Double-carrier workpiece conveying control method and electronic equipment

Abstract

The invention discloses a double-carrier workpiece conveying control method and electronic equipment. The method comprises the following steps: judging whether a current station has materials or not, and when the current station is judged to have no materials, ascending a first stopper of the current station, and descending a second stopper of the current station; when it is judged that the first carrier leaves the second stopper of the current station, the second stopper of the current station ascends; and judging whether the execution of the current station is finished or not, judging whether a downstream station has materials or not after the execution of the current station is finished, and descending the first stopper and the second stopper of the current station when the downstream station is judged to have no materials. When the carrier at the station is released, the first stopper and the second stopper are shifted down at the same time, and when the carrier is received at the station, only the first stopper is lifted, and the second stopper is lifted in time to stop the second carrier by judging the position of the first carrier. Therefore, the two carriers can be conveyed at the same time, and the conveying efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field related to workpiece conveying, and in particular to a dual-carrier workpiece conveying control method, electronic equipment, storage medium and computer program product. Background Art

[0002] like Figure 1 The figure shows a dual-carrier workpiece conveying system of the prior art. It includes five workstations OP1, OP2, OP3, OP4, and OP5. The workpieces on the dual carriers are processed at each workstation. The carrier is a tray, and each workstation is provided with a left blocker to block the left tray and a right blocker to block the right tray.

[0003] For the control of other stations except the starting station OP1 and the ending station, the existing technology has the problem of low efficiency. Taking the left and right workpieces of station OP2 arriving at station OP3 as an example, the existing technology needs to first determine that the right area of ​​station OP3 is empty, and then control the left blocker 1' of station OP2 to descend, and the left tray 3' is released to reach the right area of ​​station OP3. After detecting that the left area of ​​station OP3 is empty, the right blocker 2' of station OP3 is lowered, and the release continues to the left area of ​​station OP3. Or the right blocker 2' of station OP3 is directly lowered to reach the left area of ​​station OP3 in one step. Then, when the left tray 3' of station OP2 carries the workpiece to the left area of ​​station OP3, the right blocker 2' of station OP2 is lowered, and the right tray 4' is released until it reaches the right area of ​​station OP3.

[0004] Therefore, the dual-carrier workpiece conveying in the prior art cannot realize dual-carrier simultaneous conveying in the control of other workstations except the starting workstation and the ending workstation, and the efficiency is low. Summary of the invention

[0005] Based on this, it is necessary to provide a dual-carrier workpiece conveying control method, electronic device, storage medium and computer program product for the existing dual-carrier workpiece conveying technology, which cannot achieve simultaneous dual-carrier conveying in the control of other stations except the starting station and the ending station, and has a technical problem of low efficiency.

[0006] The present invention provides a dual-carrier workpiece conveying control method, comprising:

[0007] Determine whether there is material at the current station. When it is determined that there is no material at the current station, raise the first blocker at the current station and lower the second blocker at the current station, wherein each station is provided with a first blocker for blocking the first carrier and a second blocker for blocking the second carrier, and the first blocker is located downstream of the second blocker. The workpiece is conveyed from the upstream to the downstream of the conveyor belt, and the first carrier and the second carrier are used to support the workpiece;

[0008] When it is determined that the first carrier leaves the second stopper of the current workstation, raising the second stopper of the current workstation;

[0009] Determine whether the current workstation has been completed. After the current workstation has been completed, determine whether there is material at the downstream workstation. When it is determined that there is no material at the downstream workstation, lower the first blocker and the second blocker of the current workstation.

[0010] Further, each of the workstations includes a first in-place detection device and a second in-place detection device, the first in-place detection device is located between the first blocker and the second blocker of the workstation, and the second in-place detection device is located between the second blocker of the workstation and the first blocker of an upstream workstation, and when it is judged that the first carrier leaves the second blocker of the current workstation, the second blocker of the current workstation is raised, including:

[0011] Acquire a second material level signal of a second in-place detection device of the current workstation, wherein the second material level signal includes: no material, approaching, in-place, and leaving;

[0012] When the second material level signal changes from leaving to no material, it is determined that the first carrier leaves the second stopper of the current station and the second stopper is raised.

[0013] Furthermore, the second in-place detection device comprises: a first sensor of the second in-place detection device located downstream and a second sensor of the second in-place detection device located upstream, and the second material level signal comprises a first bit of the second material level signal output by the first sensor of the second in-place detection device and a second bit of the second material level signal output by the second sensor of the second in-place detection device, wherein:

[0014] When the first bit of the second material level signal is not detected and the second bit of the second material level signal is not detected, the second material level signal is no material;

[0015] When the first bit of the second material level signal is undetected and the second bit of the second material level signal is detected, the second material level signal is close;

[0016] When the first bit of the second material level signal is detected and the second bit of the second material level signal is detected, the second material level signal is in place;

[0017] When the first bit of the second material level signal is detected and the second bit of the second material level signal is not detected, the second material level signal is leaving.

[0018] Further, the first in-place detection device includes: a first sensor of the first in-place detection device located downstream and a second sensor of the first in-place detection device located upstream, the first in-place detection device outputs a first material level signal, the first material level signal includes a first position of the first material level signal output by the first sensor of the first in-place detection device and a second position of the first material level signal output by the second sensor of the first in-place detection device, the first material level signal includes no material, approaching, in-place, leaving, wherein:

[0019] When the first bit of the first material level signal is not detected and the second bit of the first material level signal is not detected, the first material level signal is no material;

[0020] When the first bit of the first material level signal is undetected and the second bit of the first material level signal is detected, the first material level signal is close;

[0021] When the first bit of the first material level signal is detected and the second bit of the first material level signal is detected, the first material level signal is in place;

[0022] When the first bit of the first material level signal is detected and the second bit of the first material level signal is not detected, the first material level signal is leaving.

[0023] Further:

[0024] The determining whether there is material at the current station includes: detecting the first material level signal and the second material level signal of the current station, and determining that there is no material at the current station when both the first material level signal and the second material level signal of the current station are no material, otherwise determining that there is material at the current station;

[0025] The determining whether there is material at the downstream station includes: detecting the first material level signal and the second material level signal of the downstream station, and determining that there is no material at the downstream station when both the first material level signal and the second material level signal of the downstream station indicate that there is no material; otherwise, determining that there is material at the downstream station.

