Motor control method, linear motor device, linear motor system, electronic device and medium

Abstract

The invention provides a motor control method, linear motor equipment, an automatic conveying system, electronic equipment and a computer readable storage medium, and relates to the field of automatic conveying, and the method comprises the following steps: obtaining position information of each mover part; based on the position information of each rotor component, the rotor component passing through the task trigger mark is set as a task execution main body, and the task trigger mark is arranged along the stator line body; and when the number of the task execution main bodies reaches a number threshold value, at least part of the mover components which do not reach the task triggering mark are set as non-execution main bodies, and the non-execution main bodies are prevented from passing through the task triggering mark. According to the automatic conveying system, the safety distance between the rotor parts in the automatic conveying system can be ensured, collision of the rotor parts is avoided, and the reliability and conveying efficiency of the system can be improved.

Description

Technical Field

[0001] The present application relates to the field of automated conveying, and more specifically, to a motor control method, a linear motor device, an automated conveying system, an electronic device, and a computer-readable storage medium in the field of automated conveying. Background Art

[0002] Linear motor equipment uses electromagnetic drive. Compared with traditional mechanical transmission equipment, linear motor equipment has the advantages of no friction, high precision, high-speed response and low maintenance cost. These characteristics make linear motor equipment as an advanced conveying equipment gradually promoted and used in various automated production scenarios.

[0003] In a linear motor device, one or more moving parts are moved along the stator line under the action of electromagnetic force. As production requirements increase, the movement control of the moving parts becomes increasingly complicated, which increases the probability of incorrect movement of the moving parts, thereby increasing the risk of transportation.

[0004] Therefore, how to reduce the transportation risk caused by erroneous movement of the moving parts has become an urgent problem to be solved. Summary of the invention

[0005] The embodiments of the present application provide a motor control method, a linear motor device, an automated conveying system, an electronic device and a computer-readable storage medium. The present application can simplify the movement control logic for controlling the movable components, reduce the amount of data processing, and reduce the difficulty of movement control for the movable components, which is beneficial to improving the accuracy of movement control for the movable components, ensuring that the movable components can move correctly along the stator line in an orderly and efficient manner, thereby reducing the risk of transportation.

[0006] In a first aspect, a motor control method is provided, the motor control method comprising: being applied to a linear motor device, the linear motor device comprising a stator line and a plurality of movable components for loading objects; the motor control method comprising: acquiring position information of each movable component; based on the position information of each movable component, setting the movable component that has passed a task trigger mark as a task execution subject, wherein the task trigger mark is set along the stator line; when the number of task execution subjects reaches a quantity threshold, setting at least part of the movable components that have not yet reached the task trigger mark as non-execution subjects, and preventing the non-execution subjects from passing the task trigger mark.

[0007] Based on the above description, the embodiment of the present application adopts a technical solution of setting a task trigger mark on the stator line of the linear motor equipment, and based on the position information of each movable component, setting the movable component in each movable component that has passed the task trigger mark as the task execution subject. When it is detected that the number of task execution subjects reaches the quantity threshold, at least part of the movable components in each movable component that has not yet reached the task trigger mark is set as a non-execution subject, and preventing the non-execution subject from passing the task trigger mark. By controlling the movement of each movable component through the task trigger mark, it is possible to simplify the movement control logic of the movable component, reduce the amount of data processing, reduce the difficulty of movement control of the movable component, improve the accuracy of movement control of the movable component, ensure that the movable component can move correctly along the stator line in an orderly and efficient manner, and reduce the transportation risk.

[0008] In a second aspect, a linear motor device is provided, the linear motor device comprising: a control device, a stator wire body and a plurality of mover components for loading objects; A control device is used to obtain position information of each movable component, and based on the position information of each movable component, set the movable component that has passed the task trigger mark as the task execution subject, and when the number of task execution subjects reaches a quantity threshold, set at least part of the movable components that have not yet reached the task trigger mark as non-execution subjects, and prevent the non-execution subjects from passing the task trigger mark; wherein the task trigger mark is set along the stator line.

[0009] In a third aspect, an automated conveying system is provided, the automated conveying system comprising: A linear motor device includes a stator line body and a plurality of mover components for carrying an object; A display device, used for displaying a simulation interface, wherein the simulation interface includes a mover component model, a stator line body model, and task trigger marks distributed along the stator line body model; wherein the mover component model is used for simulating the mover component, and the stator line body model is used for simulating the stator line body; A control device is used to obtain position information of each movable component, and based on the position information of each movable component, set the movable component that has passed the task trigger mark as the task execution subject; when the number of task execution subjects reaches a quantity threshold, set at least some of the movable components that have not yet reached the task trigger mark as non-execution subjects, and prevent the non-execution subjects from passing the task trigger mark.

[0010] In a fourth aspect, an electronic device is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the electronic device executes the motor control method in the first aspect or any possible implementation of the first aspect.

[0011] In a fifth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the motor control method in the first aspect or any possible implementation of the first aspect.

[0012] In a sixth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the motor control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of a scenario in which a moving component and an external operating device cooperate with each other in the related art is shown; Figure 2 A schematic flow chart of a motor control method provided in an embodiment of the present application is shown; Figure 3 An exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown; Figure 4 A schematic diagram of assembling a single stator component and a single mover component provided in an embodiment of the present application is shown; Figure 5 Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown; Figure 6 Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown; Figure 7 Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown; Figure 8 An exemplary schematic diagram of setting a task trigger mark and a task end mark along a stator line is shown; Fig. 9 A structural block diagram of a linear motor device provided in an embodiment of the present application is shown; Fig.10 A structural diagram of an automated conveying system provided in an embodiment of the present application is shown; Fig.11 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown.

[0014] Description of reference numerals: 100-linear motor device, 110-stator line, 1101-stator component, 120-moving component, 1201-first moving component, 1202-second moving component, 1203-third moving component, 1301-task trigger mark, 1302-task end mark, 13021-first task end mark, 13022-second task end mark, 13023-third task end mark, 130-control device, 200-scanning device, 201-scanning range of scanning device, 300-clamping component, 400-display device, 500-control device, 600-automatic conveying system, 700-electronic device, 701-memory, 702-processor, 7011-executable program code. DETAILED DESCRIPTION

[0015] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0016] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0017] Linear motor equipment uses electromagnetic drive. Compared with traditional mechanical transmission equipment, linear motor equipment has the advantages of no friction, high precision, high-speed response and low maintenance cost. These characteristics make linear motor equipment as an advanced conveying equipment gradually promoted and used in various automated production scenarios.

[0018] In linear motor equipment, one or more moving parts move along the stator line under the action of electromagnetic force. As production needs increase, the movement control of the moving parts becomes more complicated, which increases the probability of incorrect movement of the moving parts. The incorrect movement of the moving parts will interfere with related entities (such as other moving parts, stator line, external operating equipment, etc.), thereby increasing the risk of transportation.

[0019] Schematically, the following examples illustrate the increasing risk of conveying as the movement control of the moving parts becomes increasingly complex: 1. During the operation of the linear motor equipment, there is a need to monitor the movement of each moving part. In order to distinguish each moving part, a unique and readable identification information (Identifier, ID) is assigned to each moving part, and then the collected status information is bound to the identification information in the specified patrol order, so as to serve as the status information of the moving part corresponding to the identification information. As the number of moving parts increases, it will occupy too many computer resources, affecting the efficiency of program operation. It may be possible to incorrectly bind the status information of one moving part with the identification information of another moving part, thereby incorrectly controlling the movement of one or more moving parts, which is prone to collision with other moving parts and affecting the operation of external equipment.

