Control method, control device, transportation system and computer readable storage medium

Abstract

The invention discloses a control method, a control device, a transportation system and a nonvolatile computer readable storage medium. The method is applied to the transportation system, the transportation system comprises a plurality of assembly lines and a transfer device, the assembly lines are used for transporting target goods, and the transfer device is used for transferring the target goods in the assembly lines. The transfer device comprises a first motor, a first conveying belt, a first in-place sensor and a second in-place sensor, and the first motor is used for driving the first conveying belt to move; the control method comprises the steps that the target rotation direction of a first motor is determined based on the current assembly line where the transfer device is located, and when the first motor rotates in the target rotation direction, the movement direction of a first conveying belt is matched with the movement direction of the current assembly line; based on the target rotation direction, the first detection information of the first in-place sensor and the second detection information of the second in-place sensor, the first motor is controlled to ensure that the positive direction of the transfer device is always along the process direction, so that the operation difficulty is relatively low.

Description

Technical Field

[0001] The present application relates to the technical field of transportation systems, and more specifically, to a control method, a control device, a transportation system, and a non-volatile computer-readable storage medium. Background Art

[0002] When the target goods of the transportation system need to be transported on multiple assembly lines with different movement directions, the transportation system usually uses a transfer device to transfer the target goods from one assembly line to another. Since the movement directions of the multiple assembly lines are different, the movement directions of the transfer device when connected to different assembly lines are also different. The motor of the transfer device rotates forward on a certain assembly line, and the motor of the transfer device rotates reversely on another assembly line. In the prior art, the operator uses the forward button and the reverse button to control the transfer device during the operation process, which means that during the operation process, it is necessary to clearly know where the transfer device is located in order to accurately issue operating instructions, which increases the difficulty of operation. Summary of the invention

[0003] Embodiments of the present application provide a control method, a control device, a transportation system, and a non-volatile computer-readable storage medium.

[0004] The control method of the embodiment of the present application is applied to a transportation system, which includes multiple assembly lines and transfer devices, the assembly lines are used to transport target goods, and the transfer devices are used to transfer target goods among the multiple assembly lines; the transfer device includes a first motor, a first conveyor belt, a first in-place sensor and a second in-place sensor, and the first motor is used to drive the first conveyor belt to move; the control method includes: based on the current assembly line where the transfer device is located, determining the target rotation direction of the first motor, when the first motor rotates in the target rotation direction, the movement direction of the first conveyor belt matches the movement direction of the current assembly line; based on the target rotation direction, first detection information of the first in-place sensor and second detection information of the second in-place sensor, controlling the first motor.

[0005] The control device of the embodiment of the present application is applied to a transportation system, wherein the transportation system includes a plurality of assembly lines and a transfer device, wherein the assembly line is used to transport target goods, and the transfer device is used to transfer target goods among the plurality of assembly lines; the transfer device includes a first motor, a first conveyor belt, a first in-position sensor, and a second in-position sensor, wherein the first motor is used to drive the first conveyor belt to move; the control device includes a first determination module and a first control module. The first determination module is used to determine the target rotation direction of the first motor based on the current assembly line where the transfer device is located, and when the first motor rotates in the target rotation direction, the movement direction of the first conveyor belt matches the movement direction of the current assembly line. The first control module is used to control the first motor based on the target rotation direction, the first detection information of the first in-position sensor, and the second detection information of the second in-position sensor.

[0006] The transportation system of the embodiment of the present application includes multiple assembly lines, transfer devices, processors, memories and computer programs. The assembly lines are used to transport target goods, and the transfer devices are used to transfer target goods in multiple assembly lines; the transfer devices include a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, and the first motor is used to drive the first conveyor belt to move. The computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing a control method. The control method includes performing at least one of torque control and speed control on the transportation system to reduce the speed of the transportation system when a braking intention is detected.

[0007] The non-volatile computer-readable storage medium of the embodiment of the present application includes a computer program, and when the computer program is executed by a processor, the processor executes a control method. The control method is applied to a transportation system, and the transportation system includes multiple assembly lines and transfer devices, the assembly lines are used to transport target goods, and the transfer devices are used to transfer target goods in multiple assembly lines; the transfer device includes a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, and the first motor is used to drive the first conveyor belt to move; the control method includes: based on the current assembly line where the transfer device is located, determining the target rotation direction of the first motor, when the first motor rotates in the target rotation direction, the movement direction of the first conveyor belt matches the movement direction of the current assembly line; based on the target rotation direction, the first detection information of the first in-position sensor and the second detection information of the second in-position sensor, the first motor is controlled.

[0008] The control method, control device, transportation system and computer-readable storage medium of the implementation mode of the present application, the target rotation direction of the transfer device, the purpose of the first in-situ sensor and the purpose of the second in-situ sensor can be automatically adjusted according to the current assembly line where the transfer device is located, so as to realize the reversal of the transfer device, and ensure that the positive direction of the transfer device can be redefined according to the current assembly line where the transfer device is located, so that the positive direction of the transfer device is always consistent with the process direction of the current assembly line. In this way, when controlling the transfer device, it is only necessary to control the transfer device to move forward or backward. When the transfer device is controlled to move forward, the first conveyor belt will drive the target goods to move forward according to the movement direction of the current assembly line. When the transfer device is controlled to move backward, the first conveyor belt will drive the target goods to move backward according to the movement direction of the current assembly line. There is no need to judge whether the motor needs to be controlled to rotate forward or reverse according to the current assembly line where the transfer device is located, as in the prior art. By comparison, it can be seen that the operation of the transportation system of the present application is simpler and less difficult to operate, thereby facilitating the transmission of machine operation instructions.

[0009] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0011] Figure 1 is a schematic diagram of a control method for certain embodiments of the present application;

[0012] Figure 2 is a flow chart of a control method of certain embodiments of the present application;

[0013] Figure 3 is a schematic diagram of a control method for certain embodiments of the present application;

[0014] Figure 4 is a flow chart of a control method of certain embodiments of the present application;

[0015] Figure 5 is a flow chart of a control method of certain embodiments of the present application;

[0016] Figure 6 is a flow chart of a control method of certain embodiments of the present application;

[0017] Figure 7 is a flow chart of a control method of certain embodiments of the present application;

[0018] Figure 8is a flow chart of a control method of certain embodiments of the present application;

[0019] Fig. 9 is a schematic diagram of a control method for certain embodiments of the present application;

[0020] Fig.10 is a flow chart of a control method of certain embodiments of the present application;

[0021] Fig.11 is a flow chart of a control method of certain embodiments of the present application;

[0022] Fig.12 is a flow chart of a control method of certain embodiments of the present application;

[0023] Fig.13 is a schematic diagram of a control method for certain embodiments of the present application;

[0024] Fig.14 is a schematic diagram of a control method for certain embodiments of the present application;

[0025] Fig.15 is a schematic diagram of a control method for certain embodiments of the present application;

[0026] Fig.16 is a flow chart of a control method of certain embodiments of the present application;

[0027] Fig.17 is a flow chart of a control method of certain embodiments of the present application;

[0028] Fig.18 is a flow chart of a control method of certain embodiments of the present application;

[0029] Fig.19 is a schematic diagram of a control method for certain embodiments of the present application;

[0030] Fig. 20 is a flow chart of a control method of certain embodiments of the present application;

[0031] Fig.21 is a flow chart of a control method of certain embodiments of the present application;

[0032] Fig. 22 is a flow chart of a control method of certain embodiments of the present application;

[0033] Fig.23 is a schematic diagram of a control method for certain embodiments of the present application;

[0034] Fig.24 is a flow chart of a control method of certain embodiments of the present application;

[0035] Fig.25 is a schematic diagram of a module of a control device in certain embodiments of the present application;

[0036] Fig.26 is a schematic diagram of the structure of a transportation system of certain embodiments of the present application;

[0037] Fig. 27 is a schematic diagram of a transportation system according to some embodiments of the present application;

[0038] Fig.28 It is a schematic diagram of the connection status of a non-volatile computer-readable storage medium and a processor in certain embodiments of the present application. DETAILED DESCRIPTION

[0039] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0040] When the target goods of the transportation system need to be transported on multiple assembly lines, the transportation system usually uses a transfer device to transfer the target goods from one assembly line to another. The movement directions of the two adjacent assembly lines are different, and the movement directions of the transfer device when connected to different assembly lines are also different. The motor of the transfer device on a certain assembly line rotates forward, and the motor of the transfer device on another assembly line rotates reversely.

[0041] During production, the process direction of the transportation system is taken as the positive direction. The process direction is the direction in which the transportation system transports the target goods. The movement direction of each assembly line is determined according to the process direction. Figure 1 In the figure, positions 1# and 2# belong to the first assembly line, position 3# belongs to the transfer device, and positions 4# and 5# belong to the second assembly line. The movement directions of the two assembly lines are opposite. The process direction is from position 1# on the lower layer to position 5# on the upper layer. The movement direction of the first assembly line is from right to left, and the movement direction of the second assembly line is from left to right. The movement direction of the first conveyor belt of the transfer device in the first assembly line is from right to left. The transfer device takes this movement direction as the positive direction. The rotation direction of the motor of the transfer device at this time is defined as forward rotation. At this time, the positive direction is consistent with the process direction. However, the movement direction of the first conveyor belt of the transfer device in the second assembly line is from left to right. At this time, the first conveyor belt needs to move in the opposite direction, and the motor should be reversed. Therefore, the reverse button needs to be executed during the operation of the machine to enable the trolley to run in the forward process direction.

[0042] In the manual execution mode of the prior art, the operator uses the forward button and the reverse button to control the transfer device during the operation process, which means that the operator must clearly know where the transfer device is located in order to accurately issue operating instructions during the operation process, thereby increasing the difficulty of operation.

[0043] In the prior art, the positive direction is fixed during programming. However, when the direction of movement of the assembly line changes, the direction of movement of the transfer device may be the same as or opposite to the direction of movement of the assembly line, that is, the positive direction of the transfer device may be the same as or opposite to the process direction. Therefore, when programming in the prior art, if you want to control the transfer device to move forward in the process direction, you also need to determine whether the motor of the transfer device needs to rotate forward or reverse based on the current assembly line where the transfer device is located. As a result, the logic level is not clear enough during programming, and it is necessary to determine whether the motor is rotating forward or reverse based on the process direction of the assembly line where the transfer device is located and the positive direction of the transfer device, which can easily lead to programming errors.

[0044] In order to solve the above problems, the present application provides a control method, which will be described in detail below:

[0045] See also Figures 1 to 3 The embodiment of the present application provides a control method, which is applied to a transportation system 100. The transportation system 100 includes a plurality of assembly lines 10 and a transfer device 20. The assembly lines 10 are used to transport target goods, and the transfer device 20 is used to transfer the target goods among the plurality of assembly lines 10. The transfer device 20 includes a first motor, a first conveyor belt 21, a first in-position sensor 22, and a second in-position sensor 23. The first motor is used to drive the first conveyor belt 21 to move. The control method includes:

[0046] Step 011: Based on the current assembly line 10 where the transfer device 20 is located, determine the target rotation direction of the first motor. When the first motor rotates in the target rotation direction, the movement direction of the first conveyor belt 21 matches the movement direction of the current assembly line 10.