[0026] Further, the determining whether the current workstation has been completed includes:

[0027] When it is detected that the first lifting device performing the lifting operation on the first carrier of the current station rises, the first blocking working memory value of the current station is set, and when it is detected that the first lifting device descends into place while the first blocking working memory value is set, the first blocking working memory value of the current station is cleared, and the first blocking work completion value of the current station is set;

[0028] When it is detected that the second lifting device performing the lifting operation on the second carrier of the current station rises, the second blocking working memory value of the current station is set, and when it is detected that the second lifting device descends into place while the second blocking working memory value is set, the second blocking working memory value of the current station is cleared, and the second blocking work completion value of the current station is set;

[0029] When the first blocking work completion value and the second blocking work completion value of the current work station are both set, it is determined that the current work station is completed.

[0030] Further, each of the workstations further comprises a first photoelectric detection device and a second photoelectric detection device, the first photoelectric detection device is arranged between the first blocker and the second blocker of the workstation, and the second photoelectric detection device is arranged between the second blocker of the workstation and the first blocker of an upstream workstation, and the method further comprises:

[0031] Acquire first detection information output by the first photoelectric detection device and second detection information output by the second photoelectric detection device of the current workstation;

[0032] Determine whether the first carrier has a workpiece according to the first detection information, and determine whether the second carrier has a workpiece according to the second detection information;

[0033] If the first area and the second area of ​​the current workstation are judged to have material, and the first carrier and / or the second carrier are judged to have no workpiece, an alarm is issued.

[0034] The present invention provides an electronic device, comprising:

[0035] at least one processor; and,

[0036] a memory communicatively connected to at least one of the processors; wherein,

[0037] The memory stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors to enable the at least one of the processors to perform the dual-carrier workpiece transport control method as described above.

[0038] The present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all steps of the dual-carrier workpiece conveying control method as described above.

[0039] The present invention provides a computer program product, comprising a computer program / instruction, which implements the dual-carrier workpiece conveying control method as described above when executed by a processor.

[0040] When releasing a carrier from a workstation, the present invention lowers the first blocker and the second blocker at the same time, and when receiving a carrier at the workstation, only the first blocker is raised, and the second blocker is raised in time to block the second carrier by judging the position of the first carrier. Therefore, the present invention can transport two carriers at the same time, improving the transport efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of a dual-carrier workpiece conveying system of the prior art;

[0042] Figure 2 This is a working flow chart of a dual-carrier workpiece conveying control method according to an embodiment of the present invention;

[0043] Figure 3 This is a working flow chart of a dual-carrier workpiece conveying control method according to another embodiment of the present invention;

[0044] Figure 4 A schematic diagram of a dual-carrier workpiece conveying system according to a preferred embodiment of the present invention;

[0045] Figure 5 A three-dimensional diagram of a dual-carrier workpiece conveying system according to a preferred embodiment of the present invention;

[0046] Figure 6 It is an enlarged schematic diagram of a carrier according to a preferred embodiment of the present invention;

[0047] Figure 7 It is an enlarged schematic diagram of a carrier from another angle of the best embodiment of the present invention;

[0048] Figure 8 A work flow chart of a dual-carrier workpiece conveying control method according to the best embodiment of the present invention;

[0049] Fig. 9 A flow chart of workstation execution detection of a dual-carrier workpiece conveying control method according to the best embodiment of the present invention;

[0050] Fig.10 The figure is a schematic diagram of the hardware structure of an electronic device of the present invention.

[0051] Marking Description

[0052] 1. A first blocker; 2. A second blocker; 3. A first carrier; 4. A second carrier; 5. A first in-place detection device; 51. A first sensor of the first in-place detection device; 52. A second sensor of the first in-place detection device; 6. A second in-place detection device; 61. A first sensor of the second in-place detection device; 62. A second sensor of the second in-place detection device; 7. A first photoelectric detection device; 71. A first reflector; 8. A second photoelectric detection device; 81. A second reflector; 9. A workpiece. DETAILED DESCRIPTION

[0053] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. The same components are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0054] like Figure 2 The figure shows a working flow chart of a dual-carrier workpiece conveying control method according to an embodiment of the present invention, comprising:

[0055] Step S201, judging whether there is material at the current station, when it is judged that there is no material at the current station, raising the first blocker 1 of the current station, and lowering the second blocker 2 of the current station, wherein each station is provided with a first blocker 1 for blocking the first carrier 3 and a second blocker 2 for blocking the second carrier 4, and the first blocker 1 is located downstream of the conveyor belt relative to the second blocker 2, the workpiece is conveyed from the upstream to the downstream of the conveyor belt, and the first carrier 3 and the second carrier 4 are used to support the workpiece;

[0056] Step S202, when it is determined that the first carrier 3 leaves the second stopper of the current station, raising the second stopper 2 of the current station;

[0057] Step S203, judging whether the current workstation has been completed, after the current workstation has been completed, judging whether there is material in the downstream workstation, and when it is judged that there is no material in the downstream workstation, lowering the first blocker 1 and the second blocker 2 of the current workstation.

[0058] Specifically, the present invention can be applied to electronic devices with processing capabilities, such as controllers of workpiece conveying systems.

[0059] The dual-carrier workpiece conveying control method of the embodiment of the present invention is used to control other workstations except the starting workstation and the ending workstation in the dual-carrier workpiece conveying system. The control of the starting workstation and the ending workstation can be implemented by using the existing technology.

[0060] For each workstation of the dual-carrier workpiece conveying system except the starting workstation and the ending workstation, steps S201 to S203 are respectively performed.

[0061] First, step S201 is executed to determine whether there is material at the current station. When it is determined that there is no material at the current station, the first blocker 1 of the current station is raised, and the second blocker 2 of the current station is lowered, wherein each station is provided with a first blocker 1 for blocking the first carrier 3 and a second blocker 2 for blocking the second carrier 4, and the first blocker 1 is located downstream of the second blocker 2, and the workpiece is conveyed from the upstream to the downstream of the conveyor belt, and the first carrier 3 and the second carrier 4 are used to support the workpiece;

[0062] Specifically, the upstream station is the nearest station upstream of the current station in the conveying system, and the downstream station is the nearest station downstream of the current station in the conveying system. When there is no material at the current station, the first blocker 1 of the current station is raised, and the second blocker 2 is lowered.

