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

Abstract

The present application provides a motor control method, a linear motor device, an automated conveying system, an electronic device, and a computer-readable storage medium, relating to the field of automated conveying. The method includes: obtaining the position information of each mover component; based on the position information of each mover component, setting the mover component marked by a task trigger as the task execution subject, wherein the task trigger is arranged along the stator line; when the number of task execution subjects reaches a number threshold, setting at least some of the mover components that have not reached the task trigger as non-execution subjects, and preventing the non-execution subjects from passing through the task trigger. The present application can ensure a safe distance between each mover component in the automated conveying system, avoid collisions between mover components, and is beneficial to improving the reliability and conveying efficiency of the system.

Description

Technical Field

[0001] This 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] The linear motor device adopts an electromagnetic drive method. Compared with traditional mechanical transmission devices, the linear motor device has advantages such as no friction, high precision, high-speed response, and low maintenance cost. These characteristics enable the linear motor device to be gradually popularized and used in various automated production scenarios as an advanced conveying device.

[0003] In the linear motor device, one or more mover components move along the stator body under the action of electromagnetic force. With the increase of production requirements, the movement control of the mover components gradually becomes complicated, resulting in an increase in the probability of incorrect movement of the mover components, thereby increasing the conveying risk.

[0004] Therefore, how to reduce the conveying risk caused by the incorrect movement of the mover components has become an urgent problem to be solved. Summary of the Invention

[0005] The embodiments of this application provide a motor control method, a linear motor device, an automated conveying system, an electronic device, and a computer-readable storage medium. This application can simplify the movement control logic for the control of the mover components, reduce the amount of data processing, reduce the difficulty of moving control for the mover components, be conducive to improving the accuracy of the movement control for the mover components, ensure that the mover components can move correctly along the stator body orderly and efficiently, and reduce the conveying risk.

[0006] In a first aspect, a motor control method is provided. The motor control method includes: being applied to a linear motor device, the linear motor device including a stator body and a plurality of mover components for loading objects; the motor control method includes: obtaining the position information of each mover component; based on the position information of each mover component, setting the mover component marked by a task trigger as a task execution subject, where the task trigger is set along the stator body; when the number of task execution subjects reaches a number threshold, setting at least some of the mover components that have not reached the task trigger as non-execution subjects, and preventing the non-execution subjects from passing through the task trigger.

[0007] Based on the above description, the embodiment of the present application adopts the technical solution of setting task trigger marks on the stator wire body of the linear motor device. Based on the position information of each mover component, the mover component that passes through the task trigger mark among each mover component is set as the task execution entity. When the number of task execution entities reaches the quantity threshold, at least some of the mover components that have not reached the task trigger mark among each mover component are set as non-execution entities, and the non-execution entities are prevented from passing through the task trigger mark. By controlling the movement of each mover component through the task trigger mark, it is possible to simplify the movement control logic of the mover components, reduce the amount of data processing, lower the difficulty of controlling the movement of the mover components, improve the accuracy of controlling the movement of the mover components, ensure that the mover components can move correctly along the stator wire body orderly and efficiently, and reduce the conveying risk.

[0008] In a second aspect, a linear motor device is provided. The linear motor device includes: a control device, a stator wire body, and a plurality of mover components for loading objects;

[0009] The control device is configured to obtain the position information of each mover component, and based on the position information of each mover component, set the mover component that passes through the task trigger mark as the task execution entity. When the number of task execution entities reaches the quantity threshold, set at least some of the mover components that have not reached the task trigger mark as non-execution entities, and prevent the non-execution entities from passing through the task trigger mark; wherein, the task trigger mark is arranged along the stator wire body.

[0010] In a third aspect, an automated conveying system is provided. The automated conveying system includes:

[0011] A linear motor device, including a stator wire body and a plurality of mover components for loading objects;

[0012] A display device for displaying a simulation interface. The simulation interface includes a mover component model, a stator wire body model, and task trigger marks distributed along the stator wire body model; wherein, the mover component model is used to simulate the mover component, and the stator wire body model is used to simulate the stator wire body;

[0013] A control device for obtaining the position information of each mover component, and based on the position information of each mover component, setting the mover component that passes through the task trigger mark as the task execution entity. When the number of task execution entities reaches the quantity threshold, setting at least some of the mover components that have not reached the task trigger mark as non-execution entities, and preventing the non-execution entities from passing through the task trigger mark.

[0014] Fourthly, an electronic device is provided, including a memory and a processor. The memory is used to store executable program codes, and the processor is used to call and run the executable program codes from the memory, so that the electronic device executes the motor control method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0015] Fifthly, a computer program product is provided, which includes: computer program codes. When the computer program codes run on a computer, the computer is enabled to execute the motor control method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0016] Sixthly, a computer-readable storage medium is provided. The computer-readable storage medium stores computer program codes. When the computer program codes run on a computer, the computer is enabled to execute the motor control method in the above-mentioned first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0017] Figure 1 A schematic diagram of a scenario where a mover component cooperates with an external operating device in the related art is shown;

[0018] Figure 2 A schematic flowchart of a motor control method provided by an embodiment of the present application is shown;

[0019] Figure 3 An exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown;

[0020] Figure 4 An assembly schematic diagram of a single stator component and a single mover component provided by an embodiment of the present application is shown;

[0021] Figure 5 Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown;

[0022] Figure 6 Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown;

[0023] Figure 7 Another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown;

[0024] Figure 8 An exemplary schematic diagram of setting a task trigger mark and a task end mark along a stator line is shown;

[0025] Figure 9 A structural block diagram of a linear motor device provided by an embodiment of the present application is shown;

[0026] Figure 10 Shows the structural diagram of an automated conveying system provided by an embodiment of the present application;

[0027] Figure 11 Shows the structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0028] Explanation of reference numerals:

[0029] 100 - Linear motor device, 110 - Stator line body, 1101 - Stator component, 120 - Rotor component, 1201 - First rotor component, 1202 - Second rotor component, 1203 - Third rotor 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 the scanning device, 300 - Gripping component, 400 - Display device, 500 - Control device, 600 - Automated conveying system, 700 - Electronic device, 701 - Memory, 702 - Processor, 7011 - Executable program code. Detailed implementation manners

[0030] Next, the technical solutions in the present application will be clearly and elaborately described in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B can represent A or B. The "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0031] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0032] The linear motor device adopts an electromagnetic drive method. Compared with traditional mechanical transmission devices, the linear motor device has the advantages of no friction, high precision, high-speed response, and low maintenance cost. These characteristics make the linear motor device gradually popularize and be used in various automated production scenarios as an advanced conveying device.