[0047] Specifically, the transportation system 100 includes a plurality of assembly lines 10 and a transfer device 20. The movement directions of the plurality of assembly lines 10 may be the same or different. The assembly lines 10 are used to transport target goods (eg Figure 1 The transfer device 20 can be selectively connected to multiple assembly lines 10, so that the transfer device 20 can transfer the target goods in multiple assembly lines 10. The process direction is the direction in which the transportation system transports the target goods. The movement direction of each assembly line is determined according to the process direction. Figure 1It includes a second assembly line 12 located on the upper layer and a first assembly line 11 located on the lower layer. The movement directions of the two assembly lines 10 are opposite. The transfer device 20 includes a liftable first conveyor belt 21. The connection relationship of the transfer device 20 can be changed by changing the height of the first conveyor belt 21, so that the first conveyor belt 21 can be selectively connected to the first assembly line 11 and the second assembly line 12, so that the transfer device 20 can transfer the target goods of the first assembly line 11 to the second assembly line 12.

[0048] The transfer device 20 includes a first motor, a first conveyor belt 21, a first in-position sensor 22 and a second in-position sensor 23. The first motor is connected to the first conveyor belt 21 so that the first motor can drive the first conveyor belt 21 to move. When the first motor rotates forward or reversely, the movement direction of the first conveyor belt 21 is different. The in-position sensor determines whether the target goods are in a specific position by detecting the distance between the target goods and the sensor. It usually consists of a transmitter and a receiver. The transmitter will emit electromagnetic waves or infrared signals to the target goods, and the receiver will receive the reflected signals and determine whether the target goods are in a specific position based on the signal strength. Therefore, when the target goods block and reflect the signal sent by the in-position sensor, the in-position sensor can confirm that the target goods are in place.

[0049] The movement direction of the first conveyor belt 21 when the first motor rotates in different directions can be determined first. For example, when the first motor rotates forward, the movement direction of the first conveyor belt 21 is from left to right, and when the first motor rotates reversely, the movement direction of the first conveyor belt 21 is from right to left. During the operation of the transportation system 100, the transfer device 20 continuously transfers between the various assembly lines 10 to ensure the normal operation of the transportation system 100.

[0050] During the operation of the transfer device 20, the target movement direction of the first conveyor belt 21 can be determined based on the movement direction of the current assembly line 10 where the transfer device 20 is located, thereby determining the target rotation direction of the first motor to ensure that the movement direction of the first conveyor belt 21 matches the movement direction of the current assembly line 10, so that the target goods can be smoothly transported between the first conveyor belt 21 and the current assembly line 10. For example, when the movement direction of the current assembly line 10 is from left to right, the target movement direction of the first conveyor belt 21 can be determined to be from left to right. If the movement direction of the first conveyor belt 21 is from left to right when the first motor is reversed, then the target rotation direction of the first motor can be determined to be reversed.

[0051] Step 012 : Based on the target rotation direction, the first detection information of the first in-position sensor 22 and the second detection information of the second in-position sensor 23 , the first motor is controlled.

[0052] Specifically, the first in-place sensor 22 and the second in-place sensor 23 have the same function, both of which are to detect whether the target goods are in place. The first in-place sensor 22 and the second in-place sensor 23 are installed at different positions. For example, the first in-place sensor 22 is arranged on the right side of the first conveyor belt 21, and the second in-place sensor 23 is arranged on the left side of the first conveyor belt 21. Therefore, the uses of the first detection information and the second detection information may be different. One of the first in-place sensor 22 and the second in-place sensor 23 may be an occupancy sensor, and the other may be a stop sensor. In the case where the occupancy sensor detects the target goods, it can be confirmed that the target goods are entering the first conveyor belt 21, so it is necessary to control the first motor to run in the target rotation direction. In the case where the stop sensor detects the target goods, it can be confirmed that the target goods have reached the target stop position on the first conveyor belt 21, so it is necessary to control the first motor to stop running to ensure that the target goods can stop in the target stop position to prevent the target goods from overtravel.

[0053] The moving direction of the first conveyor belt 21 is changeable. In different moving directions, the target goods first pass through different in-place sensors. Therefore, when the moving direction of the first conveyor belt 21 is different, the purpose of the first in-place sensor 22 and the second in-place sensor 23 can be changed accordingly.

[0054] For example Figure 3 , Figure 3 for Figure 1 The schematic diagram of the scene when the transfer device 20 is connected to the first assembly line 11, and Figure 1 The schematic diagram of the scene when the transfer device 20 is connected to the second assembly line 12 is shown. The in-place sensor on the right is the first in-place sensor 22, and the in-place sensor on the left is the second in-place sensor 23. The transfer device 20 is located in the lower layer. When it is connected to the first assembly line 11, the movement direction of the first conveyor belt 21 is from left to right. When the target goods enter the transfer device 20, the first conveyor belt 21 can only stop after the second in-place sensor 23 detects the target goods. Therefore, the second in-place sensor 23 is a stop sensor, and the first in-place sensor 22 is an occupancy sensor. The transfer device 20 is located in the upper layer. When it is connected to the second assembly line 12, the movement direction of the first conveyor belt 21 is from right to left. When the target goods enter the transfer device 20, the first conveyor belt 21 can only stop after the first in-place sensor 22 detects the target goods. Therefore, the first in-place sensor 22 is a stop sensor, and the second in-place sensor 23 is an occupancy sensor. The position of the stop sensor can be determined according to the target stop position of the target cargo in the transfer device 20, so the positions of the first in-position sensor 22 and the second in-position sensor 23 need to be determined according to the target stop position.

[0055] Therefore, when controlling the operation of the first motor, it is necessary to determine the paths of the first in-place sensor 22 and the second in-place sensor 23 according to the target rotation direction, which one is the occupancy sensor and which one is the stop sensor. Then, when judging the start and stop of the first motor, the interface of the required in-place sensor is automatically connected to obtain the corresponding detection information. For example, when judging whether the first motor stops running, it is necessary to obtain the detection information of the stop sensor. If it is determined that the first in-place sensor 22 is a stop sensor, the interface of the first in-place sensor 22 is connected at this time to obtain the first detection information of the first in-place sensor 22. Finally, the start and stop of the first motor is controlled according to the first detection information and the second detection information to ensure that the transfer device 20 can successfully complete the transfer work.

[0056] In this way, the target rotation direction of the first motor, the purpose of the first in-place sensor 22 and the purpose of the second in-place sensor 23 can be automatically converted according to the current assembly line 10 where the transfer device 20 is located, so that the hardware positions of the two in-place sensors do not change, and the logical reversal is achieved by reversing the functions between the two through the program to achieve the reversal of the transfer device 20, that is, to redefine the positive direction of the transfer device 20, to ensure that the positive direction of the transfer device 20 is always along the process direction of the transportation system 100, and the purpose of the first in-place sensor 22 and the purpose of the second in-place sensor 23 are always determined along the process direction, to ensure that the transfer device 20 and the current assembly line 10 where the transfer device 20 is located can work together.

[0057] Therefore, the rotation direction of the transfer device 20 and the purpose of each sensor can be automatically adjusted according to the current assembly line 10, so that when controlling the transfer device 20, it is only necessary to control the transfer device 20 to move forward or backward. When the transfer device 20 is controlled to move forward, the first conveyor belt 21 will drive the target goods forward according to the movement direction of the current assembly line 10, and when the transfer device 20 is controlled to move backward, the first conveyor belt 21 will drive the target goods backward according to the movement direction of the current assembly line 10. Therefore, the transportation system 100 can only be provided with a forward button and a reverse button, and will not be provided with a forward button and a reverse button as in the prior art, and it is determined whether the motor needs to be controlled to rotate forward or reverse according to the current assembly line 10 where the transfer device 20 is located.

[0058] During programming, the positive direction of the transfer device 20 can be defined according to the process direction, and the rotation direction of the transfer device 20 and the purpose of each sensor can be automatically programmed according to the current assembly line 10. Later, only the concepts of forward and backward can be introduced for programming. Forward means that the transfer device 20 runs along the process direction, and backward means that the transfer device 20 runs along the negative direction of the process direction. There is no need to introduce only the concepts of forward rotation and reverse rotation for programming as in the prior art. The positive direction of the transfer device 20 is fixed, so that the positive direction of the transfer device 20 in different assembly lines 10 may be the same as or opposite to the process direction. As a result, when controlling the transfer device 20 to move forward, it is also necessary to determine whether the motor is rotating forward or reverse according to the process direction of the assembly line 10 where the transfer device 20 is located, so that the transfer device 20 can run along the process direction. By comparison, it can be seen that the programming of the transportation system 100 of the present application is clearer at the logical level. The positive direction of the transfer device 20 will automatically switch, so that when programming, it is only necessary to determine whether the transfer device 20 is moving forward or backward according to the business logic, without having to determine the specific direction in which the transfer device 20 needs to operate.

[0059] The target rotation direction of the transfer device 20, the purpose of the first in-situ sensor 22, and the purpose of the second in-situ sensor 23 of the control method of the embodiment of the present application can be automatically adjusted according to the current assembly line 10 where the transfer device 20 is located, so as to realize the reversal of the transfer device 20, and ensure that the positive direction of the transfer device 20 can be redefined according to the current assembly line 10 where the transfer device 20 is located, so that the positive direction of the transfer device 20 is always consistent with the process direction of the current assembly line 10. In this way, when controlling the transfer device 20, it is only necessary to control the transfer device 20 to move forward or backward. When controlling the transfer device 20 to move forward, the first conveyor belt 21 will drive the target goods to move forward according to the movement direction of the current assembly line 10, and when controlling the transfer device 20 to move backward, the first conveyor belt 21 will drive the target goods to move backward according to the movement direction of the current assembly line 10. There is no need to judge whether the motor needs to be controlled to rotate forward or reverse according to the current assembly line 10 where the transfer device 20 is located as in the prior art. By comparison, it can be seen that the operation of the transportation system 100 of the present application is simpler and less difficult, thereby facilitating the transmission of operating instructions.

[0060] See also Figure 1 , Figure 3 and Figure 4 In some embodiments, step 012: controlling the first motor based on the target rotation direction, the first detection information of the first in-position sensor 22 and the second detection information of the second in-position sensor 23, includes:

[0061] Step 0121: when the target rotation direction is the first direction, determine that the first in-place sensor 22 is an occupied sensor, and the second in-place sensor 23 is a stop sensor. When the motor rotates in the first direction, the current transportation direction between the current assembly line 10 and the transfer device 20 is that the current assembly line 10 is toward the transfer device 20. In the current transportation direction, the first in-place sensor 22 is ahead of the second in-place sensor 23.

[0062] Step 0122: If the first detection information indicates that the target goods are detected, and the second detection information indicates that the target goods are not detected, the first motor is controlled to rotate along the target rotation direction;

[0063] Step 0123: If the first detection information and the second detection information both indicate that the target cargo is detected, the first motor is controlled to stop.

[0064] Specifically, when the motor rotates in the first direction, the current transportation direction between the current assembly line 10 and the transfer device 20 is from the current assembly line 10 to the transfer device 20, and the target goods are transported from the current assembly line 10 to the transfer device 20. In the current transportation direction, the first in-position sensor 22 is in front of the second in-position sensor 23, so the target goods pass through the first in-position sensor 22 and the second in-position sensor 23 in sequence when entering the transfer device 20. At this time, the first in-position sensor 22 is an occupancy sensor, and the second in-position sensor 23 is a stop sensor. When the current assembly line 10 where the transfer device 20 is located needs to transport the target goods to the transfer device 20, it can be determined that the target rotation direction is the first direction.