[0063] like Figure 4 As shown, the workpiece is transported from upstream to downstream. Figure 4 The right direction is upstream, the left direction is downstream, and the workpiece is transported from right to left.

[0064] The first stopper 1 is located downstream of the second stopper 2, that is, the first stopper 1 is on the left and the second stopper 2 is on the right. Each station has a first stopper 1 and a second stopper 2. The first stopper 1 and the second stopper 2 are controlled by the existing lifting method. The first stopper 1 is used to block the first carrier 3 when rising, and the second stopper 2 is used to block the second carrier 4 when rising.

[0065] The first carrier 3 and the second carrier 4 are used to support the workpiece. Preferably, the first carrier 3 is a first pallet, and the second carrier 4 is a second pallet.

[0066] Then, step S202 is executed to raise the second stopper 2 of the current workstation when it is determined that the first carrier 3 leaves the second stopper 2 of the current workstation.

[0067] Specifically, the first carrier 3 and the second carrier 4 waiting for the upstream workstation enter the current workstation. Since the second blocker 2 is located upstream, the first carrier 3 will pass through the second blocker 2. When the first carrier 3 leaves the second blocker 2, the second blocker 2 rises to block the second carrier 4.

[0068] The shorter the material connection process time, the better. Figure 4Taking the case where the material from station OP2 arrives at station OP3 as an example, in this embodiment, the two carriers of the upstream station OP2 are released at the same time, and by judging the two material level signals, when the second material level signal changes from leaving to no material, that is, at the falling edge of the second material level signal, the second blocker of the current station is controlled to rise, thereby realizing the separation of the first carrier and the second carrier, solving the collision problem of the two carriers, thereby doubling the operation speed, reducing the station operation time from the original 12s to 6s, and greatly improving work efficiency.

[0069] Finally, step S203 is executed to determine whether the current workstation has been completed. After the current workstation has been completed, determine whether there is material in the downstream workstation. When it is determined that there is no material in the downstream workstation, the first blocker 1 and the second blocker 2 of the current workstation are lowered.

[0070] The operation of the workpiece at a workstation can be performed by other devices. When the operation of other devices is completed, the execution of the current workstation is completed.

[0071] After the current station is completed, it is determined whether there is material in the downstream station. If the downstream station is determined to have no material, that is, it will not interfere with the first carrier 3 and the second carrier 4 of the current station, the first blocker 1 and the second blocker 2 of the current station are lowered, and the first carrier 3 and the second carrier 4 are released at the same time. The downstream stations, except for the end station, will adopt the same control method.

[0072] In the material discharge process, it is necessary to determine whether the downstream station is empty. Figure 4 For example, when station OP3 is empty, station OP2 can discharge materials. Station OP1 needs to wait until station OP2 is empty before discharging materials.

[0073] When releasing a carrier from a workstation, the present invention lowers the first blocker and the second blocker at the same time, and when receiving a carrier at the workstation, only the first blocker is raised, and the second blocker is raised in time to block the second carrier by judging the position of the first carrier. Therefore, the present invention can transport two carriers at the same time, improving the transport efficiency.

[0074] like Figure 3 The figure is a work flow chart of a dual-carrier workpiece conveying control method in another embodiment of the present invention, comprising:

[0075] Step S301, detect the first material level signal and the second material level signal of the current workstation. When the first material level signal and the second material level signal of the current workstation are both empty, it is determined that the current workstation has no material, otherwise it is determined that the current workstation has material, wherein each workstation is provided with a first blocker 1 for blocking the first carrier 3 and a second blocker 2 for blocking the second carrier 4, and the first blocker 1 is located downstream of the second blocker 2, and the workpiece is transported from the upstream to the downstream of the conveyor belt, and the first carrier 3 and the second carrier 4 are used to support the workpiece.

[0076] In one embodiment, each workstation includes a first in-place detection device 5 and a second in-place detection device 6, the first in-place detection device 5 is located between the first blocker 1 and the second blocker 2 of the workstation, and the second in-place detection device 6 is located between the second blocker 2 of the workstation and the first blocker 1 of the upstream workstation.

[0077] In one embodiment, the second in-place detection device 6 comprises: a second in-place detection device first sensor 61 located downstream and a second in-place detection device second sensor 62 located upstream, and the second material level signal comprises a first bit of the second material level signal output by the first sensor 61 of the second in-place detection device and a second bit of the second material level signal output by the second sensor 62 of the second in-place detection device, wherein:

[0078] When the first bit of the second material level signal is not detected and the second bit of the second material level signal is not detected, the second material level signal is no material;

[0079] When the first bit of the second material level signal is undetected and the second bit of the second material level signal is detected, the second material level signal is close;

[0080] When the first bit of the second material level signal is detected and the second bit of the second material level signal is detected, the second material level signal is in place;

[0081] When the first bit of the second material level signal is detected and the second bit of the second material level signal is not detected, the second material level signal is leaving.

[0082] In one embodiment, the first in-place detection device 5 includes: a first in-place detection device first sensor 51 located downstream and a first in-place detection device second sensor 52 located upstream, the first in-place detection device 5 outputs a first material level signal, the first material level signal includes a first position of the first material level signal output by the first in-place detection device first sensor 51 and a second position of the first material level signal output by the second in-place detection device second sensor 52, the first material level signal includes no material, approaching, in-place, leaving, wherein:

[0083] When the first bit of the first material level signal is not detected and the second bit of the first material level signal is not detected, the first material level signal is no material;

[0084] When the first bit of the first material level signal is undetected and the second bit of the first material level signal is detected, the first material level signal is close;

[0085] When the first bit of the first material level signal is detected and the second bit of the first material level signal is detected, the first material level signal is in place;

[0086] When the first bit of the first material level signal is detected and the second bit of the first material level signal is not detected, the first material level signal is leaving.