[0033] In a linear motor device, one or more mover components move along a stator body under the action of electromagnetic force. With the increase in production requirements, the movement control of the mover components gradually becomes more complex, resulting in an increased probability of incorrect movement of the mover components. The incorrect movement of the mover components will interfere with related entities (such as other mover components, the stator body, external operating devices, etc.), thereby increasing the conveying risk.

[0034] Schematically, the following several examples are used to illustrate the conveying risk problems increased as the movement control of the mover components gradually becomes more complex:

[0035] 1. During the operation of a linear motor device, there is a need to monitor the movement of each mover component. To distinguish each mover component, a unique and readable identification information (Identifier, ID) is assigned to each mover component, and then the collected status information is bound to the identification information according to a specified polling order, thereby serving as the status information of the mover component corresponding to the identification information. As the number of mover components increases, it will occupy too much computer resources, affect the program operation efficiency, and may incorrectly bind the status information of one mover component to the identification information of another mover component, thereby performing incorrect movement control on one or more mover components, and it is easy to occur situations such as collision with other mover components and affecting the operation of external devices.

[0036] 2. In many automated production scenarios, it is required that the mover component moves to an operation station to cooperate with an external operating device (such as loading operation, unloading operation, processing operation, etc.). If the control is unreasonable, the mover component located outside the operation station moves incorrectly, interfering with the operation cooperation between the mover component located at the station and the external operating device, such as collision with the mover component located at the station, collision with the external operating device, etc., affecting the operation efficiency and even resulting in operation failure, thereby affecting the conveying efficiency. As Figure 1 shown, Figure 1 shows a schematic diagram of a scenario where a mover component cooperates with an external operating device in the related art. The direction indicated by the arrow is the movement direction of the mover component. The external operating device includes fixture C1 and fixture C2. During the process of mover component D1 and mover component D2 moving along stator body Z, mover component D1 is in front of mover component D2, and both mover component D1 and mover component D2 reach their respective operation stations. Fixture C1 first clamps the object B1 loaded by mover component D1. Since mover component D2 is too close to mover component D1, when fixture C2 is about to clamp the object B2 loaded by mover component D2, fixture C2 collides with fixture C1 (fixture C2 hits fixture C1), resulting in the failure of unloading object B2, thereby affecting the conveying efficiency.

[0037] Therefore, the incorrect movement of the mover component will increase the conveying risk. For this reason, the present application provides a motor control method, a linear motor device, an automated conveying system, an electronic device, and a computer-readable storage medium, which are beneficial to reducing the conveying risk caused by the incorrect movement of the mover component.

[0038] The following provides a detailed description of a motor control method provided by an embodiment of the present application.

[0039] Figure 2 The schematic flowchart of a motor control method provided by an embodiment of the present application is shown. Figure 3 The exemplary schematic diagram of a linear motor device provided by an embodiment of the present application is shown. As Figure 2 and Figure 3 shown, the motor control method provided by an embodiment of the present application is applied to the linear motor device 100. The linear motor device 100 includes a stator line body 110 and a plurality of mover components for loading objects. The mover components move along the stator line body 110. Figure 3 Some mover components are shown, namely the first mover component 1201, the second mover component 1202, and the third mover component 1203. The direction indicated by the arrow is the moving direction of the mover component.

[0040] In practical applications, one of the stator components of the stator line body and the mover component is provided with an exciting sub-component. After the exciting sub-component is powered on, a variable magnetic field is generated. The other of the stator line body and the mover component is provided with a magnetic sub-component, which is used to interact with the variable magnetic field generated by the energization of the exciting sub-component to generate an electromagnetic force acting on the mover component, so as to drive the mover component to move along the stator line body. Among them, the exciting 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.

[0041] The motor control method provided by an embodiment of the present application may include the following steps:

[0042] S110: Obtain the position information of each mover component;

[0043] S120: Based on the position information of each mover component, set the mover component marked by the task trigger as the task execution subject;

[0044] S130: When the number of task execution subjects reaches the number threshold, set at least some of the mover components that have not reached the task trigger as non-execution subjects, and prevent the non-execution subjects from passing through the task trigger.

[0045] Task trigger markers are arranged along the stator line body. Among them, the task trigger markers can be physical markers with entities or virtual markers formed by program operation. When the task trigger marker is a physical marker, the task trigger marker can be deployed on the surface or around the stator line body, and can be seen by the human eye in the real space; when the task trigger marker is a virtual marker, the user configures the task trigger marker on the surface or around the model of the simulated stator line body (i.e., the stator line body model) through configuration operations. The human eye cannot see it in the real space, but can see it in the virtual space. In addition, for the convenience of observation, the task trigger markers can be represented by shape patterns such as lines, circles, polygons, etc., which are not specifically limited in this application. In an exemplary embodiment, as Figure 3 shown, the circular pattern arranged along the stator line body 110 represents the task trigger marker.

[0046] The non-execution entity is the mover component located behind the task execution entity. Among them, the sequence order among multiple mover components is determined by the moving direction. For example, as Figure 3 shown, according to the moving direction, the third mover component 1203 is before the second mover component 1202, and the second mover component 1202 is before the first mover component 1201.

[0047] Set the mover component passing through the task trigger marker as the task execution entity, and then count the number of task execution entities. When the number of task execution entities reaches the quantity threshold (the value of the quantity threshold can be 1 or a positive integer greater than 1), set at least some of the mover components that have not reached the task trigger marker as non-execution entities. Specifically, it can be: set the first attribute information for the mover component passing through the task trigger marker, and the first attribute information is used to indicate that the mover component is the task execution entity, and it can also set the second attribute information for at least some of the mover components that are behind the task execution entity and have not reached the task trigger marker, and the second attribute information is used to indicate that the mover component is the non-execution entity. Among them, the task execution entity refers to the mover component designated to execute a specific task, and the non-execution entity refers to the mover component not designated to execute a specific task. The specific tasks include loading tasks, unloading tasks, processing tasks, etc.

[0048] It should be noted that multiple mover components can be allowed to pass through the task trigger mark at one time, that is, there can be multiple task execution entities. Specifically, the number of mover components allowed to pass through the task trigger mark is related to the type of task that the mover component needs to execute after passing through the task trigger mark. For example, when the mover component needs to perform a loading task, an unloading task, or a processing task after passing through the task trigger mark, multiple mover components can be allowed to pass through the task trigger mark. After multiple mover components pass through the task trigger mark, they are all set as task execution entities, so that multiple task execution entities can execute tasks synchronously, thereby improving the conveying efficiency. Among them, a quantity threshold can be preset for the task trigger mark. When the number of task execution entities passing through the task trigger mark at one time exceeds the quantity threshold, a non-execution entity setting operation is performed on the mover components after the last mover component passing through, so as to limit the number of mover components allowed to pass through the task trigger mark at one time and prevent subsequent mover components from passing through the task trigger mark. Among them, according to the actual situation, "not exceeding" in the embodiments of the present application can be understood as less than or less than or equal to, and correspondingly, "exceeding" can be understood as greater than or equal to or greater. The embodiments of the present application do not make specific limitations on this.