[0065] In the case where the first detection information indicates that the target cargo is detected, and the second detection information indicates that the target cargo is not detected, it can be considered that the target cargo has begun to enter the transfer device 20, but the target cargo has not yet moved to the position of the stop sensor, so the first motor can be controlled to rotate along the target rotation direction. In the case where the first detection information and the second detection information both indicate that the target cargo is detected, it can be considered that the target cargo has moved to the position of the stop sensor. If the target cargo continues to move, it is easy to cause an overtravel problem. Therefore, the first motor is controlled to stop at this time, thereby ensuring that the target cargo is at the target stop position when the first motor stops running, and the transportation of the target cargo when entering the transfer device 20 is completed at this time.

[0066] In this way, when the target goods need to be transported from the assembly line 10 to the transfer device 20, it can be determined that the first in-place sensor 22 is an occupancy sensor and the second in-place sensor 23 is a stop sensor, and then the motor is controlled according to the first detection information and the second detection information, thereby ensuring that the target goods can eventually be docked more accurately in the target stop position of the transfer device 20, so as to facilitate the transfer device 20 to subsequently transfer the target goods to other assembly lines 10.

[0067] See also Figure 1 , Figure 3 and Figure 5 In some embodiments, step 0122: if the first detection information indicates that the target cargo is detected and the second detection information indicates that the target cargo is not detected, controlling the first motor to rotate along the target rotation direction includes:

[0068] Step 01221: when the first detection information indicates that the target cargo is detected, and the second detection information and the third detection information of the third in-place sensor 24 indicate that the target cargo is not detected, the first motor is controlled to rotate along the target rotation direction at a first preset speed, and in the current transportation direction, the first in-place sensor 22 is ahead of the third in-place sensor 24, and the third in-place sensor 24 is ahead of the second in-place sensor 23;

[0069] Step 01222: When the first detection information and the third detection information of the third in-place sensor 24 both detect the target cargo, and the second detection information shows that the target cargo is not detected, control the first motor to rotate along the target rotation direction at a second preset speed, and the first preset speed is greater than the second preset speed.

[0070] Specifically, the assembly line 10 may also be provided with a third in-place sensor 24 as a deceleration sensor. In the current transportation direction, the first in-place sensor 22 is in front of the third in-place sensor 24, and the third in-place sensor 24 is in front of the second in-place sensor 23. When the target goods enter the transfer device 20, they will first pass through the first in-place sensor 22, the second in-place sensor 23, and the third in-place sensor 24. It can be understood that the third in-place sensor 24 corresponds to the stop sensor, so there can be two third in-place sensors 24, and the two third in-place sensors 24 are respectively arranged near the first in-place sensor 22 and the second in-place sensor 23. When the transfer device 20 outputs the target goods, if the target goods do not need to be decelerated, only when the transfer device 20 receives the target goods, the target goods need to be decelerated, then only one third in-place sensor 24 can be provided, and the third in-place sensor 24 is arranged near the second in-place sensor 23. The distance between the deceleration sensor and the stop sensor is determined according to the moving speed of the target goods on the current assembly line 10, for example, 10 cm. The greater the moving speed, the greater the inertia of the target goods, and the greater the distance between the deceleration sensor and the stop sensor.

[0071] When the target cargo enters the transfer device 20, if the third in-position sensor 24 detects the target cargo, the first motor starts to decelerate to ensure that the speed of the target cargo will not be too high when the first motor stops running, thereby ensuring that the target cargo can finally stop at the target stop position. Therefore, a first preset speed and a second preset speed can be set, the first preset speed is the speed of the first motor when the first conveyor belt 21 is running normally, and the second preset speed is the speed of the first motor after the first conveyor belt 21 is decelerated, which can ensure that the target cargo reaches the stop sensor and the target cargo can accurately stop at the target stop position when the first motor stops running. The second preset speed can also be multiple speeds, so that after entering the deceleration stage, the speed of the first motor gradually decreases, thereby ensuring that the target cargo can accurately stop at the target stop position after the first motor stops running.

[0072] Therefore, when the first detection information indicates that the target cargo is detected, and the second detection information and the third detection information of the third in-position sensor 24 indicate that the target cargo is not detected, the first motor is controlled to rotate at the first preset speed along the target rotation direction to ensure that the target cargo can be quickly transported to the transfer device 20. When the first detection information and the third detection information of the third in-position sensor 24 indicate that the target cargo is detected, and the second detection information indicates that the target cargo is not detected, it is considered that the target cargo needs to start to decelerate, so the first motor can be controlled to rotate at the second preset speed along the target rotation direction, so that the speed of the target cargo gradually decreases, ensuring that when the second in-position sensor 23 detects the target cargo and controls the motor to stop running, the target cargo can stop at the target stop position, thereby preventing the target cargo from overtravelling.

[0073] See also Figure 1 , Figure 3 and Figure 6 In some embodiments, step 012: controlling the first motor based on the target rotation direction, the first detection information of the first in-position sensor 22 and the second detection information of the second in-position sensor 23, includes:

[0074] Step 0124: when the target rotation direction is the second direction, determine that the second in-position sensor 23 is an occupied sensor, the first in-position sensor 22 is a stop sensor, and the first direction is opposite to the second direction;

[0075] Step 0125: If at least one of the first detection information or the second detection information indicates that the target goods are detected, control the first motor to rotate along the target rotation direction;

[0076] Step 0126: If the first detection information within the preset time period indicates that the target cargo is not detected, the first motor is controlled to stop.

[0077] Specifically, the first direction is opposite to the second direction, so when the motor rotates in the second direction, the current transportation direction between the current assembly line 10 and the first conveyor belt 21 is the second transportation direction of the transfer device 20 toward the current assembly line 10, and the target goods are transported from the transfer device 20 to the current assembly line 10. The first direction can be defined as the forward direction and the second direction as the reverse direction, or the first direction can be defined as the reverse direction and the second direction as the forward direction, which is specifically determined according to the current transportation direction between the current assembly line 10 and the transfer device 20 when the motor rotates forward and reverse.

[0078] When the target rotation direction is the second direction, the target cargo passes through the second in-position sensor 23 and the first in-position sensor 22 in sequence when leaving the transfer device 20. At this time, the second in-position sensor 23 is an occupancy sensor, and the first in-position sensor 22 is a stop sensor. When the transfer device 20 needs to transport the target cargo to the current assembly line 10 where the transfer device 20 is located, it can be determined that the target rotation direction is the second direction.

[0079] Therefore, when the target rotation direction is the second direction, if at least one of the first detection information or the second detection information indicates that the target cargo is detected, the first motor is controlled to rotate along the target rotation direction. When both the first detection information and the second detection information indicate that the target cargo is detected, it can be considered that part of the target cargo is still in the transfer device 20, so it is necessary to control the first motor to rotate along the target rotation direction. When the first detection information indicates that the target cargo is detected and the second detection information indicates that the target cargo is not detected, it can be considered that part of the target cargo is still in the transfer device 20, so it is necessary to control the first motor to rotate along the target rotation direction.

[0080] In the case where the first in-place sensor 22 fails to detect the target cargo, the target cargo may not have completely left the transfer device 20, and a part of the target cargo may still be located at the end of the first conveyor belt 21 of the transfer device 20. Therefore, the preset duration can be determined based on the minimum time from the first in-place sensor 22 failing to detect the target cargo to the time when the target cargo completely leaves the transfer device 20. When the first detection information indicates that the target cargo is not detected for the first time, the timing starts, and the first motor is controlled to continue to operate. If the first detection information within the preset duration indicates that the target cargo is not detected, it can be considered that the target cargo has completely left the transfer device 20, and the first motor is controlled to stop operating, thereby preventing the first conveyor belt 21 of the transfer device 20 from idling for a long time and reducing unnecessary losses of the first motor.

[0081] In this way, when the transfer device 20 needs to transport the target goods to the current assembly line 10 where the transfer device 20 is located, the first in-place sensor 22 can be confirmed as an occupancy sensor, and the second in-place sensor 23 can be confirmed as a stop sensor. Then, the first motor is controlled to run or stop according to the first detection information and the second detection information, thereby ensuring that the target goods can be transferred to the current assembly line 10 where the transfer device 20 is located.

[0082] See also Figure 1 , Figure 3 and Figure 7 In some embodiments, the assembly line 10 includes a first assembly line 11 and a second assembly line 12, and the transfer device 20 is used to receive the target goods on the first assembly line 11 and transfer the target goods on the first assembly line 11 to the second assembly line 12; the method also includes:

[0083] Step 013: According to the first detection information and the second detection information of the current assembly line 10 and the transfer device 20, the transfer device 20 is controlled to move so as to selectively connect with the first assembly line 11 or the second assembly line 12;

[0084] When the transfer device 20 is connected to the first assembly line 11 or the second assembly line 12, a step is entered to determine the target rotation direction of the first motor based on the current assembly line 10 where the transfer device 20 is located.

[0085] Specifically, the assembly line 10 includes a first assembly line 11 and a second assembly line 12, wherein the first assembly line 11 is the assembly line 10 that needs to transport the target goods to the transfer device 20, and the second assembly line 12 is the assembly line 10 to which the transfer device 20 needs to transport the target goods. It can be understood that the first assembly line 11 and the second assembly line 12 do not specifically refer to a specific assembly line 10, and the same assembly line 10 can be used as the first assembly line 11 and the second assembly line 12.

[0086] The transfer device 20 can respectively set sixth on-site sensors at locations corresponding to the first assembly line 11 and the second assembly line 12. When the detection information of the sixth on-site sensor corresponding to a certain assembly line 10 is that the first conveyor belt 21 is detected, it means that the first assembly line 11 and the assembly line 10 are in a connected state, that is, the transfer device 20 and the assembly line 10 are in a connected state.

[0087] When the transfer device 20 is connected to the first assembly line 11, the first assembly line 11 can deliver the target goods to the transfer device 20. When the current assembly line 10 is the first assembly line 11, if the first detection information and the second detection information of the transfer device 20 both indicate that the target goods have been detected, it is determined that the transfer device 20 has completed receiving the target goods, and at this time, the transfer device 20 can be controlled to move toward the second assembly line 12 so that the transfer device 20 is connected to the second assembly line 12. When the transfer device 20 is connected to the second assembly line 12, the transfer device 20 and the second assembly line 12 can be started so that the target goods of the transfer device 20 can be delivered to the second assembly line 12. If the first detection information and the second detection information of the transfer device 20 both indicate that the target goods have not been detected, it is determined that the transfer device 20 has completed the transfer of the target goods, and at this time, the transfer device 20 can be controlled to return to the first assembly line 11 and be connected to the first assembly line 11 to facilitate the transfer of the next target goods.

[0088] When the transfer device 20 is connected to the first assembly line 11 or the second assembly line 12, step 011 may be entered to determine the rotation direction of the first motor of the transfer device 20 to ensure that the transfer device 20 can smoothly complete the transportation between the current assembly line 10 where it is located. In particular, when the transfer device 20 is connected to the first assembly line 11, the first motor may not be controlled to rotate first, and when there are target goods on the station connected to the transfer device 20 in the first assembly line 11, the first motor of the transfer device 20 may be controlled to rotate, so as to reduce unnecessary energy consumption of the first motor.

[0089] In this way, based on the first detection information and the second detection information of the current assembly line 10 and the transfer device 20, the assembly line 10 to which the transfer device 20 needs to be connected can be accurately determined, and the movement of the transfer device 20 can be controlled, thereby ensuring that the transfer device 20 can smoothly transfer the target goods of the first assembly line 11 to the second assembly line 12.