[0087] Step S302, when it is determined that there is no material at the current station, the first blocker 1 of the current station is raised, and the second blocker 2 of the current station is lowered.

[0088] Step S303, obtaining a second material level signal of the second in-place detection device 6 of the current workstation, wherein the second material level signal includes: no material, approaching, in-place, and leaving.

[0089] Step S304 , when the second material level signal changes from leaving to no material, it is determined that the first carrier 3 leaves the second stopper 2 of the current station, and the second stopper 2 is raised.

[0090] Step S305, determining whether the current workstation has been completed.

[0091] In one embodiment, determining whether the current workstation has been completed includes: when detecting that a first lifting device performing a lifting operation on a first carrier 3 of the current workstation is rising, setting a first blocking working memory value of the current workstation, and when detecting that the first lifting device has descended into position, clearing the first blocking working memory value of the current workstation and setting a first blocking work completion value of the current workstation when the first blocking working memory value is set;

[0092] When it is detected that the second lifting device performing the lifting operation on the second carrier 4 of the current station rises, the second blocking working memory value of the current station is set. When it is detected that the second lifting device descends into place, the second blocking working memory value of the current station is cleared, and the second blocking work completion value of the current station is set.

[0093] When the first blocking work completion value and the second blocking work completion value of the current workstation are both set, it is determined that the execution of the current workstation is completed.

[0094] Step S306, after the current station is executed, check the first material level signal and the second material level signal of the downstream station. When the first material level signal and the second material level signal of the downstream station are both no material, it is determined that there is no material in the downstream station, otherwise it is determined that there is material in the downstream station.

[0095] Step S307, when it is determined that there is no material at the downstream station, the first stopper 1 and the second stopper 2 of the current station are lowered.

[0096] Specifically, the applicable scenario of this embodiment is a dual-level or multi-level conveying system, and the scenario where materials cannot collide with each other.

[0097] The dual-carrier workpiece conveying control method of this embodiment is used to control other workstations except the starting workstation and the ending workstation in the dual-carrier workpiece conveying system. The control of the starting workstation and the ending workstation can be implemented by using existing technology.

[0098] First, execute step S301 to detect the first material level signal and the second material level signal of the current workstation. When the first material level signal and the second material level signal of the current workstation are both no material, it is determined that the current workstation has no material; otherwise, it is determined that the current workstation has material, wherein each workstation is provided with a first blocker 1 for blocking the first carrier 3 and a second blocker 2 for blocking the second carrier 4, and the first blocker 1 is located downstream of the second blocker 2, and the workpiece is transported from the upstream to the downstream of the conveyor belt, and the first carrier 3 and the second carrier 4 are used to support the workpiece.

[0099] Specifically, the first material level signal is output by the first in-place detection device 5, and the second material level signal is output by the second in-place detection device 6. When both the first material level signal and the second material level signal of the current station indicate that there is no material, it is determined that there is no material at the current station, otherwise it is determined that there is material at the current station.

[0100] like Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the dual-carrier workpiece conveying system includes five workstations OP1, OP2, OP3, OP4, and OP5. Among them, the workstations OP1-OP5 are respectively: loading, bearing press-fitting, loading, hub press-fitting, and unloading. Each workstation has a first blocker 1, a second blocker 2, a first carrier 3, a second carrier 4, a first in-place detection device 5, a second in-place detection device 6, a first photoelectric detection device 7, and a second photoelectric detection device 8. Among them, the first blocker 1 and the second blocker 2 can be lifting cylinders, which are lifted and lowered to block the carrier. As shown Figure 6 and Figure 7 As shown, the first carrier 3 and the second carrier 4 are trays for supporting the workpiece 9. The first in-place detection device 5 and the second in-place detection device 6 respectively include two proximity switches for detecting the material level signals of the carrier. The first photoelectric detection device 7 and the second photoelectric detection device 8 are mirror-reflecting photoelectric detection devices, including a first reflector 71 and a second reflector 81, for detecting the presence or absence of the workpiece. Figure 4 In the figure, a black blocker indicates that the blocker is raised, and a white blocker indicates that the blocker is lowered.

[0101] In one embodiment, each workstation includes a first in-place detection device 5 and a second in-place detection device 6, the first in-place detection device 5 is located between the first blocker 1 and the second blocker 2 of the workstation, and the second in-place detection device 6 is located between the second blocker 2 of the workstation and the first blocker 1 of the upstream workstation.

[0102] Specifically, the first in-position detection device 5 is located between the first stopper 1 and the second stopper 2 of the workstation, and is used to detect whether there is a carrier in the area between the first stopper 1 and the second stopper 2 of the workstation, so as to determine whether the first carrier 3 has reached the area between the first stopper 1 and the second stopper 2 of the workstation. The second in-position detection device 6 is located between the second stopper 2 of the workstation and the first stopper 1 of the upstream workstation, and is used to detect whether there is a carrier between the second stopper 2 of the workstation and the first stopper 1 of the upstream workstation, so as to determine whether the first carrier 3 has left the second stopper 2, and whether the second carrier 4 has arrived before the second stopper 2.

[0103] In one embodiment, the second in-place detection device 6 comprises: a second in-place detection device first sensor 61 located downstream and a second in-place detection device second sensor 62 located upstream, and the second material level signal comprises a first bit of the second material level signal output by the first sensor 61 of the second in-place detection device and a second bit of the second material level signal output by the second sensor 62 of the second in-place detection device, wherein:

[0104] When the first bit of the second material level signal is not detected and the second bit of the second material level signal is not detected, the second material level signal is no material;

[0105] When the first bit of the second material level signal is undetected and the second bit of the second material level signal is detected, the second material level signal is close;

[0106] When the first bit of the second material level signal is detected and the second bit of the second material level signal is detected, the second material level signal is in place;

[0107] When the first bit of the second material level signal is detected and the second bit of the second material level signal is not detected, the second material level signal is leaving.