[0049] Optionally, when there are multiple mover components after the task execution entity, the non-execution entity can be at least part of the mover components located between the task execution entity and the starting point along the moving direction, such as Figure 3 As shown, according to the moving direction, after the third mover component 1203 passes through the task trigger mark 1301, it is set as the task execution entity. The third mover component 1203 is correspondingly provided with first attribute information for indicating that the third mover component 1203 is the task execution entity; the second mover component 1202 and / or the first mover component 1201 located after the third mover component 1203 can be set as non-execution entities, and the second mover component 1202 and / or the first mover component 1201 are correspondingly provided with second attribute information for indicating that the second mover component 1202 and / or the first mover component 1201 are non-execution entities.

[0050] It can be understood that the starting points of each mover component may be the same or different. Taking the starting position where the mover component is located after being powered on as the starting point, if the starting positions where each mover component is located after being powered on are different, then the starting points of each mover component can be different; if each mover component moves to a specified position in sequence and waits to start, then the starting points of each mover component can be the same.

[0051] During the movement of multiple mover components along the stator line, the position information of each mover component is obtained in real time. Through the position information, the movement of each mover component can be positioned, so as to determine whether there is a mover component passing through the task trigger mark. If it is determined according to the position information of each mover component that there is a mover component passing through the task trigger mark among the multiple mover components, the mover component passing through the task trigger mark is set as the task execution entity. When the number of task execution entities reaches the quantity threshold, at least some of the mover components that have not reached the task trigger mark are set as non-execution entities, and the non-execution entities are prevented from passing through the task trigger mark. Among them, the task execution entity can perform tasks such as cornering tasks, waiting for the binding of position information and identification information, spatial transfer tasks through movable stator components, and tasks in cooperation with external operating devices after passing through the task trigger mark.

[0052] As Figure 3 shown, according to the position information of the first mover component 1201 to the third mover component 1203, after it is determined that the third mover component 1203 passes through the task trigger mark 1301, the third mover component 1203 is set as the task execution entity, and the number of task execution entities is 1. For example, if 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 entities, and further, the first mover component 1201 and the second mover component 1202 are prevented from passing through the task trigger mark 1301.

[0053] In the embodiment of the present application, a task trigger mark is set on the stator line of the linear motor device. Based on the position information of each mover component, the mover component passing through the task trigger mark among each mover component is set as the task execution entity. When it is detected that the number of task execution entities reaches the quantity threshold, at least some of the mover components that have not reached the task trigger mark among each mover component are set as non-execution entities, and the non-execution entities are prevented from passing through the task trigger mark. By controlling the movement of each mover component through the task trigger mark, the movement control logic of the mover components can be simplified, the amount of data processing can be reduced, the difficulty of moving control for the mover components can be reduced, the accuracy of moving control for the mover components can be improved, ensuring that the mover components can move correctly along the stator line orderly and efficiently, and reducing the conveying risk.

[0054] It can be understood that the stator line includes at least one stator component, and the stator line may also include other components, such as circuit boards, guide rails, bases, etc. The mover component may also include other components, such as circuit boards, guiding members, supporting members, etc. For example, Figure 4 shows an assembly schematic diagram of a single stator component and a single mover component provided by the embodiment of the present application. The stator component 1101 and the first mover component 1201 can be assembled in the Figure 4 way.

[0055] In a possible implementation, the present application is provided with a task end mark along the stator line. The task end mark can be a physical mark with an entity or a virtual mark formed by program operation. For the specific setting of the task end mark, reference can be made to the specific setting of the above-mentioned task trigger mark, which will not be elaborated herein.

[0056] Figure 5 Fig. shows another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application. As Figure 5 shown, the circular pattern located on the right side of the task trigger mark 1301 along the stator line 110 represents the task end mark, and there is a spacing between the task trigger mark 1301 and the task end mark 1302.

[0057] In a possible implementation, the above-mentioned motor control method further includes the following steps:

[0058] S1401: If the number of task end marks is multiple, control the task execution entity to move between the task trigger mark and the task end marks, so that there is at least one mover component between the task trigger mark and the first task end mark, and between adjacent two task end marks.

[0059] The number of task trigger marks is one, the number of task end marks is multiple, there is a spacing between the task trigger mark and the task end marks, and there is a spacing between multiple task end marks. Figure 6 Fig. shows yet another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application. As Figure 5 and Figure 6 shown, one task trigger mark 1301 and three task end marks (as Figure 6 shown, namely the first task end mark 13021, the second task end mark 13022, and the third task end mark 13023) are provided along the stator line 110. The spacing between the task trigger mark 1301 and the first task end mark 13021 can accommodate at least one mover component, the spacing between the first task end mark 13021 and the second task end mark 13022 can accommodate at least one mover component, and the spacing between the second task end mark 13022 and the third task end mark 13023 can accommodate at least one mover component.

[0060] When the number of task end markers is multiple, control the task execution entity to move between the task trigger marker and the task end markers, so that there is at least one mover component between the task trigger marker and the first task end marker and between adjacent two task end markers, thereby avoiding interference from other mover components to the task execution entity, ensuring that the task execution entity safely completes the task between the task trigger marker and the first task end marker and between adjacent two task end markers, which is beneficial to improving the execution efficiency of the task.

[0061] In a possible implementation, the above motor control method further includes at least one of the following steps:

[0062] S1402: If the number of task end markers is one, after determining that the task execution entity passes the task end marker based on the position information of each mover component, cancel the setting of the mover component as the task execution entity;

[0063] S1403: If the number of task end markers is multiple, after determining that the task execution entity passes the last task end marker based on the position information of each mover component, cancel the setting of the mover component as the task execution entity.

[0064] For S1401, as Figure 5 shown, if the number of both the task trigger marker and the task end marker is one, the third mover component 1203 is set as the task execution entity. After determining that the third mover component 1203 (the task execution entity) passes the task end marker 1302 according to the position information of the first mover component 1201 to the third mover component 1203, cancel the setting of the third mover component 1203 as the task execution entity. Specifically, after the third mover component 1203 passes the task end marker 1302, clear the first attribute information corresponding to the third mover component 1203, so that the third mover component 1203 no longer serves as the task execution entity, thereby restoring the control before the third mover component 1203 was set as the task execution entity, making the third mover component 1203 no longer participate in the execution of a specific task, realizing the rapid release of the mover component that has completed the task, which is beneficial to improving the conveying efficiency.