[0020] 2. In many automated production scenarios, it is necessary for the movable parts to move to the operating station to cooperate with external operating equipment (such as loading, unloading, processing, etc.). If the control is unreasonable, the movable parts outside the operating station will move incorrectly, interfering with the operation coordination between the movable parts at the station and the external operating equipment, such as colliding with the movable parts at the station, colliding with the external operating equipment, etc., affecting the operation efficiency, and even causing the operation to fail, thereby affecting the conveying efficiency. Figure 1 As shown, Figure 1 A schematic diagram of a scene in which a movable part and an external operating device cooperate with each other in the related art is shown. The direction indicated by the arrow is the moving direction of the movable part, and the external operating device includes a clamp C1 and a clamp C2. In the process of movable part D1 and movable part D2 moving along the stator line Z, movable part D1 is located before movable part D2, and movable part D1 and movable part D2 both reach their respective corresponding operating stations. Clamp C1 first clamps object B1 loaded by movable part D1. Because movable part D2 is too close to movable part D1, when clamp C2 is about to clamp object B2 loaded by movable part D2, clamp C2 collides with clamp C1 (clamp C2 collides with clamp C1), resulting in failure to unload object B2, thereby affecting the conveying efficiency.

[0021] Therefore, the erroneous movement of the moving parts will increase the risk of transportation. To this end, the present application provides a motor control method, a linear motor device, an automated transportation system, an electronic device and a computer-readable storage medium, which are conducive to reducing the transportation risk caused by the erroneous movement of the moving parts.

[0022] The following is a detailed description of a motor control method provided in an embodiment of the present application.

[0023] Figure 2 A schematic flow chart of a motor control method provided in an embodiment of the present application is shown. Figure 3 An exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown. Figure 2 and Figure 3 As shown, the motor control method provided in the embodiment of the present application is applied to a linear motor device 100 , which includes a stator wire body 110 and a plurality of movable components for loading objects, and the movable components move along the stator wire body 110 . Figure 3 Some mover components are shown, namely, a first mover component 1201 , a second mover component 1202 and a third mover component 1203 , and the direction indicated by the arrow is the moving direction of the mover component.

[0024] In practical applications, one of the stator and moving parts of the stator wire is provided with an excitation sub-component, which generates a variable magnetic field when energized, and the other of the stator wire and the moving part is provided with a magnetic sub-component, which is used to interact with the variable magnetic field generated by energizing the excitation sub-component to generate an electromagnetic force acting on the moving part, so as to drive the moving part to move along the stator wire. Among them, the excitation sub-component can be formed based on a coil, and the magnetic sub-component can be understood as an object with a magnetic field, such as a permanent magnet, a magnet, etc.

[0025] The motor control method provided in the embodiment of the present application may include the following steps: S110: Acquire position information of each moving component; S120: Based on the position information of each moving sub-component, the moving sub-component marked with the task trigger is set as the task execution subject; S130: When the number of task execution subjects reaches a number threshold, at least part of the moving sub-components that have not reached the task trigger mark are set as non-execution subjects, and the non-execution subjects are prevented from passing the task trigger mark.

[0026] Task trigger marks are set along the stator line. Among them, the task trigger mark can be a physical mark with an entity, or it can be a virtual mark formed by running a program. When the task trigger mark is a physical mark, the task trigger mark can be deployed on the surface or around the stator line, and the human eye can see it in the real space; when the task trigger mark is a virtual mark, the user configures the task trigger mark on the surface or around the model simulating the stator line (i.e., the stator line model) through configuration operations. The human eye cannot see it in the real space, but it can be seen in the virtual space. In addition, in order to facilitate observation, the task trigger mark can be represented by linear, circular, polygonal and other shape patterns, which are not specifically limited in this application. In an exemplary embodiment, as Figure 3 As shown, the circular pattern arranged along the stator filament 110 represents a task trigger mark.

[0027] The non-executing subject is a moving part located behind the task executing subject. The order of the moving parts is determined by the moving direction. Figure 3As shown, according to the moving direction, the third mover component 1203 is ahead of the second mover component 1202 , and the second mover component 1202 is ahead of the first mover component 1201 .

[0028] The movable sub-components that have passed the task trigger mark are set as the task execution subject, and then the number of task execution subjects is counted. When the number of task execution subjects reaches the quantity threshold (the value of the quantity threshold can be 1 or a positive integer greater than 1), at least some of the movable sub-components that have not yet reached the task trigger mark are set as non-execution subjects. Specifically, it can be: setting the first attribute information for the movable sub-components that have passed the task trigger mark, the first attribute information is used to indicate that the movable sub-component is the task execution subject, and the second attribute information can also be set for at least some of the movable sub-components that are after the task execution subject and have not yet reached the task trigger mark, the second attribute information is used to indicate that the movable sub-component is a non-execution subject. Among them, the task execution subject refers to the movable sub-component that is designated to perform a specific task, and the non-execution subject refers to the movable sub-component that is not designated to perform a specific task. The specific tasks include loading tasks, unloading tasks, processing tasks, etc.

[0029] It should be noted that multiple moving parts can be allowed to pass through the task trigger mark at a time, that is, there can be multiple task execution subjects. The specific number of moving parts allowed to pass through the task trigger mark is related to the type of task that the moving parts need to perform after passing through the task trigger mark. For example, when the moving parts need to perform a loading task, a unloading task or a processing task after passing through the task trigger mark, multiple moving parts can be allowed to pass through the task trigger mark. After passing through the task trigger mark, multiple moving parts are set as task execution subjects, so that multiple task execution subjects execute tasks synchronously, thereby improving the conveying efficiency. Among them, by presetting a quantity threshold for the task trigger mark, when the number of task execution subjects that pass through the task trigger mark at a single time exceeds the quantity threshold, the moving parts after the last task execution subject that passes through are set as non-execution subjects, thereby limiting the number of moving parts that are allowed to pass through the task trigger mark at a single time, and preventing subsequent moving parts from passing through the task trigger mark. Among them, according to actual conditions, "not exceeding" in the embodiment of the present application can be understood as less than or less than or equal to, and accordingly, "exceeding" can be understood as greater than or equal to or greater than, and the embodiment of the present application does not make specific restrictions on this.

[0030] Optionally, when there are multiple moving sub-components behind the task execution subject, the non-execution subject may be at least part of the moving sub-components located between the task execution subject and the starting point along the moving direction, such as Figure 3As shown, according to the moving direction, the third mover component 1203 is set as the task execution subject after passing the task trigger mark 1301, and the third mover component 1203 is correspondingly provided with first attribute information, which is used to indicate that the third mover component 1203 is the task execution subject; the second mover component 1202 and / or the first mover component 1201 located after the third mover component 1203 can be set as a non-execution subject, and the second mover component 1202 and / or the first mover component 1201 are correspondingly provided with second attribute information, which is used to indicate that the second mover component 1202 and / or the first mover component 1201 are non-execution subjects.

[0031] It is understandable that the starting points of the various moving parts may be the same or different. Taking the starting position of the moving parts after power-on as the starting point, if the starting positions of the moving parts after power-on are different, then the starting points of the moving parts may be different; if the moving parts move to a designated position in turn and wait for departure, then the starting points of the moving parts may be the same.