[0108] Specifically, 1 is used to indicate detection, 0 is used to indicate non-detection, and a two-bit binary value is used to indicate the second material level signal, wherein the first bit of the second material level signal, i.e., the left bit of the binary value, is the value output by the first sensor 61 of the second in-place detection device, and the second bit of the second material level signal, i.e., the right bit of the binary value, is the value output by the second sensor 62 of the second in-place detection device, then:

[0109] When the second material level signal is 00, the second material level signal is no material;

[0110] When the second material level signal is 01, the second material level signal is close;

[0111] When the second material level signal is 11, the second material level signal is in place;

[0112] When the second material level signal is 10, the second material level signal is leaving.

[0113] Using 1 to indicate detection and 0 to indicate non-detection is just an example. In fact, 0 can also be used to indicate detection and 1 to indicate non-detection. Then:

[0114] When the second material level signal is 11, the second material level signal is no material;

[0115] When the second material level signal is 10, the second material level signal is close;

[0116] When the second material level signal is 00, the second material level signal is in place;

[0117] When the second material level signal is 01, the second material level signal is leaving.

[0118] In one embodiment, the first in-place detection device 5 includes: a first in-place detection device first sensor 51 located downstream and a first in-place detection device second sensor 52 located upstream, the first in-place detection device 5 outputs a first material level signal, the first material level signal includes a first position of the first material level signal output by the first in-place detection device first sensor 51 and a second position of the first material level signal output by the second in-place detection device second sensor 52, the first material level signal includes no material, approaching, in-place, leaving, wherein:

[0119] When the first bit of the first material level signal is not detected and the second bit of the first material level signal is not detected, the first material level signal is no material;

[0120] When the first bit of the first material level signal is undetected and the second bit of the first material level signal is detected, the first material level signal is close;

[0121] When the first bit of the first material level signal is detected and the second bit of the first material level signal is detected, the first material level signal is in place;

[0122] When the first bit of the first material level signal is detected and the second bit of the first material level signal is not detected, the first material level signal is leaving.

[0123] Specifically, 1 is used to indicate detection, 0 is used to indicate non-detection, and a two-bit binary value is used to indicate the first material level signal, wherein the first bit of the first material level signal, i.e., the left bit of the binary value, is the value output by the first sensor 51 of the first in-place detection device, and the second bit of the first material level signal, i.e., the right bit of the binary value, is the value output by the second sensor 52 of the first in-place detection device, then:

[0124] When the first material level signal is 00, the first material level signal is no material;

[0125] When the first material level signal is 01, the first material level signal is close;

[0126] When the first material level signal is 11, the first material level signal is in place;

[0127] When the first material level signal is 10, the first material level signal is leaving.

[0128] Using 1 to indicate detection and 0 to indicate non-detection is just an example. In fact, 0 can also be used to indicate detection and 1 to indicate non-detection. Then:

[0129] When the first material level signal is 11, the first material level signal is no material;

[0130] When the first material level signal is 10, the first material level signal is close;

[0131] When the first material level signal is 00, the first material level signal is in place;

[0132] When the first material level signal is 01, the first material level signal is leaving.

[0133] When the current station is judged to have no material, step S302 is executed to raise the first stopper 1 of the current station and to lower the second stopper 2 of the current station.

[0134] Specifically, the first stopper 1 is raised to prevent the carrier from flowing directly to the downstream station, and the second stopper 2 is lowered to receive the carrier of the upstream station.

[0135] Then, step S303 is executed to obtain a second material level signal of the second in-place detection device 6 of the current workstation, where the second material level signal includes: no material, approaching, in-place, and leaving.

[0136] Then, step S304 is executed to determine that the first carrier 3 leaves the second stopper 2 of the current station and to raise the second stopper 2 when the second material level signal changes from leaving to no material.

[0137] Specifically, 1 is used to indicate detection, and 0 is used to indicate non-detection. In the process of receiving the first carrier 3 and the second carrier 4 at the workstation, changes in the first material level signal and the second material level signal are as follows:

[0138] First moment: the first material level signal is 00, and the second material level signal is 00. At this time, the first carrier 3 and the second carrier 4 have just flowed out from the upstream station and have not yet reached the current station.

[0139] The second moment: the first material level signal is 00, the second material level signal is 01. At this time, the first carrier 3 has just entered the current workstation, the first sensor 51 of the first in-place detection device and the second sensor 52 of the first in-place detection device have not detected anything, the second sensor 62 of the second in-place detection device has detected anything, the first sensor 61 of the second in-place detection device has not detected anything, and the second carrier 4 has not reached the current workstation.

[0140] The third moment: the first material level signal is 00, the second material level signal is 11. At this time, the first carrier 3 completely enters the area before the second blocker 2 of the current workstation. The first sensor 51 of the first in-place detection device and the second sensor 52 of the first in-place detection device have not detected anything. The first sensor 61 of the second in-place detection device and the second sensor 62 of the second in-place detection device have detected anything at the same time, and the second carrier 4 has not reached the current workstation.

[0141] At the fourth moment: the first material level signal is 00, and the second material level signal is 10. At this time, the first carrier 3 is leaving the area before the second blocker 2 of the current workstation and is passing through the second blocker 2. The first sensor 51 of the first in-place detection device and the second sensor 52 of the first in-place detection device have not detected anything. The first sensor 61 of the second in-place detection device has detected anything, and the second sensor 62 of the second in-place detection device has not detected anything. The second carrier 4 has not arrived at the current workstation.

[0142] The fifth moment: the first material level signal is 01, and the second material level signal is 00. At this time, the first carrier 3 completely leaves the area before the second blocker 2 of the current station, completely leaves the second blocker 2, and reaches the area before the first blocker 1 of the current station. The second sensor 52 of the first in-place detection device detects, the first sensor 51 of the first in-place detection device does not detect, the first sensor 61 of the second in-place detection device and the second sensor 62 of the second in-place detection device both do not detect, and the second blocker 2 is raised at this time, and the second carrier 4 has not reached the current station.

[0143] The sixth moment: the first material level signal is 11, and the second material level signal is 01. At this time, the first carrier 3 completely reaches the area before the first blocker 1 of the current station, and the second carrier 4 begins to enter the area before the second blocker 2 of the current station. The second sensor 52 of the first in-place detection device detects, the first sensor 51 of the first in-place detection device detects, the first sensor 61 of the second in-place detection device does not detect, and the second sensor 62 of the second in-place detection device detects.