[0090] See also Figure 1 , Figure 8 and Fig. 9 In some embodiments, the assembly line 10 includes a plurality of stations connected to each other, each station is provided with a second conveyor belt 11, a fourth in-position sensor 12, a fifth in-position sensor 13 and a second motor, the second motor is used to drive the second conveyor belt 11 to move, and the control method further includes:

[0091] Step 014: according to the movement direction of the assembly line 10 where the current station is located, determine that one of the fourth in-position sensor 12 and the fifth in-position sensor 13 of the current station is an occupied sensor and the other is a stop sensor, and the current station is any station in the assembly line 10;

[0092] Step 015: Control the second motor according to the station attributes of the current station, the detection information of the occupancy sensor and the detection information of the stop sensor. The station attributes include a receiving station and an output station. The receiving station is a station for receiving target goods, and the output station is a station for outputting target goods.

[0093] Specifically, the assembly line 10 may be provided with a plurality of workstations connected to each other, and each workstation is provided with a corresponding second conveyor belt 11 and a second motor. The second motor is used to drive the second conveyor belt 11 to move, for example, to drive the second conveyor belt 11 forward along the movement direction of the assembly line 10, or to drive the second conveyor belt 11 backward in the opposite direction of the movement direction of the assembly line 10, so that the target goods can be transported between the multiple workstations on the assembly line 10. The fourth in-place sensor 12 and the fifth in-place sensor 13 may be provided on the second conveyor belt 11. The two sensors are similar to the first in-place sensor 22 and the second in-place sensor 23. It is necessary to determine which in-place sensor the target goods pass through first when entering the workstation according to the movement direction of the assembly line 10. The in-place sensor that passes first is the occupancy sensor, and the in-place sensor that passes later is the stop sensor. Fig. 9 For example, in each workstation of the assembly line 10, the in-place sensor on the left is the fourth in-place sensor 12, and the in-place sensor on the right is the fifth in-place sensor 13. When the movement direction of the assembly line 10 is from left to right, the fourth in-place sensor 12 is an occupancy sensor, and the fifth in-place sensor 13 is a stop sensor. When the movement direction of the assembly line 10 is from left to right, the opposite is true. When the movement direction of the assembly line 10 is fixed, the purpose of the fourth in-place sensor 12 and the fifth in-place sensor 13 of the current workstation can be preset, that is, one of the two is pre-determined to be an occupancy sensor and the other is a stop sensor, and the preset purpose of the fourth in-place sensor 12 and the fifth in-place sensor 13 can be directly obtained during the operation of the transportation system 100.

[0094] The station attributes include receiving stations and output stations. The receiving station is defined as a station that receives the target goods, and the output station is defined as a station that outputs the target goods. It can be determined whether the current station belongs to a receiving station or an output station according to the movement direction of the assembly line 10, as well as the upstream station of the current station and the downstream station of the current station. Among them, the upstream station refers to the station located before the current station among the adjacent stations of the current station along the movement direction of the assembly line, and the downstream station refers to the station located after the current station among the adjacent stations of the current station along the movement direction of the assembly line. In the case that the target goods exist in the upstream station and the current station does not exist, or in the case that the target goods exist in the upstream station and the current station exists, and the target goods are not detected by the occupancy sensor, it can be considered that the upstream station needs to transport the target goods to the current station, and the current station belongs to the receiving station. When there is target cargo in the current workstation but not in the downstream workstation, or when there is target cargo in the current workstation but not in the downstream workstation and the target cargo is not detected by the occupancy sensor, it can be considered that the current workstation needs to transport the target cargo to the downstream workstation and the current workstation is an output workstation.

[0095] After obtaining the station attributes of the current station, and the purpose of the fourth in-place sensor 12 and the fifth in-place sensor 13, the second motor can be controlled based on the station attributes of the current station, the detection information of the occupancy sensor, and the detection information of the stop sensor. For example, when the current station is a receiving station, it can be confirmed that the current station needs to receive the target goods, so the second motor will be controlled to stop only when the detection information of the occupancy sensor and the detection information of the stop sensor both detect the target goods. When the current station is an output station, the current station needs to output the target goods, so the second motor will be controlled to stop only when the detection information of the stop sensor shows that the target goods are not detected within a preset time.

[0096] In this way, the second motor of the current workstation can be controlled based on the workstation attributes of the current workstation and the detection information of the two sensors, ensuring that the current workstation can successfully complete the transportation task corresponding to the workstation attributes.

[0097] See also Figure 1 , Fig. 9 and Fig.10 In some embodiments, when the current station is a receiving station, step 015: controlling the second motor according to the station attribute of the current station, the detection information of the occupancy sensor and the detection information of the stop sensor includes:

[0098] Step 0151: When the detection information of the occupancy sensor and the detection information of the stop sensor are both that the target goods are not detected, or when the detection information of the occupancy sensor is that the target goods are detected and the detection information of the stop sensor is that the target goods are not detected, control the second motor of the current station to operate based on the movement direction of the assembly line 10 where the current station is located;

[0099] Step 0152: When the detection information of the occupancy sensor and the detection information of the stop sensor both indicate that the target goods have been detected, the second motor of the current workstation is controlled to stop.

[0100] Specifically, when the current station is a receiving station, it can be confirmed that the current station needs to receive the target goods. When the detection information of the occupancy sensor and the detection information of the stop sensor are both that the target goods are not detected, it can be considered that the target goods are still being transported in the upstream station of the current station and have not yet moved to the current station. At this time, the second motor of the current station can be controlled to run based on the movement direction of the assembly line 10 where the current station is located, ensuring that when the target goods move to the current station, the second conveyor belt 11 of the current station has a certain speed, thereby reducing the friction between the target goods and the second conveyor belt 11.

[0101] When the detection information of the occupancy sensor is that the target goods are detected, and the detection information of the stop sensor is that the target goods are not detected, it can be considered that the target goods have begun to enter the current workstation, but the target goods have not yet moved to the target stop position of the current workstation. Therefore, the second motor of the current workstation continues to be controlled to operate based on the movement direction of the assembly line 10 where the current workstation is located, ensuring that the target goods can move in the movement direction of the assembly line 10 where the current workstation is located.

[0102] When the detection information of the occupancy sensor and the detection information of the stop sensor both indicate that the target goods have been detected, the second motor of the current station is controlled to stop, ensuring that when the second motor of the current station is running, the target goods are located at the target stop position of the current station, and the transportation of the target goods into the current station is completed.

[0103] In this way, when the current workstation needs to receive the target goods, the fourth in-place sensor 12 and the fifth in-place sensor 13 of the current workstation can be used to control the operation of the second motor of the current workstation, ensuring that the target goods can be safely transported to the current workstation and can be accurately docked in the target stop position of the current workstation, thereby achieving active parking to prevent collisions and unnecessary mechanical wear, and facilitating the improvement of the humanization of the operation process.

[0104] In some embodiments, each station may be provided with a seventh on-site sensor 14, which is used as a deceleration sensor. The seventh on-site sensor 14 needs to be provided close to the stop sensor on each station. When the movement direction of the assembly line 10 is fixed, there may be one stop sensor. When the movement direction of the assembly line 10 is two, there may be two stop sensors, which correspond to the fourth on-site sensor 12 and the fifth on-site sensor 13 on each station, respectively.

[0105] When the target goods enter the current station, if the seventh in-position sensor 14 detects the target goods, the second motor starts to decelerate to ensure that the speed of the target goods will not be too high when the second motor stops running, thereby ensuring that the target goods can finally stop at the target stop position. The distance between the deceleration sensor and the stop sensor can be determined according to the moving speed of the target goods on the assembly line 10. The greater the moving speed, the greater the inertia of the target goods, and the greater the distance between the deceleration sensor and the stop sensor.

[0106] See also Fig. 9 and Fig.11 In some embodiments, when the current station is an output station, step 015: controlling the second motor according to the station attribute of the current station, the detection information of the occupancy sensor and the detection information of the stop sensor includes:

[0107] Step 0153: when at least one of the detection information of the occupancy sensor or the detection information of the stop sensor indicates that the target goods are detected, controlling the second motor of the current station to operate based on the movement direction of the assembly line 10 where the current station is located;

[0108] Step 0154: When the detection information of the stop sensor within the preset time period is that the target goods are not detected, the second motor of the current workstation is controlled to stop.

[0109] Specifically, when the current station is an output station, the current station needs to output the target goods. First, it is also necessary to determine that one of the fourth in-position sensor 12 and the fifth in-position sensor 13 is an occupancy sensor and the other is a stop sensor according to the movement direction of the second conveyor belt 11 of the current station.

[0110] In the case where at least one of the detection information of the occupancy sensor or the detection information of the stop sensor is that the target goods are detected, that is, in the case where the detection information of the occupancy sensor and the detection information of the stop sensor are both that the target goods are detected, or in the case where the detection information of the stop sensor is that the target goods are detected and the detection information of the occupancy sensor is that the target goods are not detected, it can be considered that there is still a part of the target goods located at the current station, so at this time, it is necessary to continue to control the second motor of the current station to run based on the movement direction of the assembly line 10 where the current station is located to output the target goods. In the case where the detection information of the stop sensor within the preset time length is that the target goods are not detected, it can be considered that the target goods have completely left the current station, so the second motor of the current station can be controlled to stop.

[0111] In this way, when the current station is an output station, the second motor can be accurately controlled according to the detection information of the fourth detection sensor and the fifth detection sensor to ensure that the current station can smoothly transport the target goods to the downstream station of the current station.

[0112] See also Figure 1 and Fig.12 In some embodiments, the control method comprises:

[0113] Step 016: In the linkage mode, when the detection information of at least one of the occupancy sensor and the stop sensor of the upstream station of the current station indicates that the target goods are detected, and the detection information of the occupancy sensor of the current station indicates that the target goods are not detected, or when the detection information of the occupancy sensor and the stop sensor of the current station indicates that the target goods are detected, and the occupancy sensor of the downstream station of the current station indicates that the target goods are not detected, the second motor of the current station is controlled to operate;

[0114] Step 017: When the detection information of the stop sensor of the current station and the detection information of the occupancy sensor of the current station within the preset time period both indicate that the target goods have not been detected, or when the detection information of the occupancy sensor and the stop sensor of the downstream station both indicate that the target goods have been detected, and the detection information of the occupancy sensor and the stop sensor of the current station both indicate that the target goods have been detected, control the second motor of the current station to stop running.

[0115] Specifically, in the linkage mode, the second motors of multiple stations on the assembly line 10 operate together until the target goods move to the last station of the assembly line 10, or there are goods at the downstream station of the current station where the target goods are located. Therefore, in the linkage mode, the situations of the upstream station and the downstream station need to be considered to determine the start and stop of the second motor of the current station.

[0116] When the detection information of at least one of the occupancy sensor and the stop sensor of the upstream station of the current station indicates that the target goods are detected, and when the detection information of the occupancy sensor of the current station indicates that the target goods are not detected, it means that the target goods of the upstream station are being transported to the current station, and there is no target goods at the current station, or the target goods of the current station are being transported to the downstream station, and there is a certain distance between the target goods of the current station and the target goods of the upstream station, it can be considered that the current station has the ability to receive the target goods of the upstream station. Therefore, the second motor of the current station can be controlled to run at this time. Similarly, when the detection information of the occupancy sensor and the stop sensor of the current station both indicates that the target goods are detected, and the occupancy sensor of the downstream station of the current station indicates that the target goods are not detected, it can be considered that there are target goods at the current station, and the downstream station has the ability to receive the target goods of the current station, so it is also necessary to control the second motor of the current station to run at this time.