[0065] For S1402, as Figure 3As shown, if the number of task trigger tags is one and the number of task end tags is multiple, the third mover component 1203 is set as the task execution entity. The first task end tag 13021 is the first task end tag, the second task end tag 13022 is the second task end tag, and the third task end tag 13023 is the third task end tag (i.e., the last task end tag). After determining, based on the position information of the first mover component 1201 to the third mover component 1203, that the third mover component 1203 (task execution entity) has passed the last third task end tag 13023, the setting of the third mover component 1203 as the task execution entity is released, thereby restoring the control before the third mover component 1203 was set as the task execution entity, such that the third mover component 1203 no longer participates in the execution of a specific task, achieving a quick release of the mover component that has completed the task, which is beneficial to improving the conveying efficiency.

[0066] In a possible implementation manner, the above motor control method further includes at least one of the following steps:

[0067] S1501: After releasing the setting of the mover component as the task execution entity, allow the non-execution entity to pass the task trigger tag, and set the non-execution entity that has passed the task trigger tag as the new task execution entity;

[0068] S1502: After releasing the setting of the mover component as the task execution entity, release the setting of the mover component as the non-execution entity.

[0069] In an exemplary embodiment, the task execution entity and the non-execution entity among the multiple mover components will be dynamically adjusted.

[0070] Regarding S1501, Figure 7 shows another exemplary schematic diagram of a linear motor device provided by an embodiment of the present application, as Figure 7As shown, time T1 is before time T2. For example, at time T1, the third mover component 1203 is set as the task execution entity, and the first mover component 1201 and the second mover component 1202 are set as non-execution entities. At time T2, when the third mover component 1203 passes the task end mark 1302, the setting of the third mover component 1203 as the task execution entity is cancelled, and then the second mover component 1202, which is a non-execution entity, 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, which is a non-execution entity, is set as the new task execution entity, that is, the second mover component 1202 is set as the task execution entity (the second mover component 1202 is provided with first attribute information), and the third mover component 1203 is no longer the task execution entity. Alternatively, the second mover component 1202 and the first mover component 1201, which are non-execution entities, 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, which are non-execution entities, are set as the new task execution entities, that is, the second mover component 1202 and the first mover component 1201 are set as the task execution entities (the second mover component 1202 and the first mover component 1201 are provided with first attribute information), and the third mover component 1203 is no longer the task execution entity. Among them, the time when the second mover component 1202 is set as the new task execution entity is earlier than the time when the first mover component 1201 is set as the new task execution entity.

[0071] By allowing the non-execution entity to pass the task trigger mark after cancelling the setting of the mover component as the task execution entity and setting the non-execution entity that has passed the task trigger mark as the new task execution entity, seamless connection between tasks can be ensured, idle time can be reduced, which is beneficial to improving task execution efficiency and conveying efficiency.

[0072] For S1502, as Figure 7As shown, for example, at time T1, the third mover component 1203 is set as the task execution entity, and the first mover component 1201 and the second mover component 1202 are set as non-execution entities. At time T2, when the third mover component 1203 passes the task end marker 1302, the setting of the third mover component 1203 as the task execution entity is cancelled. At the same time, the second attribute information of the first mover component 1201 and the second mover component 1202 is cleared to cancel the setting of the first mover component 1201 and the second mover component 1202 as non-execution entities, so as to restore the control before the third mover component 1203 was set as the task execution entity, such that the third mover component 1203 no longer participates in the execution of a specific task, and to restore the control before the first mover component 1201 and the second mover component 1202 were set as non-execution entities, ensuring that the mover components that are no longer the task execution entity and the mover components that are no longer non-execution entities can be reallocated at any time, which is conducive to improving the task execution efficiency and the conveying efficiency.

[0073] In a possible implementation, when there are multiple task end markers, non-execution entities are allowed to pass the task trigger marker, including at least one of the following steps:

[0074] S15011: After the last task execution entity passes the last task end marker, non-execution entities are allowed to pass the task trigger marker;

[0075] S15012: After the last task execution entity passes the specified task end marker, non-execution entities are allowed to pass the task trigger marker.

[0076] For S15011, as Figure 6 shown, the task end marker 1302 includes the first task end markers 13021 - 13023. Suppose the third mover component 1203 is the task execution entity, the first mover component 1201 and the second mover component 1202 are non-execution entities, and there is a task execution entity, i.e., the third mover component 1203, between the second task end marker 13022 and the third task end marker 13023, and the third mover component 1203 is the last task execution entity that passes the task trigger marker 1301 this time ( Figure 6 the task execution entities before the third mover component 1203 are not shown), the third task end marker 13023 is the last task end marker, and non-execution entities (such as the second mover component 1202 and the first mover component 1201) are blocked from passing the task trigger marker 1301. After the third mover component 1203 passes the third task end marker 13023, non-execution entities are allowed to pass the task trigger marker 1301.

[0077] For S15012, according to the specified rules, the specified task end marker can be at least one of multiple task end markers. For example, the task end marker closest to the task execution entity is determined as the specified task end marker; or, according to the preset number of interval markers (such as 1, 2, 3, etc.), the task end marker that is separated from the task execution entity by the preset number of markers is used as the specified task end marker. As Figure 6 shown, assume that there is a third mover component 1203 between the task trigger marker 1301 and the first task end marker 13021. For example, the third mover component 1203 is located between the task trigger marker 1301 and the first task end marker 13021, and the third mover component 1203 is the last task execution entity that passes through the task trigger marker 1301 this time ( Figure 6 the task execution entities before the third mover component 1203 are not shown in the figure), and the first task end marker 13021 is the specified task end marker. After the third mover component 1203 passes through the first task end marker 13021, non-execution entities are allowed to pass through the task trigger marker 1301. Another example is that the third mover component 1203 is located between the first task end marker 13021 and the second task end marker 13022. The third mover component 1203 is the last task execution entity that passes through the task trigger marker 1301 this time, and the second task end marker 13022 is the specified task end marker. After the third mover component 1203 passes through the first task end marker 13021, non-execution entities are still blocked from passing through the task trigger marker 1301. After the third mover component 1203 passes through the second task end marker 13022, non-execution entities are allowed to pass through the task trigger marker 1301. Another example is that 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 entity that passes through the task trigger marker 1301 this time, and the third task end marker 13023 is the specified task end marker. After the third mover component 1203 passes through the first task end marker 13021, non-execution entities are blocked from passing through the task trigger marker 1301. After the third mover component 1203 passes through the second task end marker 13022, non-execution entities are still blocked from passing through the task trigger marker 1301. After the third mover component 1203 passes through the third task end marker 13023, non-execution entities are allowed to pass through the task trigger marker 1301.