[0144] The seventh moment: the first material level signal is 11, the second material level signal is 11, at this time the first carrier 3 is blocked by the first blocker 1, and at the same time the second carrier 4 completely reaches the area before the second blocker 2 of the current workstation and is blocked by the second blocker 2, the second sensor 52 of the first in-place detection device detects, the first sensor 51 of the first in-place detection device detects, the first sensor 61 of the second in-place detection device detects, and the second sensor 62 of the second in-place detection device detects.

[0145] Among them, from the first moment to the fourth moment, the second blocker 2 descends, and from the fifth moment to the seventh moment, the second blocker rises.

[0146] Then, step S305 is executed to determine whether the current workstation has been completed.

[0147] Specifically, the operation of the workpiece at a workstation can be performed by other devices. When the operation of other devices is completed, the execution of the current workstation is completed.

[0148] In one embodiment, determining whether the current workstation has been completed includes: when detecting that a first lifting device performing a lifting operation on a first carrier 3 of the current workstation is rising, setting a first blocking working memory value of the current workstation, and when detecting that the first lifting device has descended into position, clearing the first blocking working memory value of the current workstation and setting a first blocking work completion value of the current workstation when the first blocking working memory value is set;

[0149] When it is detected that the second lifting device performing the lifting operation on the second carrier 4 of the current station rises, the second blocking working memory value of the current station is set. When it is detected that the second lifting device descends into place, the second blocking working memory value of the current station is cleared, and the second blocking work completion value of the current station is set.

[0150] When the first blocking work completion value and the second blocking work completion value of the current workstation are both set, it is determined that the execution of the current workstation is completed.

[0151] Specifically, the lifting device is used to lift the carrier and the workpiece supported by the carrier. The carrier and the workpiece are moved from the lifting device as a whole to other locations for operation. After the operation is completed, the workpiece is transported back to the lifting device, and the lifting device descends to place the carrier back to the current work station.

[0152] Therefore, when the first lifting device is rising, the first blocking working memory value is set, that is, the first blocking working memory value is set to 1, and then, when the first blocking working memory value is set, if it is detected that the first lifting device is descending and has descended to the position, the first blocking working memory value is cleared, that is, the first blocking working memory value is set to 0, and the first blocking work completion value is set, that is, the first blocking work completion value is set to 1. Similarly, when the second lifting device is rising, the second blocking working memory value is set, that is, the second blocking working memory value is set to 1, and then, when the second blocking working memory value is set, if it is detected that the second lifting device is descending and has descended to the position, the second blocking working memory value is cleared, that is, the second blocking working memory value is set to 0, and the second blocking work completion value is set, that is, the second blocking work completion value is set to 1.

[0153] Then, when the first blocking work completion value and the second blocking work completion value are both set to 1, it is determined that the current workstation has been completed.

[0154] This embodiment records the lifting and lowering of the lifting device by setting and clearing the memory value, thereby automatically determining whether the current workstation has been completed.

[0155] In some embodiments, when it is detected that the two-hand button of the current station is pressed, it is determined that the current station is completed. Specifically, after the corresponding operation is completed on the workpiece of the current station, the two-hand button is manually pressed to trigger the current station execution completion signal.

[0156] After the current station is executed, execute step S306 to check the first material level signal and the second material level signal of the downstream station. When the first material level signal and the second material level signal of the downstream station are both no material, it is determined that there is no material in the downstream station, otherwise it is determined that there is material in the downstream station.

[0157] Specifically, the first material level signal of the downstream station is acquired from the first in-place detection device 5 of the downstream station, and the second material level signal of the downstream station is acquired from the second in-place detection device 6 of the downstream station.

[0158] Finally, when it is determined that there is no material at the downstream workstation, step S307 is executed to lower the first stopper 1 and the second stopper 2 of the current workstation.

[0159] When the downstream station is judged to be out of material, the downstream station will perform the same operation as the current station, raising the first blocker 1 of the downstream station and lowering the second blocker 2 of the downstream station. The current station lowers the first blocker 1 and the second blocker 2 of the current station, so that the first carrier 3 and the second carrier 4 of the current station will be transported to the downstream station. The dual-carrier workpiece transport control method of this embodiment is executed at the downstream station to control the blocker.

[0160] This embodiment releases the two carriers of the upstream workstation at the same time, and by judging the two material level signals, when the second material level signal changes from leaving to no material, that is, at the falling edge of the second material level signal, the second blocker of the current workstation is controlled to rise, thereby realizing the separation of the first carrier and the second carrier, solving the collision problem of the two carriers, thereby doubling the operation speed, reducing the workstation operation time from the original 12s to 6s, and greatly improving work efficiency.

[0161] In one embodiment, each station further includes a first photoelectric detection device 7 and a second photoelectric detection device 8, the first photoelectric detection device 7 is arranged between the first blocker 1 and the second blocker 2 of the station, and the second photoelectric detection device 8 is arranged between the second blocker 2 of the station and the first blocker 1 of the upstream station, and the method further includes:

[0162] Acquire the first detection information output by the first photoelectric detection device 7 and the second detection information output by the second photoelectric detection device 8 of the current workstation;

[0163] Determine whether the first carrier 3 has a workpiece according to the first detection information, and determine whether the second carrier 4 has a workpiece according to the second detection information;

[0164] If the current workstation is judged to have material, and the first carrier 3 and / or the second carrier 4 is judged to have no workpiece, an alarm is given.

[0165] like Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the first photoelectric detection device 7 and the second photoelectric detection device 8 detect whether there is a workpiece 9 on the first carrier 3 and / or the second carrier 4 by emitting light. When the emitted light is blocked, it is determined that there is a workpiece on the carrier. The first photoelectric detection device 7 detects whether there is a workpiece 9 on the first carrier 3, and the second photoelectric detection device 8 detects whether there is a workpiece 9 on the second carrier 4.

[0166] If it is determined that there is material at the current workstation, but it is determined that there is no workpiece on the first carrier 3 according to the first photoelectric detection device 7 and / or it is determined that there is no workpiece on the second carrier 4 according to the second photoelectric detection device 8, an alarm is given.