[0117] If the detection information of the stop sensor of the current station and the detection information of the occupancy sensor of the current station within the preset time period are both that the target goods are not detected, it means that the upstream station has not transported the target goods to the current station, and the target goods of the current station have left the current station. At this time, it is necessary to control the second motor of the current station to stop running. If the detection information of the occupancy sensor and the stop sensor of the downstream station of the current station are both that the target goods are detected, and the detection information of the occupancy sensor and the stop sensor of the current station are both that the target goods are detected, it can be considered that the target goods of the current station cannot continue to be transported to the downstream empty position. At this time, the second motor of the current station is controlled to stop running.

[0118] It should be noted that the above steps 014 to 015 are the basic control logic of the second motor of each station, and the situation of the adjacent station will not be considered when the motor is controlled according to the above steps 014 to 015. The transportation system 100 includes a box-pushing mode. At this time, the transportation system 100 only controls two adjacent stations according to the above steps 014 to 015, and there is no target cargo in the current station of the two adjacent stations, and there is a target cargo in the upstream station. After the target cargo moves from the upstream station to the current station, the second motor of the current station will stop running. The control method in the linkage mode (i.e., steps 016-017) and the basic control logic of the second motor (i.e., steps 014 to 015) can be understood as two independent control threads, which do not interfere with each other. Only when the control strategies of the two control threads are both for the second motor to stop, the second motor will stop. For example, when the detection information of the occupancy sensor and the stop sensor of the current station are both that the target cargo has been detected, it can be determined according to step 0152 that the control strategy of the basic control logic is the second motor stop control. However, if the occupancy sensor of the downstream workstation does not detect the target goods at this time, then the control strategy of the linkage mode at this time is to continue to control the operation of the second motor. In this case, the second motor will continue to be controlled to operate, so that the target goods at the current workstation can continue to be transported to the downstream workstation, and the target goods will not stay at the current workstation when the downstream workstation can receive the target goods, thereby ensuring that in the linkage mode, the target goods can continue to move among multiple workstations until there is a target goods at the downstream workstation of the current workstation where the target goods are located, or until there is no downstream workstation of the current workstation where the target goods are located.

[0119] The prior art only uses the box-pushing method during transportation, such as Fig.13 , Fig.13 The small and medium-sized vehicles are the target goods. Moving the 1# vehicle to the 2# position requires two processes, that is, moving the 2# vehicle to the 3# position, and then moving the 1# vehicle to the 2# position. Only one vehicle is started at a time, and each vehicle stops after it is in place. Fig.14 In the linkage mode of the present application, the three workstations can be started at the same time, and the 1# trolley and the 2# trolley can move to the right at the same time. In this way, compared with the box-pushing method, the linkage mode can reduce one body-position of transportation, thereby greatly improving the rhythm of the entire assembly line 10 and reducing the transportation time of the target goods. Of course, the present application can also execute the box-pushing method, and it only needs to cancel the linkage mode. A linkage mode button can be added to the operation panel. After the staff clicks the linkage mode button, the transportation system 100 enters the linkage mode. After the staff cancels the linkage mode, the transportation system 100 can transport the target goods according to the box-pushing method, so that the transportation system 100 of the present application can use a variety of transportation methods for transportation.

[0120] In this way, in addition to realizing the box pushing mode and manual execution mode, the present application can also realize the linkage function, so that multiple stations in the assembly line 10 can be transported at the same time, thereby facilitating the reduction of the transportation time of the target goods.

[0121] The current station can obtain information about the upstream and downstream stations, that is, the current station and the upstream and downstream stations will have certain interaction logic directly. At this time, the complex interaction logic can also be integrated into the function block, for example Fig.15 , forming a unified programming method, which is convenient for troubleshooting and program replication and dissemination.

[0122] In addition, each station can be controlled independently. In the linkage mode, if a station fails, the operation of the station can be suspended, and the operation of the upstream station of the station can also be suspended, but the operation of the downstream station of the station will not be affected. In this way, along the movement direction of the assembly line 10, all stations located before the station will be suspended. After the station resumes operation, all stations located before the station will also resume operation.

[0123] See also Figure 1 and Fig.16 In some embodiments, the control method further comprises:

[0124] Step 018: when receiving the start instruction, obtaining the target station of the start instruction and the station attributes of the target station, the station attributes include the receiving station and the output station, and the target station is any station on the assembly line 10;

[0125] Step 019: When the fourth detection information and the fifth detection information of the receiving station, and the fourth detection information and the fifth detection information of the output station meet the preset start conditions, the second motor of the target station belonging to the receiving station and the second motor of the target station belonging to the output station are started in sequence.

[0126] Specifically, the preset start condition is a condition to ensure that the receiving station and the output station can be safely started when the start command is received. For example, the preset start condition is that the fourth detection information and the fifth detection information of the receiving station are both that the target goods are not detected, and the fourth detection information and the fifth detection information of the output station are both that the target goods are detected. When a station is both a receiving station and an output station, the fourth detection information and the fifth detection information of the station are both that the target goods are detected.

[0127] The start instruction includes the target station to be controlled, and the station attributes of each target station, wherein the station attributes include a receiving station and an output station, and it can be understood that the target station includes at least two or more adjacent stations. Therefore, the start instruction includes the station to which the goods need to be transported and the station to which the goods need to be received. When the fourth detection information and the fifth detection information of the receiving station, and the fourth detection information and the fifth detection information of the output station meet the preset start conditions, it can be considered that multiple target stations can be safely started. Therefore, at this time, the second motor of the receiving station can be started first, and then the second motor of the output station can be started to ensure that when the target goods on the receiving station are transported to the output station, the conveyor belt of the output station has a certain speed to reduce the friction between the conveyor belt of the output station and the target goods.

[0128] It should be noted that under the linkage function, some target stations will belong to both the receiving station and the output station. When starting the assembly line 10, the second motor of the target station that only belongs to the receiving station and the second motor of the target station that belongs to both the receiving station and the output station can be started first, and then the target motor that only belongs to the output station can be started. Alternatively, the second motor of the target station that only belongs to the receiving station can be started first, and then the second motor of the target station that belongs to both the receiving station and the output station can be started, and finally the target motor that only belongs to the output station can be started. In this way, it can be ensured that after the assembly line 10 is started, there is less friction between the target goods and each target station, and the target goods can be smoothly transported between each target goods.

[0129] See also Figure 1 , Fig. 9 and Fig.17 In some embodiments, a blocking member 15 is further provided on the workstation, and the blocking member 15 corresponds to a stop sensor on the workstation, and the control method further includes:

[0130] Step 020: When the current station is only an output station and the second motor of the current station is running, or when the current station is both a receiving station and an output station and the second motor of the current station is running, the blocking member 15 of the current station is controlled to be in a release state;

[0131] Step 021: When the current station is only a receiving station and the second motor of the current station is running, or when the second motor is stopped, the blocking member 15 of the current station is controlled to be in a blocking state.

[0132] Specifically, in the linkage mode, the current station may belong to both the receiving station and the output station, that is, the current station urgently needs to receive the target goods from the upstream station and also needs to transport the target goods to the downstream station. The station is also provided with a blocking member 15, which corresponds to the stop sensor on the station. The blocking member 15 is installed in the second conveyor belt 11. When the blocking member 15 is in the blocking state, the target goods will be blocked by the first blocker and cannot move forward. When the blocking member 15 is in the releasing state, the target goods can move smoothly along the second conveyor belt 11.

[0133] Therefore, when the target goods of the current station need to be transported to the downstream station, the blocking member 15 needs to be in the release state to ensure that the target goods can be smoothly moved to the downstream station. When the current station is only an output station and the second motor of the current station is running, or when the current station is both a receiving station and an output station and the second motor of the current station is running, it means that the target goods of the current station need to be transported to the downstream station, and at this time, the blocking member 15 of the current station needs to be controlled to be in the release state.

[0134] When the target goods at the current station do not need to be transported to the downstream station, the blocking member 15 needs to be in a blocking state to prevent the target goods from overtravel. When there is no target goods at the current station, the blocking member 15 can also be controlled to be in a blocking state to ensure that the target goods will not overtravel when the subsequent target goods move from the upstream station to the current station. When the current station is only a receiving station and the second motor of the current station is running, and when the second motor is stopped, it can be considered that there is no target goods at the current station or the target goods at the current station do not need to be transported to the downstream station, so the blocking member 15 needs to be controlled to be in a blocking state at this time.

[0135] In this way, the blocking member 15 can be used to assist the stopping of the target goods to further prevent the target goods from overtravelling during the moving process. Of course, when the movement speed of the second conveyor belt 11 of the workstation is relatively low, the risk of the target goods overtravelling is relatively low, so the blocking member 15 may not be provided in the workstation to reduce the cost of the assembly line 10.

[0136] When the movement speed of the first conveyor belt 21 of the transfer device 20 is relatively high, the transfer device 20 may be provided with a blocking member 15, and the blocking member 15 corresponds to the stop sensor in the transfer device 20, and at this time, there may be two blocking members 15. The blocking member 15 may also correspond only to the stop sensor when the current transportation direction between the current assembly line 10 and the transfer device 20 is the current assembly line 10 toward the transfer device 20, and at this time, there may be one blocking member 15. In this way, the blocking member 15 may be used to assist in stopping the target goods and prevent the target goods from overtravel. When the movement speed of the first conveyor belt 21 of the transfer device 20 is relatively low, the risk of the target goods overtravel is relatively low, so the blocking member 15 may not be provided in the transfer device 20 to reduce the cost of the transfer device 20.

[0137] See also Figure 1 , Fig. 9 and Fig.18 In some embodiments, the method further comprises:

[0138] Step 022: when the control button of the transport system 100 is clicked, the motor of the target device corresponding to the control button is controlled to run according to the target movement direction corresponding to the control button, and the target device includes any station of the assembly line 10 and the transfer device 20;

[0139] Step 023: When the control button is not clicked, or when the detection information of the two in-position sensors of the target device indicates that the target goods are detected, the motor of the target device is controlled to stop running.

[0140] Specifically, the transportation system 100 also provides a manual execution mode, and the assembly line 10 and the transfer device 20 can both operate in the manual execution mode or the automatic execution mode. Any workstation on the assembly line 10 and the transfer device 20 are provided with a corresponding operation panel. The operation panel may be provided with a manual execution button, an automatic execution button and a control button, and the control button may include a forward button and a backward button. After the staff clicks the automatic execution button, the transportation system 100 will automatically execute the transportation of the target goods. After the staff clicks the manual execution button, the transportation system 100 will enter the manual execution mode. The forward button and the backward button are used to control the motor to rotate in a preset direction to drive the conveyor belt to move. After clicking the manual execution button, the staff can click the forward button or the backward button to control the target device.

[0141] Please combine Fig.19 Each workstation of the assembly line 10 has a corresponding operation panel, and the target device corresponding to the control button of each operation panel is the workstation corresponding to the operation panel. When the assembly line 10 is in a linkage state, the target device corresponding to the control button is the workstation corresponding to the operation panel, as well as the adjacent workstations of the workstation of the operation panel.