[0032] During the period when multiple moving parts are moving along the stator line, the position information of each moving part is obtained in real time. The movement of each moving part can be located through the position information, so as to determine whether there is a moving part that has passed the task trigger mark. If it is determined according to the position information of each moving part that there is a moving part that has passed the task trigger mark among multiple moving parts, the moving part that has passed the task trigger mark is set as the task execution subject, and when the number of task execution subjects reaches the number threshold, at least part of the moving parts that have not reached the task trigger mark is set as a non-execution subject, and the non-execution subject is prevented from passing the task trigger mark. Among them, the task execution subject can perform a turning task after passing the task trigger mark, a task waiting for the position information to be bound to the identification information, a task of space transfer through a movable stator part, a task cooperating with an external operating device, etc.

[0033] like Figure 3 As shown, according to the position information of the first mover component 1201 to the third mover component 1203, after determining that the third mover component 1203 has passed the task trigger mark 1301, the third mover component 1203 is set as the task execution subject, and the number of task execution subjects is 1. For example, the quantity threshold is 1, then the first mover component 1201 and the second mover component 1202 after the third mover component 1203 are set as non-execution subjects, thereby preventing the first mover component 1201 and the second mover component 1202 from passing the task trigger mark 1301.

[0034] The embodiment of the present application adopts a technical solution of setting a task trigger mark on the stator line of the linear motor equipment, and based on the position information of each movable component, setting the movable component that has passed the task trigger mark in each movable component as the task execution subject. When it is detected that the number of task execution subjects reaches the quantity threshold, at least part of the movable components that have not yet reached the task trigger mark in each movable component are set as non-execution subjects, and preventing the non-execution subjects from passing the task trigger mark. By controlling the movement of each movable component through the task trigger mark, it is possible to simplify the movement control logic of the movable component, reduce the amount of data processing, reduce the difficulty of movement control of the movable component, improve the accuracy of movement control of the movable component, ensure that the movable component can move correctly along the stator line in an orderly and efficient manner, and reduce the transportation risk.

[0035] It is understandable that the stator body includes at least one stator component, and the stator body may also include other components, such as a circuit board, a guide rail, a base, etc., and the mover component may also include other components, such as a circuit board, a guide, a support, etc. For example, Figure 4 The schematic diagram of assembling a single stator component and a single mover component provided in the embodiment of the present application is shown. The stator component 1101 and the first mover component 1201 can be assembled according to Figure 4 Assemble in the manner described in .

[0036] In one possible implementation, the present application sets a task end mark along the stator line. The task end mark can be a physical mark with an entity, or it can be a virtual mark formed by program running. The specific setting of the task end mark can refer to the specific setting of the above-mentioned task trigger mark, and this application will not go into details.

[0037] Figure 5 Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown. Figure 5 As shown, the circular pattern located on the right side of the task trigger mark 1301 arranged along the stator line body 110 represents the task end mark, and there is a gap between the task trigger mark 1301 and the task end mark 1302.

[0038] In a possible implementation, the motor control method further includes the following steps: S1401: If there are multiple task end markers, control the task execution body to move between the task trigger marker and the task end marker, so that there is at least one moving sub-component between the task trigger marker and the first task end marker and between two adjacent task end markers.

[0039] The number of task trigger markers is one, the number of task end markers is multiple, there is a spacing between the task trigger marker and the task end marker, and there is a spacing between the multiple task end markers. Figure 6Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown, such as Figure 5 and Figure 6 As shown, a task trigger mark 1301 and three task end marks (such as Figure 6 As shown, they are the first task end marker 13021, the second task end marker 13022 and the third task end marker 13023 respectively). The spacing between the task trigger marker 1301 and the first task end marker 13021 can accommodate at least one movable sub-component, the spacing between the first task end marker 13021 and the second task end marker 13022 can accommodate at least one movable sub-component, and the spacing between the second task end marker 13022 and the third task end marker 13023 can accommodate at least one movable sub-component.

[0040] When there are multiple task end marks, the task execution subject is controlled to move between the task trigger mark and the task end mark so that there is at least one movable component between the task trigger mark and the first task end mark and between two adjacent task end marks, thereby avoiding interference of other movable components on the task execution subject, ensuring that the task execution subject safely completes the task between the task trigger mark and the first task end mark and between two adjacent task end marks, which is conducive to improving the execution efficiency of the task.

[0041] In a possible implementation, the motor control method further includes at least one of the following steps: S1402: If the number of task end marks is one, after determining that the task execution subject has passed the task end mark based on the position information of each movable component, the setting of the movable component as the task execution subject is released; S1403: If there are multiple task end marks, based on the position information of each movable component, determine that the task execution subject passes the last task end mark, and then release the setting of the movable component as the task execution subject.

[0042] For S1401, Figure 5As shown, if the number of task trigger marks and task end marks are both one, the third mover component 1203 is set as the task execution subject. After determining that the third mover component 1203 (task execution subject) has passed the task end mark 1302 according to the position information of the first mover component 1201 to the third mover component 1203, the setting of the third mover component 1203 as the task execution subject is released. Specifically, after the third mover component 1203 passes the task end mark 1302, the first attribute information corresponding to the third mover component 1203 is cleared, so that the third mover component 1203 is no longer used as the task execution subject, thereby restoring the control of the third mover component 1203 before it was set as the task execution subject, so that the third mover component 1203 no longer participates in the execution of a specific task, and realizes the rapid release of the mover component that has completed the task, which is conducive to improving the conveying efficiency.

[0043] For S1402, Figure 3 As shown, if the number of task trigger marks is one and the number of task end marks is multiple, the third mover component 1203 is set as the task execution subject, the first task end mark 13021 is the first task end mark, the second task end mark 13022 is the second task end mark, and the third task end mark 13023 is the third task end mark (i.e., the last task end mark). After determining that the third mover component 1203 (task execution subject) has passed the last third task end mark 13023 according to the position information of the first mover component 1201 to the third mover component 1203, the setting of the third mover component 1203 as the task execution subject is released, thereby restoring the control of the third mover component 1203 before being set as the task execution subject, so that the third mover component 1203 no longer participates in the execution of a specific task, and the mover component that has completed the task is quickly released, which is conducive to improving the conveying efficiency.

[0044] In a possible implementation, the motor control method further includes at least one of the following steps: S1501: after releasing the setting of the moving component as the task execution subject, allowing the non-execution subject to pass the task trigger mark, and setting the non-execution subject that has passed the task trigger mark as the new task execution subject; S1502: After canceling the setting of the mover component as the task execution subject, cancel the setting of the mover component as the non-execution subject.

[0045] In an exemplary embodiment, task execution entities and non-execution entities in a plurality of movable components are dynamically adjusted.

[0046] For S1501, Figure 7Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown. Figure 7 As shown, the time T1 is before the time T2. For example, at the time T1, the third mover component 1203 is set as the task execution subject, and the first mover component 1201 and the second mover component 1202 are set as non-execution subjects. At the time T2, the third mover component 1203 passes the task end mark 1302, then the setting of the third mover component 1203 as the task execution subject is released, and then the second mover component 1202 as the non-execution subject is allowed to pass the task trigger mark 1301. After the second mover component 1202 passes the task trigger mark 1301, the second mover component 1202 as the non-execution subject is set as the new task execution subject, that is, the second mover component 1202 is set as the task execution subject (the second mover component 1202 is set with the first attribute information), and the third mover component 1203 is no longer the task execution subject. Alternatively, the second mover component 1202 and the first mover component 1201 as non-executing subjects are allowed to pass the task trigger mark 1301. After the second mover component 1202 and the first mover component 1201 pass the task trigger mark 1301, the second mover component 1202 and the first mover component 1201 as non-executing subjects are set as new task execution subjects, that is, the second mover component 1202 and the first mover component 1201 are set as task execution subjects (the second mover component 1202 and the first mover component 1201 are set with the first attribute information), and the third mover component 1203 is no longer a task execution subject. The time when the second mover component 1202 is set as the new task execution subject is earlier than the time when the first mover component 1201 is set as the new task execution subject.