[0078] It can be understood that when there are multiple task execution entities, the multiple task execution entities can move synchronously or asynchronously; when there are multiple non-execution entities, the multiple non-execution entities can also move synchronously or asynchronously.

[0079] In a possible implementation, the above motor control method further includes at least one of the following steps:

[0080] S15013: After the last task execution entity passes through the specified task end marker, if it is determined that there is a next specified task end marker, prevent non-execution entities from passing through the nearest task end marker until the last task execution entity passes through the next specified task end marker;

[0081] S15014: After the last task execution entity passes through the specified task end marker, if it is determined that there is a next specified task end marker, replace the task end marker passed this time with a task trigger marker to prevent non-execution entities from passing through until the last task execution entity passes through the next specified task end marker.

[0082] For S15013, as Figure 6 shown, assume that the third mover component 1203 moves between the task trigger marker 1301 and the first task end marker 13021, and the third mover component 1203 is the last task execution entity. Non-execution entities (such as the second mover component 1202 and the first mover component 1201) are prevented from passing through the task trigger marker 1301. According to the specified rules, the first task end marker 13021 closest to the third mover component 1203 is the 1st specified task end marker. After the third mover component 1203 passes through the first task end marker 13021, the second task end marker 13022 is the closest to the third mover component 1203 and becomes the 2nd specified task end marker. Then, allow non-execution entities to pass through the task trigger marker 1301, and prevent the second mover component 1202 from passing through the first task end marker 13021 until the third mover component 1203 subsequently passes through the specified second task end marker 13022, and then allow non-execution entities to pass through the first task end marker 13021.

[0083] For S15014, as Figure 6As shown, for example, assume that the third mover component 1203 is located between the task trigger marker 1301 and the first task end marker 13021. The third mover component 1203 is the last task execution entity. The first task end marker 13021 is the first specified task end marker, the second task end marker 13022 is the second specified task end marker, and the third task end marker 13023 is the third specified task end marker and also the last specified task end marker. When the third mover component 1203 passes the first task end marker 13021, since there is a next specified task end marker after the first task end marker 13021 (i.e., the second task end marker 13022), and there is a next specified task end marker after the second task end marker 13022 (i.e., the third task end marker 13023), the first task end marker 13021 is adjusted to the task trigger marker, that is, the function of the first task end marker 13021 changes dynamically. After the first task end marker 13021 is replaced with the task trigger marker, the second mover component 1202 is allowed to pass the task trigger marker 1301, and the second mover component 1202 is blocked from passing the adjusted first task end marker 13021 (as the task trigger marker), and so on, until the third mover component 1203 passes 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 the third task end marker 13023.

[0084] For another example, assume that the third mover component 1203 is located between the first task end marker 13021 and the second task end marker 13022. The third mover component 1203 is the last task execution entity. The first task end marker 13021 is the 1st designated task end marker, the second task end marker 13022 is the 2nd designated task end marker, and the third task end marker 13023 is the 3rd designated task end marker and also the last designated task end marker. When the third mover component 1203 passes the second task end marker 13022, since there is a next designated 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 changes dynamically. After the second task end marker 13022 is replaced with a task trigger marker, the second mover component 1202 is allowed to pass the first task end marker 13021 (as a task trigger marker), and the second mover component 1202 is blocked from passing the adjusted second task end marker 13022 (as a task trigger marker), and so on, until the third mover component 1203 passes the third task end marker 13023. Since the third task end marker 13023 is the last designated task end marker, the third task end marker 13023 is not adjusted, and the second mover component 1202 is allowed to pass the third task end marker 13023.

[0085] For another example, assume that 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 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 also the last designated task end marker. After the third mover component 1203 passes the second task end marker 13022, since there is a next designated task end marker after the second task end marker 13022 (i.e., the third task end marker 13023), the second task end marker 13022 is adjusted to a task trigger marker, that is, the function of the second task end marker 13022 changes dynamically. After the second task end marker 13022 is replaced with a task trigger marker, the second mover component 1202 is allowed to pass the task trigger marker 1301 and the first task end marker 13021, and the second mover component 1202 is blocked from passing the adjusted second task end marker 13022 (as a task trigger marker); when the third mover component 1203 passes the third task end marker 13023, since the third task end marker 13023 is the last designated task end marker, the third task end marker 13023 is not adjusted, and the second mover component 1202 is allowed to pass the third task end marker 13023.

[0086] After adjusting a task end marker to a task trigger marker, when the last task execution entity passes the last task end marker, the task end marker adjusted to a task trigger marker is initialized, and the task end marker adjusted to a task trigger marker is readjusted to a task end marker.

[0087] S15011 - S15014 respectively belong to a specific control method for non - execution entities after determining that a task execution entity passes a task end marker, which not only improves the flexibility of controlling the mover component but also effectively improves the moving efficiency of the mover component.

[0088] In a possible implementation, the above - mentioned motor control method further includes at least one of the following steps:

[0089] After the last task execution entity passes the last designated task end marker, the designated task end marker replaced with a task trigger marker is restored to the initial task end marker.

[0090] When the number of task trigger markers is one and the number of task end markers is multiple, for the convenience of description and understanding, the task trigger marker is represented by "E", and the task end marker is represented by "F". Assume that the task trigger marker set along the stator line is task trigger marker E0, and the multiple task end markers set along the stator line are task end marker F1, task end marker F2, and task end marker F3 respectively.

[0091] When none of the task end markers among F1 to F3 is replaced with a task trigger marker, that is, in the first state, the task trigger marker and task end markers arranged in sequence along the stator line are: task trigger marker E0, task end marker F1, task end marker F2, task end marker F3.

[0092] If task end marker F1, task end marker F2, and task end marker F3 are all specified task end markers, in combination with the relevant description of S15014, after the last task execution entity passes through task end marker F1, task end marker F2, and task end marker F3 in sequence, task end marker F1 is replaced with task trigger marker E1, task end marker F2 is replaced with task trigger marker E2 later, and task end marker F3 is not replaced. That is, in the final state, the task trigger marker and task end markers arranged in sequence along the stator line are: task trigger marker E0, task trigger marker E1, task trigger marker E2, and task end marker F3. After detecting that the last task execution entity passes through the last specified task end marker (i.e., task end marker F3), the specified task end marker to be replaced with a task trigger marker is restored to the initial task end marker, that is, task trigger marker E1 is restored to task end marker F1, task trigger marker E2 is restored to task end marker F2, and the setting state of the task trigger marker and task end marker is restored from the final state to the initial state.