[0142] Therefore, when the control button of the transportation system 100 is clicked, the target device corresponding to the control button can be controlled to run according to the target movement direction corresponding to the control button. For example, the target device is a workstation of the assembly line 10. The rotation direction of the second motor when the second conveyor belt 11 of each workstation moves forward or backward can be preset. For example, when the control button is a forward button, the second motor is controlled to run according to the rotation direction of the second motor to ensure that the second conveyor belt 11 can move according to the needs of the staff. In the case where the control button is not clicked, it can be considered that the staff has released the forward button or the backward button. At this time, the second motor is controlled to stop running, so that the second conveyor belt 11 also stops running. In the case where the detection information of the two in-place sensors of the target device is that the target goods are detected, it can be considered that the target goods have reached the target stop position of the target device. At this time, the motor of the target device can also be controlled to stop running.

[0143] Thus, in the manual execution mode, the transport system 100 also realizes the inching function. When the staff clicks the control button, the motor of the target device starts to run. Once the staff releases the control button, the motor of the target device stops running immediately. When a safety hazard is found during the manual operation, the staff can immediately release the control button to ensure that the target device can stop in time. At the same time, when the target goods reach the target stop position of the target equipment, the motor of the target equipment can be controlled to stop running to achieve active parking without the need for manual parking by the staff, ensuring that the target goods can be accurately parked at the target stop position.

[0144] See also Figure 1 , Fig. 9 and Fig. 20 In some embodiments, the method further comprises:

[0145] Step 024: when receiving the mandatory execution command, unlocking the interlocking restriction condition of the target equipment corresponding to the mandatory execution command, the target equipment includes any station of the assembly line 10 and the transfer device 20;

[0146] Step 025: Obtain the operation command and control the operation of the target device according to the operation command.

[0147] Specifically, the interlocking restriction condition is a restriction condition set for the transport system 100 while ensuring the safe operation of the transport system 100. For example, a processing device and a second conveyor belt 11 are set at a certain workstation, and the interlocking restriction condition may be that when the processing device processes the target goods on the second conveyor belt 11, the processing device and the second conveyor belt 11 cannot operate at the same time, thereby preventing the processing device from being unable to grab the target goods, or preventing the processing device from directly colliding with the target goods. In the automatic execution mode or the manual execution mode, the operation of the transport system 100 will be restricted by the interlocking restriction condition, ensuring the safety of the transport system 100 in the automatic execution mode or the manual execution mode, and reducing the potential safety hazards of the transport system 100.

[0148] However, in some cases, such as when the card machine is blocked, the interlocking restriction will restrict the staff's maintenance. For example, when the processing equipment fails during the processing, the target goods on the second conveyor belt 11 need to be transported away first. However, under the restriction of the interlocking restriction, the second conveyor belt 11 cannot be moved at this time. Therefore, it is necessary to enter the forced execution mode at this time. A forced button may be provided on the operation panel. After the staff clicks the forced button, the transportation system 100 may receive the forced execution command and enter the forced execution mode. For example, using Fig.19 Press and hold the "Force" button on the operation panel until the yellow light flashes, indicating that the target device corresponding to the operation panel has turned on the force function, and can be operated to move forward and backward at will. It also removes the transport state memory that has been generated between the target device and its adjacent devices, that is, the target device is initialized. The transport state memory includes Fig.19 The positive in positive out, negative in negative out, upper unit (i.e., upstream station) forward memory, and lower unit (downstream unit) backward memory are shown, where the positive and negative in positive out and negative in negative out refer to the positive direction and the negative direction. During the operation of the transportation system 100, the transportation status memory between the target device and the adjacent devices of the target device can also be recorded, that is, the interaction information between each device is recorded to facilitate subsequent troubleshooting.

[0149] Alternatively, two physical buttons may be provided on the operating console, namely a manual button and a reset button, and it may be stipulated that a fixed operation sequence is required to enter the mandatory execution mode, so as to raise the threshold for entering the mandatory execution mode and prevent the mandatory execution mode from being triggered by mistake, thereby causing safety problems. The fixed operation sequence may be as follows: first press the manual button, then press the reset button, and after a delay of 2 seconds, the transportation system 100 may receive the mandatory execution command and enter the mandatory execution mode.

[0150] After entering the mandatory execution mode, the interlocking restriction conditions of the target device corresponding to the mandatory execution command can be unlocked. The target device corresponding to the mandatory execution command may include any workstation and transfer device 20 on the assembly line 10, so that the staff can freely control the target device to work, such as controlling the conveyor belt of the target device to move forward or backward. After entering the mandatory execution mode, the staff will issue an operation command, and then the target device can be controlled to operate according to the operation command. For example, the operation command includes controlling the conveyor belt of the target device to move forward, then the conveyor belt of the target device can be controlled to move forward.

[0151] In this way, the present application sets a separate mandatory execution mode, which is separate from the manual execution mode. On the one hand, it ensures that the operation of the transportation system 100 in the manual execution mode can be constrained by the interlocking restriction conditions, ensuring the safety of the transportation system 100 in the manual execution mode. On the other hand, it is convenient to enter the mandatory execution mode when maintenance is required, which is convenient for the maintenance of the transportation system 100. After the mode is switched to the automatic execution mode or the manual execution mode, the mandatory execution mode will be automatically released and the interlocking restriction conditions will be locked again.

[0152] See also Figure 1 and Fig.21 In some embodiments, the method further comprises:

[0153] Step 026: Control the rotation speed of the first motor and the second motor of the assembly line 10 according to the current working state of the transportation system 100, and the working state at least includes a manual execution mode, an automatic execution mode, a forced mode or an emergency condition.

[0154] Specifically, the rotation speeds of the first motor and the second motor are adjustable, and at this time, the rotation speeds of the first motor and the second motor can be controlled according to the current working state of the transportation system 100. The working state includes at least a manual execution mode, an automatic execution mode, a forced mode or an emergency condition. The corresponding rotation speeds are different in different working states. For example, when the working state is a manual execution mode, the rotation speeds of the first motor and the second motor should be relatively small, so that the staff can operate the assembly line 10 or the transfer device 20 running at a low speed. For example, when the working state is an automatic execution mode, the rotation speeds of the first motor and the second motor should be relatively large, so that the assembly line 10 and the transfer device 20 can quickly complete the transportation work.

[0155] Therefore, when the automatic execution mode is switched to the manual execution mode, the rotation speeds of the first motor and the second motor need to be reduced, and the first motor and the second motor run at a preset low speed. When the manual execution mode is switched to the automatic execution mode, the rotation speeds of the first motor and the second motor need to be increased, and the first motor and the second motor run at a preset high speed. In the manual state, if the forced mode is entered, the first motor and the second motor run at a preset low speed. When the forced mode is exited, the high-speed operation is restored, that is, the first motor and the second motor run at a preset high speed. When the working state is an emergency condition, such as when the transportation system 100 stops suddenly or the safety signal is lost, the first motor and the second motor are controlled to be shut down to ensure the safety of the transportation system 100. When the working state is an emergency condition, the safe torque off control function (Safe Torque Off, STO) of the controller of the transportation system 100 can also be triggered to further ensure the safety of the transportation system 100.

[0156] See also Figure 1 , Fig. 22 and Fig.23 In some embodiments, the assembly line 10 and the transfer device 20 form a processing module 30, and the transportation system 100 includes a plurality of processing modules 30; the method further includes:

[0157] Step 027: determining a target processing module 30 in the processing module 30 according to the transportation status of the station in each processing module 30 corresponding to the shipping station 40 of the transportation system 100;

[0158] Step 028: Transport the target cargo to the target processing module 30.

[0159] Specifically, the transportation system 100 may be provided with a plurality of parallel processing modules 30, wherein one processing module 30 includes an assembly line 10 and a transfer device 20, wherein the number of assembly lines 10 is greater than or equal to two, and the number of transfer devices 20 is greater than or equal to one. The functions of the assembly lines 10 of each processing module 30 may be the same or different. The transportation system 100 may also include a shipping station 40, which is used to transfer the target goods to the processing module 30, so that the processing module 30 can process and transport the target goods.

[0160] When the shipping station 40 sends the target goods to the processing module 30, it is necessary to determine which processing module 30 the goods need to be sent to. At this time, the transportation status of the station in the processing module 30 corresponding to the shipping station 40 can be obtained, where the transportation status is whether the processing module 30 can receive the target goods. The transportation status can be determined based on the station in the assembly line 10 of the processing module 30 for receiving the target goods (e.g. Fig.23 Check if there is any cargo at position 3# in the image.

[0161] If there is cargo at the station for receiving the target cargo in the assembly line 10 of the processing module 30, it is considered that the processing module 30 cannot receive the target cargo, and the target cargo is not transported to the processing module 30. If there is no cargo at the station for receiving the target cargo in the assembly line 10 of the processing module 30, it is considered that the processing module 30 can receive the target cargo, and the processing module 30 is confirmed as the target processing module 30, and then the target cargo is transported to the target processing module 30.

[0162] In the case of multiple processing modules 30, the transportation conditions of each processing module 30 can be determined according to the distance between each processing module 30 and the delivery station 40, and the order of determining whether it can be used as the target processing module 30 can be determined. For example, there are three processing modules 30, and the No. 1 processing module 30 is closest to the delivery station 40, the No. 2 processing module 30 is the next closest, and the No. 3 processing module 30 is the farthest. In the case of determining the target processing module 30, first determine whether the No. 1 processing module 30 can become the target processing module 30. If it can, then directly determine the No. 1 processing module 30 as the target processing module 30. If not, determine whether the No. 2 processing module 30 can become the target processing module 30, and so on, until the determination of the target processing module 30 is completed.

[0163] In this way, compared with the prior art that fixes the shipping order of each processing module 30, resulting in uneven distribution of workload, especially the possibility that the processing module 30 located in the middle position will be waiting for a long time and cannot be shipped, the shipping station 40 of the present application can determine the target processing module 30 according to the specific transportation situation of each processing module 30 when sending the target goods, thereby avoiding the phenomenon of large amounts of materials piling up in the channel between the shipping station 40 and the processing module 30, balancing the processing volume in each processing module 30, and avoiding the situation where individual channels are idle.

[0164] See also Figure 1 , Fig.23 and Fig.24 In some embodiments, step 027: determining a target processing module 30 in the processing module 30 according to the transportation status of the station corresponding to the shipping station 40 of the transportation system 100 in each processing module 30, includes:

[0165] Step 0271: Determine the target processing module 30 among the processing modules 30 according to the priority and transportation conditions corresponding to each processing module 30 .

[0166] Specifically, multiple preset priority levels can be set for the processing module 30, and the priority level corresponding to each processing module 30 can be adjusted, and the initial priority level of each processing module 30 is the same by default. The processing module 30 with a high priority level will be prioritized to determine whether it can become the target processing module 30, and the processing module 30 with the lowest priority level will be considered to be in a closed state, and the dispatch station will not send the target goods to the processing module 30, that is, when determining which processing module 30 is the target processing module 30, the processing module 30 with the lowest priority level will not be included in the determination range.

