[0230] The embodiments described in the embodiments of this application are for more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. Those skilled in the art know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0231] Those skilled in the art can understand 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 those shown in the figures, or combine certain steps, or different steps.

[0232] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to 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 of ordinary skill in the art can understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, and appropriate combinations 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 do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily need to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are 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 "a plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or a similar expression means any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (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 several embodiments provided by 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 merely illustrative. For example, the above division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

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

[0238] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can 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 such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs that can store programs.

[0240] The preferred embodiments of the embodiments of the present application have been described above with reference to the accompanying drawings. However, this does not limit the scope of the rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

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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