[0047] By allowing non-executing entities to pass the task trigger mark after releasing the setting of the movable component as the task execution entity, and setting the non-executing entity that has passed the task trigger mark as the new task execution entity, it is possible to ensure seamless connection between tasks, reduce idle time, and help improve task execution efficiency and transportation efficiency.

[0048] For S1502, Figure 7As shown, for example, at time T1, the third mover component 1203 is set as the task execution subject, and the first mover component 1201 and the second mover component 1202 are set as non-execution subjects. At time T2, the third mover component 1203 passes the task end mark 1302, then the setting of the third mover component 1203 as the task execution subject is released, and the second attribute information of the first mover component 1201 and the second mover component 1202 is cleared at the same time, so as to release the setting of the first mover component 1201 and the second mover component 1202 as non-execution subjects, thereby restoring the control before the third mover component 1203 is set as the task execution subject, so that the third mover component 1203 no longer participates in the execution of a specific task, and restoring the control before the first mover component 1201 and the second mover component 1202 are set as non-execution subjects, ensuring that the mover component that is no longer the task execution subject and the mover component that is no longer the non-execution subject can be reallocated at any time, which is conducive to improving the task execution efficiency and the transmission efficiency.

[0049] In a possible implementation, when there are multiple task end markers, allowing a non-executable subject to pass through the task trigger marker includes at least one of the following steps: S15011: After the last task execution subject passes the last task end mark, the non-execution subject is allowed to pass the task trigger mark; S15012: After the last task execution subject passes the specified task end mark, non-execution subjects are allowed to pass the task trigger mark.

[0050] For S15011, Figure 6 As shown, the task end mark 1302 includes the first task end marks 13021-13023. Assume that the third mover component 1203 is the task execution subject, the first mover component 1201 and the second mover component 1202 are non-execution subjects, and there is a task execution subject between the second task end mark 13022 and the third task end mark 13023, namely, the third mover component 1203, and the third mover component 1203 is the last task execution subject that passes through the task trigger mark 1301 this time ( Figure 6 The task execution subject before the third mover component 1203 is not shown in the figure), the third task end mark 13023 is the last task end mark, and non-execution subjects (such as the second mover component 1202 and the first mover component 1201) are blocked from passing through the task trigger mark 1301. After the third mover component 1203 passes through the third task end mark 13023, non-execution subjects are allowed to pass through the task trigger mark 1301.

[0051] For S15012, according to the specified rules, the specified task end marker can be at least one of the multiple task end markers, for example, the task end marker closest to the task execution subject is determined as the specified task end marker; for another example, according to the preset number of interval markers (such as the number of interval markers is 1, 2, 3, etc.), the task end marker that is separated from the task execution subject by a preset number of markers is used as the specified task end marker. Figure 6 As shown, it is assumed that there is a third moving sub-component 1203 between the task trigger mark 1301 and the first task end mark 13021. For example, the third moving sub-component 1203 is located between the task trigger mark 1301 and the first task end mark 13021, and the third moving sub-component 1203 is the last task execution subject that passes through the task trigger mark 1301 this time ( Figure 6 The task execution subject before the third mover component 1203 is not shown in the figure), the first task end mark 13021 is a designated task end mark, and after the third mover component 1203 passes the first task end mark 13021, the non-execution subject is allowed to pass the task trigger mark 1301. For another example, the third mover component 1203 is located between the first task end mark 13021 and the second task end mark 13022, the third mover component 1203 is the last task execution subject to pass the task trigger mark 1301 this time, the second task end mark 13022 is a designated task end mark, and after the third mover component 1203 passes the first task end mark 13021, the non-execution subject is still prevented from passing the task trigger mark 1301, and after the third mover component 1203 passes the second task end mark 13022, the non-execution subject is allowed to pass the task trigger mark 1301. For another example, the third mover component 1203 is located between the second task end marker 13022 and the third task end marker 13023. The third mover component 1203 is the last task execution subject that passes the task trigger marker 1301 this time. The third task end marker 13023 is the designated task end marker. After the third mover component 1203 passes the first task end marker 13021, non-execution subjects are prevented from passing through the task trigger marker 1301. After the third mover component 1203 passes the second task end marker 13022, non-execution subjects are still prevented from passing through the task trigger marker 1301. After the third mover component 1203 passes the third task end marker 13023, non-execution subjects are allowed to pass through the task trigger marker 1301.

[0052] It can be understood that when there are multiple task execution subjects, the multiple task execution subjects can move synchronously or asynchronously; when there are multiple non-execution subjects, the multiple non-execution subjects can also move synchronously or asynchronously.

[0053] In a possible implementation, the motor control method further includes at least one of the following steps: S15013: After the last task execution subject passes through the designated task end marker, if it is determined that there is a next designated task end marker, prevent the non-execution subject from passing through the nearest task end marker until the last task execution subject passes through the next designated task end marker; S15014: After the last task execution subject passes through the specified task end marker, if it is determined that there is a next specified task end marker, the task end marker passed this time is replaced with a task trigger marker to prevent non-execution subjects from passing through until the last task execution subject passes through the next specified task end marker.

[0054] For S15013, Figure 6 As shown, assuming that the third mover component 1203 moves between the task trigger mark 1301 and the first task end mark 13021, and the third mover component 1203 is the last task execution subject, the non-execution subject (such as the second mover component 1202 and the first mover component 1201) is blocked from passing through the task trigger mark 1301. According to the specified rule, the first task end mark 13021 closest to the third mover component 1203 is the first specified task end mark. After the third mover component 1203 passes through the first task end mark 13021, the second task end mark 13022 is closest to the third mover component 1203 and becomes the second specified task end mark. In this case, the non-execution subject is allowed to pass through the task trigger mark 1301, and the second mover component 1202 is blocked from passing through the first task end mark 13021, until the third mover component 1203 subsequently passes through the specified second task end mark 13022, and then the non-execution subject is allowed to pass through the first task end mark 13021.

[0055] For S15014, Figure 6As shown, for example, assuming that the third mover component 1203 is located between the task trigger mark 1301 and the first task end mark 13021, the third mover component 1203 is the last task execution subject, the first task end mark 13021 is the first designated task end mark, the second task end mark 13022 is the second designated task end mark, and the third task end mark 13023 is the third designated task end mark, and is also the last designated task end mark. When the third mover component 1203 passes the first task end mark 13021, because there is a next designated task end mark (i.e., the second task end mark 13022) after the first task end mark 13021, and there is a next designated task end mark (i.e., the third task end mark 13023) after the second task end mark 13022, the first task end mark 13021 is adjusted to a task trigger mark, that is, the function of the first task end mark 13021 has changed dynamically, and the task end mark 13023 is changed after the first task end mark 13021. After 1 is replaced with the task trigger mark, the second mover component 1202 is allowed to pass through the task trigger mark 1301, and the second mover component 1202 is prevented from passing through the adjusted first task end mark 13021 (as the task trigger mark), and so on, until the third mover component 1203 passes through the third task end mark 13023. Since the third task end mark 13023 is the last specified task end mark, the third task end mark 13023 is not adjusted, and the second mover component 1202 is allowed to pass through the third task end mark 13023.