[0167] In some embodiments, if the current workstation is judged to have material, and the first carrier 3 and / or the second carrier 4 is judged to have no workpiece, an alarm is given, including:

[0168] If the first material level signal of the current workstation is in place, the second material level signal is in place, and the first carrier 3 and / or the second carrier 4 is judged to have no workpiece, an alarm is given.

[0169] This embodiment issues an alarm when there is material at the workstation but no workpiece is detected, to remind the user.

[0170] like Figure 8 The figure is a work flow chart of a dual-carrier workpiece conveying control method according to the best embodiment of the present invention, which is used in a dual-carrier workpiece conveying system as shown in Figure 4, wherein the left blocker of each station is the first blocker, and the right blocker is the second blocker. The method includes:

[0171] Step S801, power-on initial state, execute automatic program, and start cycle;

[0172] Step S802, judging the material level signal of the current station, if the first material level signal of the current station is 00, and the second in-place behavior is 00, then executing step S803, otherwise continue to wait;

[0173] Step S803, the left blocker rises and the right blocker falls;

[0174] Step S804, judging the material level signal of the current station, if the second material level signal of the current station changes from 10 to 00, regardless of the first material level signal, executing step S806, otherwise continue waiting;

[0175] Step S805, the left blocker rises, and the right blocker rises;

[0176] Step S806, judging the material level signal of the current station, if the first material level signal of the current station is 11 and the second material level signal is 11, then executing step S807, otherwise continue to wait;

[0177] Step S807, determine whether the workstation has been completed, if yes, proceed to step S808, otherwise continue to wait;

[0178] Step S808, judging whether there is no interference signal at the lower station. When the first material level signal of the lower station is 00 and the second material level signal is 00, judging that there is no interference signal at the lower station, executing step S809, otherwise continue waiting;

[0179] Step S809, the left blocker is lowered, and the right blocker is lowered;

[0180] Step S810, determine the material level signal of this station. If the first material level signal of this station is 00 and the second material level signal is 00, execute step S802, otherwise continue to wait.

[0181] like Fig. 9 The figure is a flow chart of the station execution detection of a dual-carrier workpiece conveying control method according to the best embodiment of the present invention. Figure 8 Step S808 determines whether the expansion of the current station has been completed. Figure 8 The left lift is the aforementioned first lift device, and the right lift is the aforementioned second lift device, including:

[0182] Step S901, left lift rises, left block is working memory = 1;

[0183] Step S902, the left lift rises to the right position, and the left block is working memory = 1;

[0184] Step S903, right lift rises, right block is working memory = 1;

[0185] Step S904, the right lift rises to the right position, and the right block is working memory = 1;

[0186] Step S905, waiting for the device to complete the operation, specifically includes:

[0187] Method 1: Linking with other equipment - transplanting and handling

[0188] (Pallet + material as a whole, moved from the lifting device to other workstation equipment until the equipment is completed, and then moved back to the lifting device)

[0189] Method 2: Manual packaging operation (press the double-hand button after the operation is completed).

[0190] Step S906, left lift down, left block working memory = 1;

[0191] Step S907, the left lift is lowered to the right position, the left blocking is working memory = 0, and the left blocking work is completed = 1;

[0192] Step S908, right lift down, right block working memory = 1;

[0193] Step S909, right lift is lowered to the right position, right blocking is working memory = 0, right blocking work is completed = 1;

[0194] Step S910: the workstation is completed.

[0195] Specifically, steps S901 and S902 are executed independently from steps S903 and S904, and steps S906 and S907 are executed independently from steps S908 and S909. When left blocking work completed = 1 and right blocking work completed = 1, step S910 is executed to determine that the workstation is completed.

[0196] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0197] like Fig.10 The figure shows a hardware structure diagram of an electronic device of the present invention, including:

[0198] at least one processor 1001; and,

[0199] A memory 1002 is communicatively connected to at least one of the processors 1001; wherein,

[0200] The memory 1002 stores instructions that can be executed by at least one of the processors. The instructions are executed by at least one of the processors so that the at least one processor can execute the dual-carrier workpiece transport control method as described above.

[0201] Fig.10 A processor 1001 is taken as an example.

[0202] The electronic device may further include: an input device 1003 and a display device 1004 .

[0203] The processor 1001, the memory 1002, the input device 1003 and the display device 1004 may be connected via a bus or other means, and the figure takes the connection via a bus as an example.

[0204] The memory 1002 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the dual-carrier workpiece conveying control method in the embodiment of the present application, for example, Figure 2 , Figure 3 The processor 1001 executes various functional applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 1002, that is, the dual-carrier workpiece conveying control method in the above embodiment is implemented.

[0205] The memory 1002 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created according to the use of the dual-carrier workpiece conveying control method, etc. In addition, the memory 1002 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 1002 may optionally include a memory remotely arranged relative to the processor 1001, and these remote memories may be connected to the device for executing the dual-carrier workpiece conveying control method via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0206] The input device 1003 can receive user clicks and generate signal inputs related to user settings and function controls of the dual-carrier workpiece conveying control method. The display device 1004 can include display devices such as a display screen.

[0207] The one or more modules are stored in the memory 1002 , and when executed by the one or more processors 1001 , the dual-carrier workpiece conveying control method in any of the above method embodiments is executed.

[0208] When releasing a carrier from a workstation, the present invention lowers the first blocker and the second blocker at the same time, and when receiving a carrier at the workstation, only the first blocker is raised, and the second blocker is raised in time to block the second carrier by judging the position of the first carrier. Therefore, the present invention can transport two carriers at the same time, improving the transport efficiency.

[0209] An embodiment of the present invention provides a storage medium, wherein the storage medium stores computer instructions. When a computer executes the computer instructions, the storage medium is used to execute all steps of the dual-carrier workpiece conveying control method as described above.

[0210] In the context of the present disclosure, a storage medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or apparatus. The storage medium may be a machine-readable signal medium or a machine-readable storage medium. Alternatively, the storage medium may be a non-temporary computer-readable storage medium, for example, a non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0211] An embodiment of the present invention provides a computer program product, including a computer program / instruction, which implements the dual-carrier workpiece conveying control method as described above when executed by a processor.