[0093] If both the task end marker F1 and the task end marker F2 are the specified task end markers, in combination with the relevant description in S15014, after the last task execution entity sequentially passes through the task end marker F1, the task end marker F2, and the task end marker F3, the task end marker F1 is replaced with the task trigger marker E1, and the task end marker F2 and the task end marker F3 are not replaced. That is, in the final state, the task trigger markers and task end markers arranged in sequence along the stator line are: the task trigger marker E0, the task trigger marker E1, the task end marker F2, and the task end marker F3. After detecting that the last task execution entity passes through the last specified task end marker (i.e., the task end marker F2), the specified task end marker that is to be replaced with the task trigger marker is restored to the initial task end marker, that is, the task trigger marker E1 is restored to the task end marker F1, and the setting state of the task trigger marker and the task end marker is restored from the final state to the initial state.

[0094] By restoring the specified task end marker that is to be replaced with the task trigger marker to the initial task end marker after the last task execution entity passes through the last specified task end marker, the flexible adjustment of the task markers is realized, which is beneficial to the cyclic management of the task execution and can ensure the seamless connection and efficient execution of the task.

[0095] In a possible implementation, the above motor control method further includes at least one of the following steps:

[0096] S1601: Set the task trigger marker and the task end marker along the stator line based on the size information and the processing execution range information of the target component.

[0097] Among them, the target component is the mover component that will cooperate with the operating device for the next processing operation, that is, the mover component that is closest to the task trigger marker according to the moving direction and serves as the next task execution entity; 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 where the target component and the operating device cooperate for the processing operation along the moving direction of the target component.

[0098] The number of target components can be one or more. According to the position information of multiple mover components and the number of mover components that cooperate with the processing operation device for a single processing operation, one or more mover components that will cooperate with the processing operation device for the processing operation are determined from the multiple mover components.

[0099] Among them, the determination of the edge length is divided into the cases of the mover component carrying an object and not carrying an object. For the case of not carrying an object, if the mover component as a whole is irregular in shape, the edge length used to determine the size information is the larger value among the multiple edge lengths of the mover component.

[0100] For the case of carrying an object, the edge length for determining the size information is the larger value between the edge length of the mover component body and the edge length of the loaded object.

[0101] The number of operating devices for processing can be one or more, and there can be a one-to-one correspondence or a one-to-many relationship between the number of operating devices and the number of target components. When there are multiple operating devices, multiple task end markers can be set to accurately control the movement range of the second mover component.

[0102] Figure 8 An exemplary schematic diagram showing the setting of task trigger markers and task end markers along the stator line is shown, as Figure 8 shown, H1 - H8 all represent objects, and T represents the moving direction of the mover component. When any one of the first mover component 1201, the second mover component 1202, and the third mover component 1203 is used as the target component, and when loading any one of the objects H1 - H6 and the object H8, if the edge length of the target component body is greater than the edge length of the object loaded by the target component, then the edge length for determining 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.

[0103] When any one of the first mover component 1201, the second mover component 1202, and the third mover component 1203 is used as the target component, and when loading the object H7, if the edge length of the target component body is less than the edge length of the object H7 loaded by the target component, then the edge length for determining the size information is determined according to the edge length of the object H7 loaded by the target component. For example, if the edge length of the object H7 loaded by the target component is X2, then the edge length of the size information is X2, and X2 is greater than X1.

[0104] As Figure 8 shown in the scenario S11 in, task trigger marker 1301 and task end marker 1302 are provided along the stator line 110, and the mover components moving along the stator line 110 include the second mover component 1202 and the third mover component 1203. For the target component and the operating device ( Figure 8In the case where all (not shown in the figure) are of one type, the target component does not move during the processing, and only the operating device moves. The processing execution range is determined by the execution range of the operating device. Assume that the processing execution range information is Y1, the target component is the third mover component 1203, and the length of the object H1 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 itself. Then, the edge length of the size information of the third mover component 1203 is determined according to the edge length of the third mover component 1203 itself, that is, the size information of the third mover 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, and 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 to be located outside the processing execution range and the distance from the boundary of the processing execution range to be at least the edge length of the target component itself, after the target component passes the task trigger mark, the movement of other mover components located behind the target component can be restricted as early as possible, avoiding interference from other mover components with the processing cooperation operation between the target component and the processing operating device.

[0105] Such as Figure 8As shown in the scenario S12, task trigger marks 1301, first task end marks 13021, and second task end marks 13022 are arranged along the stator line 110. The mover components moving along the stator line 110 include a first mover component 1201, a second mover component 1202, and a third mover component 1203. For the case where both the target component and the operating device are two, the target component does not move during the processing, and only the operating device moves. The processing execution range is determined by the execution range of the operating device. Assume that the two processing execution range information is both Y1, and a safety area A is reserved in advance between the two processing execution ranges to avoid collision. The target components are the second mover component 1202 and the third mover component 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 itself is equal to the length of the second mover component 1202 itself. 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 itself. Then, according to the edge length of the third mover component 1203 itself, the edge length of the dimension information of the third mover component 1203 is determined, or according to the edge length of the second mover component 1202 itself, the edge length of the dimension information of the second mover component 1202 is determined. That is, the dimension information of the second mover component 1202 and the dimension information of the third mover 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. 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.

[0106] By setting the task trigger mark to be located outside the processing execution range and the distance from the boundary of the first processing execution range is at least the edge length of the target component itself, after the target component passes the task trigger mark, the movement of other mover components located behind the target component can be restricted as early as possible, avoiding interference from other mover components to the processing cooperation operation between the target component and the processing operating device. Also, by setting the distance between the first task end mark and the second task end mark to be not less than the processing execution range information, the problem of processing interruption or overlap caused by insufficient distance between the first task end mark and the second task end mark can be avoided, ensuring the integrity and continuity of the processing, which is beneficial to improving the processing efficiency and conveying efficiency.