[0056] For another example, assuming that the third movable sub-component 1203 is located between the first task end marker 13021 and the second task end marker 13022, the third movable sub-component 1203 is the last task execution entity, the first task end marker 13021 is the first designated task end marker, the second task end marker 13022 is the second designated task end marker, and the third task end marker 13023 is the third designated task end marker and is also the last designated task end marker. After the third mover component 1203 passes through the second task end marker 13022, because there is a next specified task end marker (i.e., the third task end marker 13023) after the second task end marker 13022, the second task end marker 13022 is adjusted to a task trigger marker, that is, the function of the second task end marker 13022 has changed dynamically. After the second task end marker 13022 is replaced with the task trigger marker, the second mover component 1202 is allowed to pass through the first task end marker 13021 (as a task trigger marker), and the second mover component 1202 is prevented from passing through the adjusted second task end marker 13022 (as a task trigger marker), and so on, until the third mover component 1203 passes through the third task end marker 13023. Since the third task end marker 13023 is the last specified task end marker, the third task end marker 13023 is not adjusted, and the second mover component 1202 is allowed to pass through the third task end marker 13023.

[0057] For another example, assume that the third movable sub-component 1203 is located between the second task end marker 13022 and the third task end marker 13023, the third movable sub-component 1203 is the last task execution entity, the second task end marker 13022 is the first designated task end marker, and the third task end marker 13023 is the second designated task end marker and the last designated task end marker. After the third mover component 1203 passes through the second task end marker 13022, because there is a next specified task end marker (i.e., the third task end marker 13023) after the second task end marker 13022, the second task end marker 13022 is adjusted to a task trigger marker, that is, the function of the second task end marker 13022 has changed dynamically. After the second task end marker 13022 is replaced with a task trigger marker, the second mover component 1202 is allowed to pass through the task trigger marker 1301 and the first task end marker 13021, and the second mover component 1202 is prevented from passing through the adjusted second task end marker 13022 (as a task trigger marker); when the third mover component 1203 passes through the third task end marker 13023, since the third task end marker 13023 is the last specified task end marker, the third task end marker 13023 is not adjusted, and the second mover component 1202 is allowed to pass through the third task end marker 13023.

[0058] After some task end markers are adjusted to task trigger markers, when the last task execution body passes through the last task end marker, the task end marker adjusted to the task trigger marker is initialized, and the task end marker adjusted to the task trigger marker is readjusted to the task end marker.

[0059] S15011-S15014 are respectively a specific control method for the non-executing subject after determining that the task execution subject has passed the task end mark, which not only improves the flexibility of the control of the movable component, but also effectively improves the movement efficiency of the movable component.

[0060] In a possible implementation, the motor control method further includes at least one of the following steps: After the last task execution body passes through the last specified task end marker, it will be replaced with the specified task end marker of the task trigger marker and restored to the initial task end marker.

[0061] When the number of task trigger marks is one and the number of task end marks is multiple, for the convenience of description and understanding, the task trigger mark is represented by "E" and the task trigger mark is represented by "F". It is assumed that the task trigger mark set along the stator line is task trigger mark E0, and the multiple task end marks set along the stator line are task end mark F1, task end mark F2 and task end mark F3 respectively.

[0062] When no task end mark is replaced by a task trigger mark in F1 to F3, that is, in the first state, the task trigger marks and task end marks arranged in sequence along the stator line are: task trigger mark E0, task end mark F1, task end mark F2, task end mark F3.

[0063] If the task end mark F1, task end mark F2 and task end mark F3 are all designated task end marks, combined with the relevant description of S15014, after the last task execution subject passes through the task end mark F1, task end mark F2 and task end mark F3 in sequence, the task end mark F1 is replaced with the task trigger mark E1, and the task end mark F2 is replaced with the task trigger mark E2, and the task end mark F3 is not replaced, that is, in the final state, the task trigger marks and task end marks arranged in sequence along the stator line body are: task trigger mark E0, task trigger mark E1, task trigger mark E2 and task end mark F3. After detecting that the last task execution subject passes through the last designated task end mark (i.e., task end mark F3), the designated task end mark that is replaced with the task trigger mark is restored to the initial task end mark, that is, the task trigger mark E1 is restored to the task end mark F1, and the task trigger mark E2 is restored to the task end mark F2, and the setting state of the task trigger mark and the task end mark is restored from the final state to the initial state.

[0064] If both the task end mark F1 and the task end mark F2 are designated task end marks, combined with the relevant description of S15014, after the last task execution subject passes through the task end mark F1, the task end mark F2 and the task end mark F3 in sequence, the task end mark F1 is replaced with the task trigger mark E1, and the task end mark F2 and the task end mark F3 are not replaced, that is, in the final state, the task trigger mark and the task end mark arranged in sequence along the stator line body are: task trigger mark E0, task trigger mark E1, task end mark F2 and task end mark F3. After detecting that the last task execution subject passes through the last designated task end mark (i.e., task end mark F2), the designated task end mark that will be replaced with the task trigger mark is restored to the initial task end mark, that is, the task trigger mark E1 is restored to the task end mark F1, and the setting state of the task trigger mark and the task end mark is restored from the final state to the initial state.

[0065] By replacing the designated task end marker of the task trigger marker with the designated task end marker after the last task execution subject passes through the last designated task end marker, and restoring it to the initial task end marker, flexible adjustment of the task marker is achieved, which is conducive to the cyclic management of task execution and can ensure seamless connection and efficient execution of tasks.

[0066] In a possible implementation, the motor control method further includes at least one of the following steps: S1601: Based on the size information and processing execution range information of the target component, a task trigger mark and a task end mark are set along the stator line.

[0067] Among them, the target component is the movable component that cooperates with the operating equipment to perform the processing operation next time, that is, the movable component that is closest to the task trigger mark according to the moving direction and serves as the main body of the next task execution; the size information of the target component is used to indicate the edge length of the target component along the moving direction, and the processing execution range information is used to indicate the length of the range in the moving direction of the target component when the target component and the operating equipment cooperate to perform the processing operation.

[0068] The number of target components can be one or more. According to the position information of multiple movable components and the number of movable components that are to be processed and coordinated with the processing operation equipment at a single time, one or more movable components that are to be processed and coordinated with the processing operation equipment are determined from the multiple movable components.

[0069] The edge length is determined based on the case where the moving part is loaded and the case where no object is loaded. For the case where no object is loaded, if the moving part is an irregular shape as a whole, the edge length used to determine the size information is the larger value among the multiple edge lengths of the moving part.

[0070] In the case of a load, the edge length used to determine the size information is the larger value between the edge length of the mover component body and the edge length of the load object.

[0071] The number of operating devices used for processing can be one or more, and the number of operating devices and the number of target components can be in a one-to-one correspondence or a one-to-many relationship. When there are multiple operating devices, multiple task end marks can be set to accurately control the movement range of the second mover component.

[0072] Figure 8 An exemplary schematic diagram of setting task trigger marks and task end marks along the stator line is shown. Figure 8 As shown, H1-H8 all represent objects, and T represents the moving direction of the movable sub-component. When any one of the first movable sub-component 1201, the second movable sub-component 1202, and the third movable sub-component 1203 is used as the target component, and any one of the objects H1-object H6 and object H8 is loaded, the edge length of the target component body is greater than the edge length of the object loaded by the target component, and the edge length of the size information is determined according to the edge length of the target component body. For example, if the edge length of the target component body is X1, then the edge length of the size information is X1.

[0073] When any one of the first movable sub-component 1201, the second movable sub-component 1202 and the third movable sub-component 1203 is used as the target component and loaded with the object H7, the edge length of the target component body is less than the edge length of the object H7 loaded with the target component, then the edge length of the size information is determined according to the edge length of the object H7 loaded with the target component. For example, if the edge length of the object H7 loaded with the target component is X2, then the edge length of the size information is X2, and X2 is greater than X1.