[0212] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A dual-carrier workpiece conveying control method, characterized in that: include: Determine whether there is material at the current workstation, and when it is determined that there is no material at the current workstation, raise the first blocker (1) of the current workstation and lower the second blocker (2) of the current workstation, wherein each workstation is provided with a first blocker (1) for blocking the first carrier (3) and a second blocker (2) for blocking the second carrier (4), and the first blocker (1) is located downstream of the second blocker (2), the workpiece is conveyed from the upstream to the downstream of the conveyor belt, and the first carrier (3) and the second carrier (4) are used to support the workpiece; When it is determined that the first carrier (3) leaves the second stopper (2) of the current workstation, raising the second stopper (2) of the current workstation; Determine whether the current workstation has been completed. After the current workstation has been completed, determine whether there is material at the downstream workstation. When it is determined that there is no material at the downstream workstation, lower the first blocker (1) and the second blocker (2) of the current workstation.

2. The dual-carrier workpiece conveying control method according to claim 1, characterized in that: Each of the workstations comprises a first in-place detection device (5) and a second in-place detection device (6), wherein the first in-place detection device (5) is located between the first blocker (1) and the second blocker (2) of the workstation, and the second in-place detection device (6) is located between the second blocker (2) of the workstation and the first blocker (1) of an upstream workstation, and when it is determined that the first carrier (3) leaves the second blocker (2) of the current workstation, the second blocker (2) of the current workstation is raised, comprising: Obtaining a second material level signal of a second in-place detection device (6) at the current workstation, wherein the second material level signal includes: no material, approaching, in-place, and leaving; When the second material level signal changes from leaving to no material, it is determined that the first carrier (3) leaves the second blocker (2) of the current workstation, and the second blocker (2) is raised.

3. The dual-carrier workpiece conveying control method according to claim 2, characterized in that: The second in-place detection device (6) comprises: a first sensor (61) of the second in-place detection device located downstream and a second sensor (62) of the second in-place detection device located upstream, the second material level signal comprises a first bit of the second material level signal output by the first sensor (61) of the second in-place detection device and a second bit of the second material level signal output by the second sensor (62) of the second in-place detection device, wherein: When the first bit of the second material level signal is not detected and the second bit of the second material level signal is not detected, the second material level signal is no material; When the first bit of the second material level signal is undetected and the second bit of the second material level signal is detected, the second material level signal is close; When the first bit of the second material level signal is detected and the second bit of the second material level signal is detected, the second material level signal is in place; When the first bit of the second material level signal is detected and the second bit of the second material level signal is not detected, the second material level signal is leaving.

4. The dual-carrier workpiece conveying control method according to claim 3, characterized in that: The first in-place detection device (5) comprises: a first in-place detection device first sensor (51) located downstream and a first in-place detection device second sensor (52) located upstream, the first in-place detection device (5) outputs a first material level signal, the first material level signal comprises a first position of the first material level signal output by the first in-place detection device first sensor (51) and a second position of the first material level signal output by the second in-place detection device second sensor (52), the first material level signal comprises no material, approaching, in-place, and leaving, wherein: When the first bit of the first material level signal is not detected and the second bit of the first material level signal is not detected, the first material level signal is no material; When the first bit of the first material level signal is undetected and the second bit of the first material level signal is detected, the first material level signal is close; When the first bit of the first material level signal is detected and the second bit of the first material level signal is detected, the first material level signal is in place; When the first bit of the first material level signal is detected and the second bit of the first material level signal is not detected, the first material level signal is leaving.

5. The dual-carrier workpiece conveying control method according to claim 4, characterized in that: The determining whether there is material at the current station includes: detecting the first material level signal and the second material level signal of the current station, and determining that there is no material at the current station when both the first material level signal and the second material level signal of the current station are no material, otherwise determining that there is material at the current station; The determining whether there is material at the downstream station includes: detecting the first material level signal and the second material level signal of the downstream station, and determining that there is no material at the downstream station when both the first material level signal and the second material level signal of the downstream station indicate that there is no material; otherwise, determining that there is material at the downstream station.

6. The dual-carrier workpiece conveying control method according to claim 1, characterized in that: The determining whether the current workstation has been completed includes: When it is detected that a first lifting device performing a lifting operation on a first carrier (3) of the current workstation is rising, a first blocking working memory value of the current workstation is set; when it is detected that the first lifting device has descended into position while the first blocking working memory value is set, the first blocking working memory value of the current workstation is cleared and a first blocking work completion value of the current workstation is set; When it is detected that the second lifting device performing the lifting operation on the second carrier (4) of the current workstation is rising, a second blocking working memory value of the current workstation is set; when it is detected that the second lifting device has descended into position while the second blocking working memory value is set, the second blocking working memory value of the current workstation is cleared and a second blocking work completion value of the current workstation is set; When the first blocking work completion value and the second blocking work completion value of the current work station are both set, it is determined that the current work station is completed.

7. The dual-carrier workpiece conveying control method according to claim 1, characterized in that: Each of the workstations further comprises a first photoelectric detection device (7) and a second photoelectric detection device (8), the first photoelectric detection device (7) being arranged between the first blocker (1) and the second blocker (2) of the workstation, and the second photoelectric detection device (8) being arranged between the second blocker (2) of the workstation and the first blocker (1) of an upstream workstation, and the method further comprises: Acquiring first detection information output by the first photoelectric detection device (7) and second detection information output by the second photoelectric detection device (8) of the current workstation; determining whether the first carrier (3) has a workpiece according to the first detection information, and determining whether the second carrier (4) has a workpiece according to the second detection information; If the first area and the second area of ​​the current workstation are judged to contain material, and the first carrier (3) and / or the second carrier (4) are judged to contain no workpiece, an alarm is issued.

8. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors, and the instructions are executed by at least one of the processors to enable the at least one processor to execute the dual-carrier workpiece conveying control method according to any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute all steps of the dual-carrier workpiece conveying control method according to any one of claims 1 to 7.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the dual-carrier workpiece conveying control method as described in any one of claims 1 to 7 is implemented.

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