[0107] As shown Figure 8 in the scenario S13, task trigger markers 1301, first task end markers 13021, and second task end markers 13022 are arranged along the stator line 110. The mover components moving along the stator line 110 include a first mover component 1201, a second mover component 1202, and a third mover component 1203. For the case where both the target component and the operating device are two, both the target component and the operating device 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. Suppose the two processing execution range information are Y1 and Y2 respectively, and a safety area A is reserved in advance between the two processing execution ranges to avoid collisions. The target components are the second mover component 1202 and the third mover component 1203. The third mover component 1203 is regarded as the first target component, and the second mover component 1202 is regarded as the second target component. The length of the object H6 carried by the third mover component 1203 in the moving direction of the third mover component 1203 is less than the length of the object H7 carried by the second mover component 1202 in the moving direction of the second mover component 1202. The length of the body of the third mover component 1203 is equal to the length of the body of the second mover component 1202. The length of the object H6 carried by the third mover component 1203 in the moving direction of the third mover component 1203 is less than the length of the body of the third mover component 1203. The length of the object H7 carried by the second mover component 1202 in the moving direction of the second mover component 1202 is greater than the length of the body of the second mover component 1202. Then, the edge length of the size information of the third mover component 1203 is determined according to the length of the body of the third mover component 1203, that is, the size information of the third mover component 1203 is X1; the edge length of the size information of the second mover component 1202 is determined according to the length of the object H7 carried by the second mover component 1202 in the moving direction of the second mover component 1202, that is, the size information of the second mover component 1202 is X2. Then, the distance between the task trigger marker 1301 and the first task end marker 13021 is not less than Y2 + X2. The task trigger marker 1301 is located outside the processing execution range and the distance from the boundary of the first processing execution range is at least X2. The distance between the first task end marker 13021 and the second task end marker 13022 is not less than Y1. Among them, the first task end marker 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.

[0108] By setting the task trigger mark outside the machining execution range and at a distance from the boundary of the first machining execution range that is at least the edge length of the second target part body, after the second target part passes the task trigger mark, the movement of other mover parts located after the second target part can be restricted as early as possible, avoiding interference from other mover parts during the machining cooperation operation between the second target part and the machining operation device. Also, by setting the distance between the first task end mark and the second task end mark to be not less than the machining execution range information of the second machining execution range, problems such as machining interruption or overlap caused by insufficient distance between the first task end mark and the second task end mark can be avoided, ensuring the integrity and continuity of machining, which is beneficial to improving machining efficiency and conveying efficiency.

[0109] It can be understood that the task execution entity between the task trigger mark and the task end mark, and between the two task end marks, can move or stay according to the running trajectory and operating state of the operating device to cooperate with the operating device to complete the machining operation task. The embodiments of the present application do not make specific restrictions on this.

[0110] Based on S1601, by setting the task trigger mark and the task end mark along the stator line according to the size information of the target part and the machining execution range information, the risk of collision between the task execution entity and the non-execution entity can be reduced, improving the safety of the movement of the mover parts.

[0111] S1602: Set the task trigger mark and the task end mark along the stator line according to the scanning range of the scanning device.

[0112] The scanning device is used to obtain the device identification of the mover part. As shown in scenario S2 in Figure 8 As shown, 200 represents the scanning device (such as a barcode scanner), 201 represents the scanning range of the scanning device. The distance △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 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. Thus, it can be avoided that the scanning device scans the mover parts outside the area between the task trigger mark 1301 and the task end mark 1302. It can be understood that the task execution entity 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 identify the identification information of the task execution entity.

[0113] By setting a task trigger mark and a task end mark on the stator line according to the scanning range of the scanning device, it can ensure that the scanning device accurately scans the mover components within the area between the task trigger mark and the task end mark, avoiding interference from mover components outside the area between the task trigger mark and the task end mark to the scanning work of the scanning device, which is beneficial to improving the scanning efficiency. Before the linear motor device cooperates with external devices, by scanning the identification information of the mover components located between the task trigger mark and the task end mark with the scanning device, it is not necessary to bind the identification information of the scanned mover components with the acquired status information in a specified polling order during the operation of the linear motor device, which is beneficial to reducing the data processing volume of the linear motor device; for scenarios where the identification information of the mover components is lost (such as the linear motor device restarts due to a fault), the mover components 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 mover components located between the specified task trigger mark and the task end mark, ensuring that the historical information of the mover components will not be lost.

[0114] S1603: Set a task trigger mark and a task end mark along the stator line according to the maximum outer diameter of the clamping component in the open state, where the clamping component is arranged around the stator line.

[0115] As Figure 8 shown in scenario S3 in, 300 represents the clamping component (such as a mechanical claw fixture). According to the maximum outer diameter L2 of the clamping component in the open state, determine the positions of the task trigger mark 1301 and the task end mark 1302. Among them, the task trigger mark is located outside the clamping component in the open state, that is, when the clamping component in the open state projects towards the task trigger mark, the task trigger mark is outside the projection range of the clamping component, so as to ensure that the non-executing entity will not collide with the clamping component in the open state. The task end mark can be located inside or outside the clamping component in the open state, that is, when the clamping component in the open state projects towards the task end mark, the task end mark is within or outside the projection range of the clamping component, as long as it is ensured that the task executing entity has not moved to the task end mark when the clamping component and the task executing entity perform object handover. The embodiment of the present application does not specifically limit the position of the task end mark.

[0116] Optionally, as Figure 8As shown in the scenario S3, 300 represents a clamping component (such as a mechanical claw fixture). 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 outside the clamping component in the open state, that is, the area formed by the task trigger mark 1301 and the task end mark 1302 contains the clamping component in the open state. When the task execution entity is located in the area between the task trigger mark 1301 and the task end mark 1302, and the non-execution entity 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 entity, it will not touch the non-execution entity, thus avoiding collisions between the clamping component and the non-execution entity.

[0117] By setting the task trigger mark and the task end mark on the stator line according to the maximum outer diameter of the clamping component in the open state, it can be ensured that the clamping component accurately processes the objects loaded by the mover component located in the area between the task trigger mark and the task end mark, avoiding collisions between the clamping component and the mover component in the area outside the area between the task trigger mark and the task end mark, which affects the processing progress and is beneficial to improving the processing efficiency.

[0118] The following provides a detailed description of a linear motor device according to an embodiment of the present application.

[0119] Figure 9 The structural block diagram of a linear motor device provided by an embodiment of the present application is shown, as Figure 3 and Figure 9 shown, the linear motor device 100 includes a stator line 110, a mover component 120 for loading objects, and a control device 130. There are multiple mover components. The control device 130 controls the stator line 110 to drive the mover component to move along the stator line 110. Figure 3 Some mover components are shown, namely the first mover component 1201, the second mover component 1202, and the third mover component 1203. The direction indicated by the arrow is the moving direction of the mover component.

[0120] The control device is used to obtain the position information of each mover component. Based on the position information of each mover component, the mover component passing through the task trigger mark is set as the task execution entity. When the number of task execution entities reaches the number threshold, at least part of the mover components that have not reached the task trigger mark are set as non-execution entities, and the non-execution entities are prevented from passing through the task trigger mark; wherein, the task trigger mark is set along the stator line.