[0167] The priority corresponding to each processing module 30 can be adjusted manually or automatically by the transportation system 100. For example, in one embodiment, the priority corresponding to the processing module 30 is automatically adjusted by the transportation system 100. After the target goods are processed by the processing module 30, they will leave the processing module 30 and be transported to the downstream assembly line 10 of the processing module 30. The downstream assembly line 10 of each processing module 30 may be different. In the case that the downstream assembly line 10 of a certain processing module 30 fails, the transportation system 100 can automatically adjust the priority corresponding to the processing module 30 to the lowest preset gear. In another embodiment, a problem occurs during the operation of a certain processing module 30, and it is difficult to continue processing. When the staff repairs the processing module 30, the priority corresponding to the processing module 30 can be adjusted to the lowest preset gear. In another embodiment, if the processing effect of a certain processing module 30 is high, the staff can adjust the priority of the processing module 30 to the highest preset gear, so that it can be judged whether it can become the target processing module 30 in the future.

[0168] When confirming the target processing module 30, the transportation status of the processing module 30 with a high priority can be obtained first. If the transportation status of the processing module 30 with a high priority is that the target goods can be received, the processing module 30 with a high priority is confirmed as the target processing module 30. If there are multiple processing modules 30 with the same priority, and the transportation status of the multiple processing modules 30 are all that the target goods can be received, the processing module 30 closest to the shipping station 40 can be used as the target processing module 30.

[0169] In this way, the present application also adds a priority factor when determining the target processing module 30, and the priority can be adjusted by the staff or automatically adjusted by the transportation system 100, so as to reasonably arrange the target processing module 30 according to the actual situation and ensure that the processing capacity of each processing module 30 can be better utilized.

[0170] To sum up, compared with the prior art that directly controls the operation of the device of the transportation system 100, the transportation system 100 of the present application mainly triggers the operation of the assembly line 10 and the transfer device 20 according to the status of the in-situ sensor, so that the transportation system 100 has a strict logical sequence, which is convenient for later maintenance and modification and addition.

[0171] See also Figure 1 , Figure 3 , Fig. 9 and Fig.25 In order to better implement the control method of the embodiment of the present application, the embodiment of the present application also provides a control device 50. The control device 50 is applied to a transportation system 100, and the transportation system 100 includes a plurality of assembly lines 10 and a transfer device 20. The assembly lines 10 are used to transport target goods, and the transfer device 20 is used to transfer target goods among the plurality of assembly lines 10; the transfer device 20 includes a first motor, a first conveyor belt 21, a first in-position sensor 22, and a second in-position sensor 23. The first motor is used to drive the first conveyor belt 21 to move. The control device 50 may include a first determination module 51 and a first control module 52. The first control module 52 is used to determine the target rotation direction of the first motor based on the current assembly line 10 where the transfer device 20 is located. When the first motor rotates in the target rotation direction, the movement direction of the first conveyor belt 21 matches the movement direction of the current assembly line 10. The first control module 52 is used to control the first motor based on the target rotation direction, the first detection information of the first in-position sensor 22, and the second detection information of the second in-position sensor 23.

[0172] The first control module 52 is specifically used to determine that the first in-place sensor 22 is an occupancy sensor and the second in-place sensor 23 is a stop sensor when the target rotation direction is the first direction. When the motor rotates in the first direction, the current transportation direction between the current assembly line 10 and the transfer device 20 is the current assembly line 10 toward the transfer device 20. In the current transportation direction, the first in-place sensor 22 is in front of the second in-place sensor 23. If the first detection information is that the target goods are detected and the second detection information is that the target goods are not detected, the first motor is controlled to rotate along the target rotation direction. If the first detection information and the second detection information are both that the target goods are detected, the first motor is controlled to stop.

[0173] The first control module 52 is specifically used to control the first motor to rotate along the target rotation direction at a first preset speed when the first detection information is that the target cargo is detected, and the second detection information and the third detection information of the third in-place sensor 24 are both that the target cargo is not detected, and in the current transportation direction, the first in-place sensor 22 is in front of the third in-place sensor 24, the third in-place sensor 24 is in front of the second in-place sensor 23, and the third in-place sensor 24 corresponds to the second in-place sensor 23; if the first detection information and the third detection information of the third in-place sensor 24 are both that the target cargo is detected, and the second detection information is that the target cargo is not detected, control the first motor to rotate along the target rotation direction at a second preset speed, and the first preset speed is greater than the second preset speed.

[0174] The first control module 52 is specifically used to determine that the second in-place sensor 23 is an occupancy sensor, the first in-place sensor 22 is a stop sensor, and the first direction is opposite to the second direction when the target rotation direction is the second direction; if at least one of the first detection information or the second detection information is that the target cargo is detected, control the first motor to rotate along the target rotation direction; if the first detection information within a preset time period does not detect the target cargo, control the first motor to stop.

[0175] The first control module 52 is specifically used to control the movement of the transfer device 20 according to the first detection information and the second detection information of the current assembly line 10 and the transfer device 20, so as to selectively connect with the first assembly line 11 or the second assembly line 12; when the transfer device 20 is connected with the first assembly line 11 or the second assembly line 12, enter the step of determining the target rotation direction of the first motor based on the current assembly line 10 where the transfer device 20 is located.

[0176] The control device 50 further includes a second determination module 53 and a second control module 54. The second determination module 53 is used to determine that one of the fourth in-position sensor 12 and the fifth in-position sensor 13 of the current station is an occupied sensor and the other is a stop sensor according to the movement direction of the assembly line 10 where the current station is located, and the current station is any station in the assembly line 10. The second control module 54 is used to control the second motor according to the station attributes of the current station, the detection information of the occupied sensor and the detection information of the stop sensor, and the station attributes include a receiving station and an output station, the receiving station is a station for receiving target goods, and the output station is a station for outputting target goods.

[0177] The second control module 54 is specifically used to control the second motor of the current workstation to operate based on the movement direction of the assembly line 10 where the current workstation is located when both the detection information of the occupancy sensor and the detection information of the stop sensor indicate that the target goods have not been detected, or when the detection information of the occupancy sensor indicates that the target goods have been detected and the detection information of the stop sensor indicates that the target goods have not been detected; and to control the second motor of the current workstation to stop when both the detection information of the occupancy sensor and the detection information of the stop sensor indicate that the target goods have been detected.

[0178] The second control module 54 is specifically used to control the second motor of the current workstation to operate based on the movement direction of the assembly line 10 where the current workstation is located when at least one of the detection information of the occupancy sensor or the detection information of the stop sensor indicates that the target goods are detected; and to control the second motor of the current workstation to stop when the detection information of the stop sensor indicates that the target goods are not detected within a preset time period.

[0179] The second control module 54 is specifically used to control the second motor of the current station to operate in the linkage mode when the detection information of at least one of the occupancy sensor and the stop sensor of the upstream station of the current station indicates that the target goods are detected, and the detection information of the occupancy sensor of the current station indicates that the target goods are not detected, or when the detection information of the occupancy sensor and the stop sensor of the current station both indicate that the target goods are detected, and the occupancy sensor of the downstream station of the current station does not detect the target goods; control the second motor of the current station to stop operating when the detection information of the stop sensor of the current station and the detection information of the occupancy sensor of the current station both indicate that the target goods are not detected within a preset time period, or when the detection information of the occupancy sensor and the stop sensor of the downstream station both indicate that the target goods are detected, and the detection information of the occupancy sensor and the stop sensor of the current station both indicate that the target goods are detected.

[0180] The second control module 54 is specifically used to obtain the target station of the start instruction and the station attributes of the target station when receiving the start instruction, the station attributes including the receiving station and the output station, and the target station is any station on the assembly line 10; when the detection information of the occupancy sensor and the detection information of the stop sensor at the receiving station, and the detection information of the occupancy sensor and the detection information of the stop sensor at the output station meet the preset start conditions, start the second motor of the target station belonging to the receiving station and the second motor of the target station belonging to the output station in sequence.

[0181] The second control module 54 is specifically used to control the blocking member 15 of the current station to be in a releasing state when the current station only belongs to the output station and the second motor of the current station is running, or when the current station belongs to both the receiving station and the output station and the second motor of the current station is running; and to control the blocking member 15 of the current station to be in a blocking state when the current station only belongs to the receiving station and the second motor of the current station is running, or when the second motor is stopped.

[0182] The control device 50 also includes a third control module 55, which is used to control the operation of the motor of the target device corresponding to the control button according to the target movement direction corresponding to the control button when the control button of the transportation system 100 is clicked, and the target device includes any workstation and transfer device 20 of the assembly line 10; when the control button is not clicked, or when the detection information of the two in-place sensors of the target device both detect the target goods, control the motor of the target device to stop running.

[0183] The third control module 55 is also used to unlock the interlocking restriction conditions of the target device corresponding to the forced execution command when receiving the forced execution command, and the target device includes any workstation and transfer device 20 of the assembly line 10; obtain the operation command, and control the operation of the target device according to the operation command.

[0184] The third control module 55 is also used to control the rotation speed of the first motor and the second motor of the assembly line 10 according to the current working state of the transportation system 100, and the working state at least includes manual execution mode, automatic execution mode, forced mode or emergency mode.

[0185] The control device 50 also includes a shipping module 56, which is used to determine the target processing module 30 in the processing module 30 according to the transportation status of the station in each processing module 30 corresponding to the shipping station 40 of the transportation system 100; and transport the target goods to the target processing module 30.

[0186] The shipping module 56 is specifically used to determine a target processing module 30 among the processing modules 30 according to the priority and transportation conditions corresponding to each processing module 30 .

[0187] The control device 50 is described above from the perspective of a functional module in conjunction with the accompanying drawings. The functional module can be implemented in hardware form, can be implemented in software form, or can be implemented in combination with hardware and software modules. Specifically, each step of the method embodiment in the embodiment of the present application can be completed by an integrated logic circuit of hardware in a processor and / or an instruction in software form. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware coding processor for execution, or can be completed by a combination of hardware and software modules in a coding processor. Optionally, the software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory, and completes the steps in the above method embodiment in conjunction with its hardware.

[0188] See also Figure 1 , Figure 3 and Fig.26 The transportation system 100 of the embodiment of the present application includes a plurality of assembly lines 10, a transfer device 20, a processor 50, a memory 60 and a computer program. The assembly lines 10 are used to transport target goods, and the transfer device 20 is used to transfer target goods in the plurality of assembly lines 10; the transfer device 20 includes a first motor, a first conveyor belt 21, a first in-position sensor 22 and a second in-position sensor 23, and the first motor is used to drive the first conveyor belt 21 to move. The computer program is stored in the memory 60 and executed by the processor 50, and the computer program includes instructions for executing the control method of any of the above embodiments.

[0189] See also Figure 3 and Fig. 9 In some embodiments, the assembly line 10 includes a plurality of workstations connected to each other, and the distance between the first in-place sensor 22 and the second in-place sensor 23, and the distance between the fourth in-place sensor 12 of the workstation and the fifth in-place sensor 13 of the workstation are determined according to the length of the target cargo along the direction of movement.

[0190] Specifically, please combine Fig. 27 , Fig. 27 It is a structural schematic diagram of a workstation or transfer device 20 of an assembly line 10, wherein L is the length of the conveyor belt, l is the length of the target cargo, i is the length between the occupancy sensor and the stop sensor, and j is the length between the deceleration sensor and the stop sensor.