[0074] like Figure 8 As shown in the scene S11 in FIG. 1 , a task trigger mark 1301 and a task end mark 1302 are set along the stator line 110, and the moving sub-component moving along the stator line 110 includes a second moving sub-component 1202 and a third moving sub-component 1203. Figure 8In the case where all of them are one, the target component does not move during the processing, only the operating device moves, and the processing execution range is determined by the execution range of the operating device. Assuming that the processing execution range information is Y1, the target component is the third movable component 1203, and the length of the object H1 carried by the third movable component 1203 in the moving direction of the third movable component 1203 is less than the length of the third movable component 1203 body, the edge length of the size information of the third movable component 1203 is determined according to the edge length of the third movable component 1203 body, that is, the size information of the third movable component 1203 is X1, then, the distance between the task trigger mark 1301 and the task end mark 1302 is not less than Y1+X1, the task trigger mark 1301 is located outside the processing execution range and the distance from the boundary of the processing execution range is at least X1, that is, by setting the task trigger mark outside the processing execution range and the distance from the boundary of the processing execution range to at least the edge length of the target component body, when the target component passes the task trigger mark, the movement of other movable components behind the target component can be restricted as soon as possible to prevent other movable components from interfering with the target component and the processing operation equipment in the processing cooperation operation.

[0075] like Figure 8As shown in the scene S12 in FIG, a task trigger mark 1301, a first task end mark 13021, and a second task end mark 13022 are set along the stator line 110, and the moving parts moving along the stator line 110 include a first moving part 1201, a second moving part 1202, and a third moving part 1203. In the case where there are two target parts and two operating devices, the target parts do not move during the processing, only the operating device moves, and the processing execution range is determined by the execution range of the operating device. Assume that the two processing execution range information are both Y1, and a safety area A is reserved in advance between the two processing execution ranges to avoid collisions. The target parts are the second moving part 1202 and the third moving part 1203. The length of the object H3 carried by the third mover component 1203 in the moving direction of the third mover component 1203 is equal to the length of the object H4 carried by the second mover component 1202 in the moving direction of the second mover component 1202, the length of the third mover component 1203 body is equal to the length of the second mover component 1202 body, and the length of the object H3 carried by the third mover component 1203 in the moving direction of the third mover component 1203 is less than the length of the third mover component 1203 body. Then, according to the edge length of the third mover component 1203 body, the edge length of the size information of the third mover component 1203 is determined. degree, or the edge length of the dimension information of the second movable sub-component 1202 is determined according to the edge length of the second movable sub-component 1202 body, that is, the dimension information of the second movable sub-component 1202 and the dimension information of the third movable sub-component 1203 are both X1, then, the distance between the task trigger mark 1301 and the first task end mark 13021 is not less than Y1+X1, the task trigger mark 1301 is located outside the processing execution range and the distance from the boundary of the first processing execution range is at least X1, and the distance between the first task end mark 13021 and the second task end mark 13022 is not less than Y1. Among them, the first task end mark 13021 can be located at the end boundary of the first processing execution range, the starting boundary of the second processing execution range, or the safe area A between the two.

[0076] By setting the task trigger mark to be outside the processing execution range and at a distance from the boundary of the first processing execution range of at least the edge length of the target component body, when the target component passes the task trigger mark, the movement of other movable components behind the target component can be restricted as soon as possible to prevent other movable components from interfering with the processing cooperation operation of the target component and the processing operation equipment. In addition, by setting the spacing between the first task end mark and the second task end mark to be not less than the processing execution range information, the processing interruption or overlap caused by the insufficient spacing between the first task end mark and the second task end mark can be avoided, which can ensure the integrity and continuity of the processing and is conducive to improving the processing efficiency and transportation efficiency.

[0077] like Figure 8 As shown in the scene S13 in FIG, a task trigger mark 1301, a first task end mark 13021, and a second task end mark 13022 are set along the stator line 110, and the moving sub-components moving along the stator line 110 include a first moving sub-component 1201, a second moving sub-component 1202, and a third moving sub-component 1203. In the case where there are two target components and two operating devices, both the target components and the operating devices move during the processing, and the processing execution range is jointly determined by the moving range of the target component and the execution range of the operating device. Assume that the two processing execution range information are Y1 and Y2 respectively, and a safety area A is reserved between the two processing execution ranges to avoid collision. The target components are the second movable component 1202 and the third movable component 1203. The third movable component 1203 is regarded as the first target component, and the second movable component 1202 is regarded as the second target component. The length of the object H6 carried by the third movable component 1203 in the moving direction of the third movable component 1203 is less than the length of the object H7 carried by the second movable component 1202 in the moving direction of the second movable component 1202. The length of the third movable component 1203 body is equal to the length of the second movable component 1202 body. The length of the object H6 carried by the third movable component 1203 in the moving direction of the third movable component 1203 is less than the length of the third movable component 1203 body. The object H7 carried by the second movable component 1202 is in the first If the length of the second moving part 1202 in the moving direction is greater than the length of the second moving part 1202 body, the edge length of the dimension information of the third moving part 1203 is determined according to the length of the third moving part 1203 body, that is, the dimension information of the third moving part 1203 is X1; the edge length of the dimension information of the second moving part 1202 is determined according to the length of the object H7 carried by the second moving part 1202 in the moving direction of the second moving part 1202, that is, the dimension information of the second moving part 1202 is X2, then, the distance between the task trigger mark 1301 and the first task end mark 13021 is not less than Y2+X2, the task trigger mark 1301 is located outside the processing execution range and the distance from the boundary of the first processing execution range is at least X2, and the distance between the first task end mark 13021 and the second task end mark 13022 is not less than Y1. Among them, the first task end mark 13021 can be located at the end boundary of the first processing execution range, the start boundary of the second processing execution range, or the safety area A between the two.

[0078] By setting the task trigger mark to be outside the processing execution range and at a distance from the boundary of the first processing execution range of at least the edge length of the second target component body, when the second target component passes the task trigger mark, the movement of other movable components behind the second target component can be restricted as soon as possible to prevent other movable components from interfering with the processing cooperation operation of the second target component and the processing operation equipment. In addition, by setting the processing execution range information that the spacing between the first task end mark and the second task end mark is not less than the spacing between the first task end mark and the second task end mark, the processing interruption or overlap caused by the insufficient spacing between the first task end mark and the second task end mark can be avoided, which can ensure the integrity and continuity of the processing and is conducive to improving the processing efficiency and the conveying efficiency.

[0079] It can be understood that the task trigger mark and the task end mark, and the task execution subject between the two task end marks can move or stay according to the running trajectory and operation status of the operating device, so as to cooperate with the operating device to complete the processing operation task. The embodiment of the present application does not impose specific restrictions on this.

[0080] Based on S1601, the task trigger mark and the task end mark are set along the stator line body through the size information and processing execution range information of the target component, which can reduce the risk of collision between the task execution subject and the non-execution subject and improve the safety of the movement of the moving component.

[0081] S1602: According to the scanning range of the scanning device, a task trigger mark and a task end mark are set along the stator line.