[0121] The linear motor device provided by the embodiment of the present application belongs to the same concept as the embodiment of the above motor control method. Therefore, for the details not disclosed in the embodiment of the linear motor device, reference may be made to the description of the relevant embodiment of the above motor control method, which will not be elaborated here.

[0122] The embodiment of the present application adopts the technical solution of setting a task trigger mark on the stator wire body of the linear motor device, and based on the position information of each mover component, setting the mover component passing through the task trigger mark among each mover component as the task execution subject. When it is detected that the number of task execution subjects reaches the number threshold, at least part of the mover components that have not reached the task trigger mark among each mover component are set as non-execution subjects, and the non-execution subjects are prevented from passing through the task trigger mark. By controlling the movement of each mover component through the task trigger mark, it is possible to simplify the movement control logic of the mover components, reduce the amount of data processing, reduce the difficulty of moving control for the mover components, improve the accuracy of moving control for the mover components, ensure that the mover components can move correctly along the stator wire body orderly and efficiently, and reduce the conveying risk.

[0123] The following is a detailed description of an automated conveying system provided by the embodiment of the present application.

[0124] Figure 10 The structure diagram of an automated conveying system provided by the embodiment of the present application is shown. As Figure 3 and Figure 10 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 mover components 120 for loading objects. There are multiple mover components. The control device 500 controls the stator wire body 110 to drive the mover components to move along the stator wire body 110. Figure 3 Some mover components are shown, namely the first mover component 1201, the second mover component 1202, and the third mover component 1203. The direction indicated by the arrow is the moving direction of the mover components.

[0125] The display device is used to display a simulation interface. The simulation interface includes a mover component model, a stator wire body model, and task trigger marks distributed along the stator wire body model. Among them, the mover component model is a digital reproduction and display of the mover components in the real space in the simulation interface, that is, the mover component model is used to simulate the mover components. The stator wire body model is a digital reproduction and display of the stator wire body in the real space in the simulation interface, that is, the stator wire body model is used to simulate the stator wire body.

[0126] The mover components in the real space correspond to the shape, quantity, and other information of the mover component models in the simulation interface, and the stator wire bodies in the real space correspond to the shape, quantity, and other information of the mover component models in the simulation interface. For example, Figure 3 As shown, assuming that there are three mover components and one stator wire body, then there are three mover component models and one stator wire body model. The task trigger marks distributed along the stator wire body are virtual marks that cannot be seen by the human eye in the real space but can be seen in the simulation interface.

[0127] The control device is used to obtain the position information of each mover component. Based on the position information of each mover component, the mover component passing through the task trigger mark is set as the task execution entity. When the number of task execution entities reaches the quantity threshold, at least some of the mover components that have not reached the task trigger mark are set as non-execution entities, and the non-execution entities are prevented from passing through the task trigger mark.

[0128] The automated conveying system provided by the embodiments of the present application belongs to the same concept as the embodiments of the above motor control method. Therefore, for the details not disclosed in the embodiments of the automated conveying system, reference may be made to the descriptions of the relevant embodiments of the above motor control method, which will not be elaborated herein.

[0129] The embodiments of the present application adopt the technical solution of setting task trigger marks on the stator wire body of the linear motor device. Based on the position information of each mover component, the mover component passing through the task trigger mark among each mover component is set as the task execution entity. When it is detected that the number of task execution entities reaches the quantity threshold, at least some of the mover components that have not reached the task trigger mark among each mover component are set as non-execution entities, and the non-execution entities are prevented from passing through the task trigger mark. On the one hand, by using the task trigger marks to control the movement of each mover component, the movement control logic of the mover components can be simplified, the amount of data processing can be reduced, the difficulty of moving control for the mover components can be lowered, the accuracy of moving control for the mover components can be improved, ensuring that the mover components can move correctly along the stator wire body orderly and efficiently, and reducing the conveying risk. On the other hand, by displaying the stator wire body model simulating the stator wire body in the simulation interface of the display device and setting task trigger marks along the stator wire body model, it can be seen that the task trigger marks distributed on the stator wire body model are virtual marks and are not solidified on the real stator wire body. Using the simulation interface provided by the display device, users can directly perform operations such as adding, deleting, or moving the task trigger marks on the interface. This intuitive operation method makes the modification of the task trigger marks very simple, and 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 conveying efficiency of the automated conveying system.

[0130] Figure 11The following is a schematic structural diagram of an electronic device provided by an embodiment of the present application, as Figure 11 shown. The electronic device 700 includes: a memory 701 and a processor 702. Among them, an executable program code 7011 is stored in the memory 701, and the processor 702 is configured to call and execute the executable program code 7011 to execute a motor control method.

[0131] In this embodiment, the electronic device can be divided into functional modules according to the above method examples. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0132] The electronic device provided by this embodiment is used to execute the above-mentioned motor control method, so the same effect as the above implementation method can be achieved.

[0133] This embodiment also provides a computer-readable storage medium. Computer program code is stored in the computer-readable storage medium. When the computer program code runs on a computer, the computer is made to execute the above-mentioned related method steps to implement a motor control method in the above embodiment.

[0134] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is made to execute the above-mentioned related steps to implement a motor control method in the above embodiment.

[0135] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0136] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0137] The above content is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to 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 yet 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; If there are multiple task end marks, control the task execution body to move between the task trigger mark and the task end mark, so that there is at least one moving part 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, there is a spacing between the task trigger mark and the task end mark, and there is a spacing between multiple task end marks; After determining that the task execution subject has passed the last 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.

2. 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 the task end mark 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.

3. The motor control method according to claim 1, 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.

4. The motor control method according to claim 3, 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.

5. The motor control method according to claim 4, 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.

6. The motor control method according to claim 5, 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.

7. The motor control method according to claim 1, 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.

8. 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; when the number of the task execution subjects reaches the quantity threshold, set at least part of the movable components that have not reached the task trigger mark as non-execution subjects, and prevent the non-execution subjects from passing the task trigger mark; if the number of task end marks is multiple, control the task execution subject 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; after determining that the task execution subject has passed the last task end mark based on the position information of each of the movable components, release the setting of the movable component as the task execution subject, wherein the task trigger mark and the task end mark are both set 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.

9. 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 movable component model, a stator line model, a task trigger mark and a task end mark distributed along the stator line model, wherein the movable component model is used to simulate the movable component, the stator line model is used to simulate the stator line, and there is a gap between the task trigger mark and the task end mark; 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; if there are multiple task end marks, control the task execution subject 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; based on the position information of each of the movable components, it is determined that the task execution subject has passed the last task end mark, and the setting of the movable component as the task execution subject is released, wherein there is a spacing between the multiple task end marks.

10. 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 7.

11. 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 7 is implemented.

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