[0191] The length of the second conveyor belt 11 of the workstation and the first conveyor belt 21 of the transfer device 20 are both greater than the length of the target cargo along the direction of movement. The distance between the first in-place sensor 22 and the second in-place sensor 23 can be determined according to the length of the target cargo along the direction of movement, so that when the target cargo is stationary in the transfer device 20, the target cargo can simultaneously block the fourth in-place sensor 12 and the fifth in-place sensor 13, at which time the fourth detection information and the fifth detection information are both for detecting the target cargo. Similarly, the distance between the fourth in-place sensor 12 and the fifth in-place sensor 13 can be determined according to the length of the target cargo along the direction of movement, so that when the target cargo is stationary in a certain workstation on the assembly line 10, the target cargo can simultaneously block the fourth in-place sensor 12 and the fifth in-place sensor 13, at which time the detection information of the fourth in-place sensor 12 and the fifth in-place sensor 13 are both for detecting the target cargo.

[0192] In this way, if the first motor or the second motor is in the off state, and the target goods are located on the conveyor belt corresponding to the first motor or the second motor, if at least one of the detection information of the two in-position sensors corresponding to the conveyor belt indicates that the target goods are not detected, it means that an error has occurred in the transportation system 100, and a certain detection information is inexplicably lost, and an alarm needs to be issued. Therefore, the two in-position sensors on the conveyor belt have an alarm function, so that when an error occurs in the transportation system 100, it can be discovered in time according to the detection information, so that the transportation system 100 can be repaired in time.

[0193] See also Fig.28 The embodiment of the present application also provides a computer-readable storage medium 300 on which a computer program 310 is stored. When the computer program 310 is executed by a processor 320, the steps of the control method of any of the above-mentioned embodiments are implemented. For the sake of brevity, they are not repeated here.

[0194] In the description of this specification, the descriptions with reference to the terms "certain embodiments", "in an example", "exemplarily", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0195] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0196] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A control method, characterized in that: Applied to a transportation system, the transportation system comprises a plurality of assembly lines and a transfer device, the assembly lines are used to transport target goods, and the transfer device is used to transfer the target goods among the plurality of assembly lines; The transfer device comprises a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, wherein the first motor is used to drive the first conveyor belt to move; The control method comprises: Based on the current assembly line where the transfer device is located, determining a target rotation direction of the first motor, when the first motor rotates in the target rotation direction, the movement direction of the first conveyor belt matches the movement direction of the current assembly line; The first motor is controlled based on the target rotation direction, first detection information of the first in-position sensor, and second detection information of the second in-position sensor.

2. The control method according to claim 1, characterized in that: The controlling of the first motor based on the target rotation direction, the first detection information of the first in-position sensor and the second detection information of the second in-position sensor comprises: When the target rotation direction is the first direction, the first in-position sensor is determined to be an occupied sensor, and the second in-position sensor is determined to be a stop sensor. When the motor rotates in the first direction, the current transportation direction between the current assembly line and the transfer device is that the current assembly line is toward the transfer device, and in the current transportation direction, the first in-position sensor is in front of the second in-position sensor. If the first detection information indicates that the target goods are detected, and the second detection information indicates that the target goods are not detected, the first motor is controlled to rotate along the target rotation direction, If both the first detection information and the second detection information indicate that the target cargo is detected, the first motor is controlled to stop.

3. The control method according to claim 1, characterized in that: If the first detection information indicates that the target goods are detected, and the second detection information indicates that the target goods are not detected, controlling the first motor to rotate along the target rotation direction includes: When the first detection information indicates that the target cargo is detected, and the second detection information and the third detection information of the third in-place sensor both indicate that the target cargo is not detected, the first motor is controlled to rotate along the target rotation direction at a first preset speed, and in the current transport direction, the first in-place sensor is ahead of the third in-place sensor, and the third in-place sensor is ahead of the second in-place sensor; When the first detection information and the third detection information of the third in-place sensor both indicate that the target cargo is detected, and the second detection information indicates that the target cargo is not detected, the first motor is controlled to rotate along the target rotation direction at a second preset speed, and the first preset speed is greater than the second preset speed.

4. The control method according to claim 2, characterized in that: The controlling of the first motor based on the target rotation direction, the first detection information of the first in-position sensor and the second detection information of the second in-position sensor comprises: When the target rotation direction is the second direction, determining that the second in-position sensor is an occupied sensor, the first in-position sensor is a stop sensor, and the first direction is opposite to the second direction; If at least one of the first detection information or the second detection information indicates that the target cargo is detected, controlling the first motor to rotate along the target rotation direction; If the first detection information within the preset time period indicates that the target goods are not detected, the first motor is controlled to stop.

5. The control method according to claim 1, characterized in that: The assembly line includes a first assembly line and a second assembly line, and the transfer device is used to receive the target goods on the first assembly line and transfer the target goods on the first assembly line to the second assembly line; The method further comprises: According to the current assembly line, the first detection information and the second detection information of the transfer device, controlling the transfer device to move so as to selectively connect with the first assembly line or the second assembly line; When the transfer device is connected to the first assembly line or the second assembly line, the step of determining the target rotation direction of the first motor based on the current assembly line where the transfer device is located is entered.

6. The control method according to claim 1, characterized in that: The assembly line includes a plurality of stations connected to each other, each station is provided with a second conveyor belt, a fourth in-position sensor, a fifth in-position sensor and a second motor, the second motor is used to drive the second conveyor belt to move, and the method includes: According to the movement direction of the assembly line where the current workstation is located, determining that one of the fourth in-position sensor and the fifth in-position sensor of the current workstation is an occupied sensor and the other is a stop sensor, and the current workstation is any workstation in the assembly line; The second motor is controlled according to the station attributes of the current station, the detection information of the occupancy sensor and the detection information of the stop sensor, the station attributes including a receiving station and an output station, the receiving station is a station for receiving target goods, and the output station is a station for outputting target goods.

7. The control method according to claim 6, characterized in that: In the case that the current station is a receiving station, controlling the second motor according to the station attribute of the current station, the detection information of the occupancy sensor, and the detection information of the stop sensor includes: When both the detection information of the occupancy sensor and the detection information of the stop sensor indicate that the target goods are not detected, or when the detection information of the occupancy sensor indicates that the target goods are detected and the detection information of the stop sensor indicates that the target goods are not detected, controlling the second motor of the current station to operate based on the movement direction of the assembly line where the current station is located; When the detection information of the occupancy sensor and the detection information of the stop sensor both indicate that the target goods have been detected, the second motor of the current workstation is controlled to stop.

8. The control method according to claim 7, characterized in that: In the case that the current station is an output station, controlling the second motor according to the station attribute of the current station, the detection information of the occupancy sensor, and the detection information of the stop sensor includes: When at least one of the detection information of the occupancy sensor or the detection information of the stop sensor indicates that the target goods are detected, controlling the second motor of the current station to operate based on the movement direction of the assembly line where the current station is located; When the detection information of the stop sensor within the preset time period is that the target goods are not detected, the second motor of the current workstation is controlled to stop.

9. The control method according to claim 8, characterized in that: The method comprises: In linkage mode, when the detection information of at least one of the occupancy sensor and the stop sensor of the upstream station of the current station indicates that the target goods are detected, and the detection information of the occupancy sensor of the current station indicates that the target goods are not detected, or when the detection information of the occupancy sensor and the stop sensor of the current station indicates that the target goods are detected, and the occupancy sensor of the downstream station of the current station indicates that the target goods are not detected, the second motor of the current station is controlled to operate; When the detection information of the stop sensor of the current station and the detection information of the occupancy sensor of the current station within a preset time period both indicate that the target goods have not been detected, or when the detection information of the occupancy sensor and the stop sensor of the downstream station both indicate that the target goods have been detected, and the detection information of the occupancy sensor and the stop sensor of the current station both indicate that the target goods have been detected, the second motor of the current station is controlled to stop running.

10. The control method according to claim 6, characterized in that: The method further comprises: When a start instruction is received, a target station of the start instruction and station attributes of the target station are acquired, wherein the station attributes include a receiving station and an output station, and the target station is any station on the assembly line; When the detection information of the occupancy sensor and the stop sensor of the receiving station, as well as the detection information of the occupancy sensor and the stop sensor of the output station meet the preset start conditions, the second motor of the target station belonging to the receiving station and the second motor of the target station belonging to the output station are started in sequence.

11. The control method according to claim 6, characterized in that: The station is also provided with a blocking member, and the blocking member corresponds to a stop sensor on the station; the method further comprises: When the current station is only an output station and the second motor of the current station is running, or when the current station is both a receiving station and an output station and the second motor of the current station is running, the blocking member of the current station is controlled to be in a release state; When the current workstation is only a receiving workstation and the second motor of the current workstation is running, or when the second motor is stopped, the blocking member of the current workstation is controlled to be in a blocking state.

12. The control method according to claim 1, characterized in that: The method further comprises: When the control button of the transportation system is clicked, the motor of the target device corresponding to the control button is controlled to run according to the target movement direction corresponding to the control button, and the target device includes any station and transfer device of the assembly line; When the control button is not clicked, or when the detection information of the two on-site sensors of the target device indicates that the target goods are detected, the motor of the target device is controlled to stop running.

13. The control method according to claim 1, characterized in that: The method further comprises: In case of receiving a mandatory execution command, unlocking the interlock restriction condition of the target equipment corresponding to the mandatory execution command, wherein the target equipment includes any station and transfer device of the assembly line; Obtain an operation command, and control the target device to run according to the operation command.

14. The control method according to claim 1, characterized in that: The method further comprises: The rotation speeds of the first motor and the second motor of the assembly line are controlled according to the current working state of the transportation system, wherein the working state at least includes a manual execution mode, an automatic execution mode, a forced mode or an emergency mode.

15. The control method according to claim 1, characterized in that: The assembly line and the transfer device form a processing module, and the transportation system includes a plurality of processing modules; the method further includes: Determining a target processing module in the processing modules according to the transportation status of a station in each processing module corresponding to a shipping station of the transportation system; The target cargo is transported to the target processing module.

16. The control method according to claim 1, characterized in that: Determining a target processing module in the processing module according to the transportation condition of each processing module includes: According to the priority and transportation conditions corresponding to each of the processing modules, a target processing module is determined among the processing modules.

17. A control device, characterized in that: Applied to a transportation system, the transportation system comprises a plurality of assembly lines and a transfer device, the assembly lines are used to transport target goods, and the transfer device is used to transfer the target goods among the plurality of assembly lines; The transfer device comprises a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, wherein the first motor is used to drive the first conveyor belt to move; The control device comprises: A first determination module is used to determine a target rotation direction of the first motor based on a current assembly line where the transfer device is located, and when the first motor rotates in the target rotation direction, the movement direction of the first conveyor belt matches the movement direction of the current assembly line; The first control module is used to control the first motor based on the target rotation direction, first detection information of the first in-position sensor, and second detection information of the second in-position sensor.

18. A transportation system, characterized in that: include: A plurality of assembly lines and a transfer device, wherein the assembly lines are used to transport target goods, and the transfer device is used to transfer the target goods among the plurality of assembly lines; The transfer device comprises a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, wherein the first motor is used to drive the first conveyor belt to move; Processor, memory; and A computer program, wherein the computer program is stored in the memory and executed by the processor, and the computer program includes instructions for executing the control method according to any one of claims 1 to 16.

19. The transport system according to claim 18, characterized in that The assembly line includes a plurality of workstations connected to each other, and the distance between the first in-place sensor and the second in-place sensor, and the distance between the fourth in-place sensor of the workstation and the fifth in-place sensor of the workstation are determined according to the length of the target goods along the moving direction.

20. A non-volatile computer-readable storage medium containing a computer program, characterized in that: When the computer program is executed by a processor, the processor executes the control method according to any one of claims 1 to 16.

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