[0082] The scanning device is used to obtain the device identification of the moving parts. Figure 8 As shown in the scene S2 in , 200 represents a scanning device (such as a barcode scanner), 201 represents the scanning range of the scanning device, and the spacing △X between the task trigger mark 1301 and the task end mark 1302 is determined according to the maximum width L1 of the scanning range of the scanning device in the horizontal direction, where △X exceeds L1, and the task trigger mark 1301 and the task end mark 1302 are set to be located on both sides of the scanning range of the scanning device, that is, the area formed by the task trigger mark 1301 and the task end mark 1302 includes the scanning range of the scanning device, thereby preventing the scanning device from scanning the moving sub-components outside the area between the task trigger mark 1301 and the task end mark 1302. It can be understood that the task execution subject between the task trigger mark 1301 and the task end mark 1302 can move or stay according to the scanning range, so that the scanning device can recognize the identification information of the task execution subject.

[0083] By setting the task trigger mark and the task end mark on the stator line according to the scanning range of the scanning device, it can be ensured that the scanning device accurately scans the moving parts in the area between the task trigger mark and the task end mark, and avoids the moving parts outside the area between the task trigger mark and the task end mark from interfering with the scanning work of the scanning device, which is conducive to improving the scanning efficiency. Before the linear motor device cooperates with the external device, the identification information of the moving parts located between the task trigger mark and the task end mark is scanned by the scanning device, and it is not necessary to bind the scanned identification information of the moving parts with the collected status information according to the specified patrol order during the operation of the linear motor device, which is conducive to reducing the data processing volume of the linear motor device; for the scenario where the identification information of the moving parts is lost (such as the linear motor device restarts due to a fault), the moving parts can be moved to the area between the specified task trigger mark and the task end mark by specifying the task trigger mark and the task end mark, so as to use the scanning device to re-scan the identification information of the moving parts located between the specified task trigger mark and the task end mark, so as to ensure that the historical information of the moving parts is not lost.

[0084] S1603: Setting a task trigger mark and a task end mark along the stator wire body according to the maximum outer diameter of the clamping component in the open state, wherein the clamping component is arranged around the stator wire body.

[0085] like Figure 8 As shown in the scene S3 in , 300 represents a clamping component (such as a mechanical claw clamp), and the position of the task trigger mark 1301 and the position of the task end mark 1302 are determined according to the maximum outer diameter L2 of the clamping component in the open state, wherein the task trigger mark is located on the outside of the clamping component in the open state, that is, when the clamping component in the open state projects onto the task trigger mark, the task trigger mark is located outside the projection range of the clamping component, thereby ensuring that the non-executing subject will not collide with the clamping component in the open state. The task end mark can be located on the inside or outside of the open state, that is, when the clamping component in the open state projects onto the task end mark, the task end mark is located inside or outside the projection range of the clamping component. As long as it is ensured that the task execution subject has not moved to the task end mark when the clamping component and the task execution subject perform an object handover, the embodiment of the present application does not impose specific restrictions on the position of the task end mark.

[0086] Alternatively, if Figure 8As shown in the scene S3 in , 300 represents a clamping component (such as a mechanical claw clamp). According to the maximum outer diameter L2 of the clamping component in the open state, the distance △X between the task trigger mark 1301 and the task end mark 1302 exceeds L2, and the task trigger mark 1301 and the task end mark 1302 are located on the outside of the clamping component in the open state, that is, the area formed by the task trigger mark 1301 and the task end mark 1302 includes the clamping component in the open state. In the area where the task execution subject is located between the task trigger mark 1301 and the task end mark 1302, the non-execution subject is located outside the area between the task trigger mark 1301 and the task end mark 1302. Since △X exceeds L2, when the clamping component exchanges objects with the task execution subject, it will not touch the non-execution subject, thereby avoiding collision between the clamping component and the non-execution subject.

[0087] By setting the task trigger mark and the task end mark on the stator wire body according to the maximum outer diameter of the clamping component in the open state, it can be ensured that the clamping component can accurately process the object loaded on the movable component in the area between the task trigger mark and the task end mark, avoiding the clamping component from colliding with the movable component in the area outside the area between the task trigger mark and the task end mark to affect the processing progress, which is beneficial to improving the processing efficiency.

[0088] The following is a detailed description of a linear motor device provided in an embodiment of the present application.

[0089] Fig. 9 A structural block diagram of a linear motor device provided in an embodiment of the present application is shown. Figure 3 and Fig. 9 As shown, the linear motor device 100 includes a stator wire body 110, a movable component 120 for loading objects, and a control device 130. The movable component has multiple parts. The control device 130 controls the stator wire body 110 so that the stator wire body 110 drives the movable component to move along the stator wire body 110. Figure 3 Some mover components are shown, namely, a first mover component 1201 , a second mover component 1202 and a third mover component 1203 , and the direction indicated by the arrow is the moving direction of the mover component.

[0090] The control device is used to obtain the position information of each movable component, and based on the position information of each movable component, set the movable component that has passed the task trigger mark as the task execution subject. When the number of task execution subjects reaches a quantity threshold, at least some of the movable components that have not yet reached the task trigger mark are set as non-execution subjects, and the non-execution subjects are prevented from passing the task trigger mark; wherein the task trigger mark is set along the stator line.

[0091] The linear motor device provided in the embodiment of the present application belongs to the same concept as the above-mentioned motor control method embodiment. Therefore, for the detailed description not disclosed in the embodiment of the linear motor device, reference can be made to the description of the relevant embodiment of the above-mentioned motor control method, which will not be repeated here.

[0092] The embodiment of the present application adopts a technical solution of setting a task trigger mark on the stator line of the linear motor equipment, and based on the position information of each movable component, setting the movable component that has passed the task trigger mark in each movable component as the task execution subject. When it is detected that the number of task execution subjects reaches the quantity threshold, at least part of the movable components that have not yet reached the task trigger mark in each movable component are set as non-execution subjects, and preventing the non-execution subjects from passing the task trigger mark. By controlling the movement of each movable component through the task trigger mark, it is possible to simplify the movement control logic of the movable component, reduce the amount of data processing, reduce the difficulty of movement control of the movable component, improve the accuracy of movement control of the movable component, ensure that the movable component can move correctly along the stator line in an orderly and efficient manner, and reduce the transportation risk.

[0093] The following is a detailed description of an automated conveying system provided in an embodiment of the present application.

[0094] Fig.10 A structural diagram of an automated conveying system provided in an embodiment of the present application is shown. Figure 3 and Fig.10 As shown, the automated conveying system 600 includes a linear motor device 100, a display device 400 and a control device 500. The linear motor device 100 includes a stator wire body 110 and a movable component 120 for loading objects. The movable component has multiple parts. The control device 500 controls the stator wire body 110 so that the stator wire body 110 drives the movable component to move along the stator wire body 110. Figure 3 Some mover components are shown, namely, a first mover component 1201 , a second mover component 1202 and a third mover component 1203 , and the direction indicated by the arrow is the moving direction of the mover component.

[0095] The display device is used to display the simulation interface, which includes a movable component model, a stator line model, and task trigger marks distributed along the stator line model; wherein the movable component model is a digital reproduction and display of the movable component in the real space in the simulation interface, that is, the movable component model is used to simulate the movable component; the stator line model is a digital reproduction and display of the stator line in the real space in the simulation interface, that is, the stator line model is used to simulate the stator line.

[0096] The shape, quantity and other information of the moving parts in the real space correspond to the moving parts model in the simulation interface, and the shape, quantity and other information of the stator line in the real space correspond to the moving parts model in the simulation interface. Figure 3 As shown in the figure, assuming that there are three movable parts and one stator line, then the movable part models include three and the stator line model includes one. The task trigger marks distributed along the stator line are virtual marks that cannot be seen by human eyes in real space, but can be seen in the simulation interface.

[0097] The control device is used to obtain the position information of each movable component, and based on the position information of each movable component, set the movable component that has passed the task trigger mark as the task execution subject; when the number of task execution subjects reaches a quantity threshold, at least some of the movable components that have not yet reached the task trigger mark are set as non-execution subjects, and the non-execution subjects are prevented from passing the task trigger mark.

[0098] The automated conveying system provided in the embodiment of the present application belongs to the same concept as the above-mentioned motor control method embodiment. Therefore, for the detailed description not disclosed in the embodiment of the automated conveying system, reference can be made to the description of the relevant embodiment of the above-mentioned motor control method, which will not be repeated here.

[0099] The embodiment of the present application adopts a technical solution of setting a task trigger mark on the stator line of the linear motor equipment, and based on the position information of each movable component, setting the movable component that has passed the task trigger mark in each movable component as the task execution subject. When it is detected that the number of task execution subjects reaches the quantity threshold, at least part of the movable components that have not yet reached the task trigger mark in each movable component are set as non-execution subjects, and preventing the non-execution subjects from passing the task trigger mark. On the one hand, by controlling the movement of each movable component through the task trigger mark, it is possible to simplify the movement control logic of the movable component, reduce the amount of data processing, reduce the difficulty of movement control of the movable component, improve the accuracy of movement control of the movable component, ensure that the movable component can move correctly along the stator line in an orderly and efficient manner, and reduce the transportation risk. On the other hand, by displaying the stator line model that simulates the stator line in the simulation interface of the display device and setting task trigger marks along the stator line model, it can be seen that the task trigger marks distributed on the stator line model are virtual marks and are not solidified on the actual stator line. Using the simulation interface provided by the display device, the user can directly add, delete or move the task trigger marks on the interface. This intuitive operation method makes it very easy to modify the task trigger marks. The task trigger marks can be adjusted without stopping the machine, making the adjustment of the task trigger marks more intuitive, flexible and efficient, which is conducive to improving the transportation efficiency of the automated conveying system.

[0100] Fig.11A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown. Fig.11 As shown, the electronic device 700 includes: a memory 701 and a processor 702, wherein the memory 701 stores an executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform a motor control method.

[0101] In this embodiment, the electronic device can be divided into functional modules according to the above method example. For example, each functional module can be corresponded to, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0102] The electronic device provided in this embodiment is used to execute the above-mentioned motor control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0103] This embodiment further provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a motor control method in the above-mentioned embodiment.

[0104] This embodiment further provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a motor control method in the above-mentioned embodiment.

[0105] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0106] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0107] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A motor control method, characterized in that: Applied to a linear motor device, the linear motor device comprises a stator wire body and a plurality of mover components for loading objects; The motor control method comprises: Acquiring position information of each of the movable components; Based on the position information of each of the moving parts, the moving parts passing the task trigger mark are set as the task execution subject, wherein the task trigger mark is set along the stator line; When the number of the task execution subjects reaches a number threshold, at least part of the moving sub-components that have not reached the task trigger mark are set as non-execution subjects, and the non-execution subjects are prevented from passing through the task trigger mark.

2. The motor control method according to claim 1, characterized in that: The motor control method further includes: If there are multiple task end marks, the task execution body is controlled to move between the task trigger mark and the task end mark so that there is at least one movable component between the task trigger mark and the first task end mark and between two adjacent task end marks, wherein the task end mark is arranged along the stator line body, there is a spacing between the task trigger mark and the task end mark, and there is a spacing between multiple task end marks.

3. The motor control method according to claim 1, characterized in that: The motor control method further includes at least one of the following: If the number of task end marks is one, after determining that the task execution subject has passed the task end mark based on the position information of each of the movable components, the setting of the movable component as the task execution subject is released, wherein the task end mark is set along the stator line, and there is a gap between the task trigger mark and the task end mark; If there are multiple task end marks, based on the position information of each movable component, it is determined that after the task execution subject passes the last task end mark, the movable component is released as the task execution subject, wherein there is a spacing between the multiple task end marks.

4. The motor control method according to claim 2 or 3, characterized in that: The motor control method further includes at least one of the following: After releasing the setting of the moving part as the task execution subject, allowing the non-execution subject to pass through the task trigger mark, and setting the non-execution subject that has passed through the task trigger mark as a new task execution subject; After releasing the setting of the movable component as the task execution subject, releasing the setting of the movable component as the non-execution subject.

5. The motor control method according to claim 4, characterized in that: In the case where there are multiple task end markers, allowing the non-executing subject to pass through the task trigger marker includes at least one of the following: After the last task execution subject passes the last task end mark, the non-execution subject is allowed to pass the task trigger mark; After the last task execution subject passes through the designated task end mark, the non-execution subject is allowed to pass through the task trigger mark.

6. The motor control method according to claim 5, characterized in that: The motor control method further includes at least one of the following: After the last task execution subject passes through the designated task end marker, if it is determined that there is a next designated task end marker, the non-execution subject is prevented from passing through the nearest task end marker until the last task execution subject passes through the next designated task end marker; After the last task execution subject passes through the specified task end marker, if it is determined that there is a next specified task end marker, the task end marker passed this time is replaced with the task trigger marker to prevent the non-execution subject from passing until the last task execution subject passes through the next specified task end marker.

7. The motor control method according to claim 6, characterized in that: The motor control method further includes: After the last task execution body passes through the last specified task end marker, it will be replaced with the specified task end marker of the task trigger marker and restored to the initial task end marker.

8. The motor control method according to claim 2 or 3, characterized in that: The motor control method further includes at least one of the following: The task trigger mark and the task end mark are set along the stator line based on the size information and the processing execution range information of the target component, wherein the target component is a movable component that cooperates with the operating device for processing operation next time, the size information of the target component is used to indicate the edge length of the target component along the moving direction, and the processing execution range information is used to indicate the length of the range when the target component and the operating device cooperate to perform the processing operation in the moving direction of the target component; According to the scanning range of the scanning device, the task trigger mark and the task end mark are set along the stator line, wherein the scanning device is used to obtain the device identification of the moving part; The task trigger mark and the task end mark are set along the stator wire body according to the maximum outer diameter of the clamping component in the open state, wherein the clamping component is arranged around the stator wire body.

9. A linear motor device, characterized in that: The linear motor device comprises: a control device, a stator line body and a plurality of mover components for loading objects; The control device is used to obtain the position information of each of the movable components, and based on the position information of each of the movable components, set the movable components that have passed the task trigger mark as the task execution subject, and when the number of the task execution subjects reaches a quantity threshold, set at least some of the movable components that have not yet reached the task trigger mark as non-execution subjects, and prevent the non-execution subjects from passing the task trigger mark; wherein, the task trigger mark is set along the stator line.

10. An automated conveying system, characterized in that: The automated conveying system comprises: A linear motor device includes a stator line body and a plurality of mover components for carrying an object; A display device, used for displaying a simulation interface, wherein the simulation interface includes a mover component model, a stator line model, and task trigger marks distributed along the stator line model; wherein the mover component model is used to simulate the mover component, and the stator line model is used to simulate the stator line; A control device is used to obtain the position information of each of the movable components, and based on the position information of each of the movable components, set the movable components that have passed the task trigger mark as the task execution subject; when the number of the task execution subjects reaches a quantity threshold, set at least some of the movable components that have not yet reached the task trigger mark as non-execution subjects, and prevent the non-execution subjects from passing the task trigger mark.

11. An electronic device, characterized in that: The electronic device comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the electronic device executes the motor control method as described in any one of claims 1 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the motor control method according to any one of claims 1 to 8 is implemented.

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