Control method, control device, transport system and computer-readable storage medium

Abstract

The application discloses a control method, a control device, a transportation system and a nonvolatile computer readable storage medium. The method is applied to a transportation system, the transportation system comprising a plurality of flow lines and a transfer device, the flow lines being used for transporting target goods, and the transfer device being used for transferring the target goods among the plurality of flow lines; the transfer device comprising a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, the first motor being used for driving the first conveyor belt to move; the control method comprising: determining a target rotation direction of the first motor based on a current flow line in which the transfer device is located, the movement direction of the first conveyor belt matching the movement direction of the current flow line when the first motor rotates in the target rotation direction; and controlling 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, so as to ensure that the positive direction of the transfer device is always along a process direction, thereby reducing the operation difficulty.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transportation systems, and more particularly, to a control method, a control device, a transportation system, and a nonvolatile computer readable storage medium. BACKGROUND

[0002] In the case that target goods of a 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 direction of the transfer device is also different when it is connected to different assembly lines. 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, an operator uses a forward rotation button and a reverse rotation button to control the transfer device during operation, which leads to the fact that the operator must know where the transfer device is located to accurately issue an operation instruction during operation, thereby increasing the operation difficulty. SUMMARY

[0003] The present application provides a control method, a control device, a transportation system, and a nonvolatile computer readable storage medium.

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

[0005] The control device of the embodiment of the present application is applied to a transportation system, the transportation system comprising a plurality of assembly lines and a transfer device, the assembly lines being configured to transport target goods, and the transfer device being configured to transfer the target goods among the plurality of assembly lines; the transfer device comprising a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, the first motor being configured to drive the first conveyor belt to move; the control device comprising a first determining module and a first control module. The first determining module is configured to determine a target rotation direction of the first motor based on a current assembly line in which the transfer device is located, the first conveyor belt moving in a direction matching a moving direction of the current assembly line when the first motor rotates in the target rotation direction. The first control module is configured 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.

[0006] The transportation system of the embodiment of the present application comprises a plurality of assembly lines, a transfer device, a processor, a memory and a computer program. The assembly lines are configured to transport target goods, and the transfer device is configured to transfer the target goods among the plurality of assembly lines; the transfer device comprising a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, the first motor being configured 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 comprises instructions for executing a control method. The control method comprises, in a case where a braking intention is detected, performing at least one of torque control and rotation speed control on the transportation system to reduce a speed of the transportation system.

[0007] The non-volatile computer readable storage medium of the embodiment of the present application comprises a computer program, the computer program being executed by a processor to cause the processor to execute a control method. The control method is applied to a transportation system, the transportation system comprising a plurality of assembly lines and a transfer device, the assembly lines being configured to transport target goods, and the transfer device being configured to transfer the target goods among the plurality of assembly lines; the transfer device comprising a first motor, a first conveyor belt, a first in-position sensor and a second in-position sensor, the first motor being configured to drive the first conveyor belt to move; the control method comprising: determining a target rotation direction of the first motor based on a current assembly line in which the transfer device is located, the first conveyor belt moving in a direction matching a moving direction of the current assembly line when the first motor rotates in the target rotation direction; and controlling 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.

[0008] The control method, the control device, the transportation system and the computer readable storage medium of the embodiments of the present application, the target rotation direction of the transfer device, the use of the first in-place sensor and the use of the second in-place sensor can be automatically adjusted according to the current flow line where the transfer device is located, the reversing of the transfer device is realized, and the forward direction of the transfer device can be redefined according to the current flow line where the transfer device is located, so that the forward direction of the transfer device is always consistent with the process direction of the current flow line. In this way, when controlling the transfer device, only the forward or backward movement of the transfer device needs to be controlled. 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 flow line, and 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 flow line. Unlike the prior art, it is not necessary to determine whether the motor needs to be controlled to rotate forward or reverse according to the current flow line where the transfer device is located. It can be seen that the operation of the transportation system of the present application is simpler and less difficult, thereby facilitating the transmission of operation instructions.

[0009] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter in the description of the embodiments of the present application. BRIEF DESCRIPTION OF DRAWINGS

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

[0011] Figure 1 is a scene diagram of the control method of some embodiments of the present application;

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

[0013] Figure 3 is a scene diagram of the control method of some embodiments of the present application;

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

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

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

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

[0018] Figure 8is a flowchart of a control method of some embodiments of the present application;

[0019] Figure 9 is a scenario diagram of a control method of some embodiments of the present application;

[0020] Figure 10 is a flowchart of a control method of some embodiments of the present application;

[0021] Figure 11 is a flowchart of a control method of some embodiments of the present application;

[0022] Figure 12 is a flowchart of a control method of some embodiments of the present application;

[0023] Figure 13 is a scenario diagram of a control method of some embodiments of the present application;

[0024] Figure 14 is a scenario diagram of a control method of some embodiments of the present application;

[0025] Figure 15 is a scenario diagram of a control method of some embodiments of the present application;

[0026] Figure 16 is a flowchart of a control method of some embodiments of the present application;

[0027] Figure 17 is a flowchart of a control method of some embodiments of the present application;

[0028] Figure 18 is a flowchart of a control method of some embodiments of the present application;

[0029] Figure 19 is a scenario diagram of a control method of some embodiments of the present application;

[0030] Figure 20 is a flowchart of a control method of some embodiments of the present application;

[0031] Figure 21 is a flowchart of a control method of some embodiments of the present application;

[0032] Figure 22 is a flowchart of a control method of some embodiments of the present application;

[0033] Figure 23 is a scenario diagram of a control method of some embodiments of the present application;

[0034] Figure 24 is a flowchart of a control method of some embodiments of the present application;

[0035] Figure 25 is a module schematic diagram of a control device of some embodiments of the present application;

[0036] Figure 26 is a structural schematic diagram of a transportation system of some embodiments of the present application;

[0037] Figure 27 is a scenario schematic diagram of a transportation system of some embodiments of the present application;

[0038] Figure 28 is a connection state schematic diagram of a non-volatile computer readable storage medium and a processor of some embodiments of the present application. DETAILED DESCRIPTION

[0039] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals are used throughout the figures to refer to the same or like elements or elements having the same or similar functionality. The embodiments described below are merely exemplary for the purpose of explanation and are not to be construed as limiting the scope of the present application.

[0040] In the case where the target goods of the transportation system need to be transported on multiple flow lines, the transportation system usually uses a transfer device to transfer the target goods from one flow line to another. The directions of motion of two adjacent flow lines are different, and the direction of motion of the transfer device is also different when connecting with different flow lines. The motor of the transfer device is forward on a certain flow line, and the motor of the transfer device is reversed on another flow line.

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

[0042] In the prior art, in the manual execution mode, the operator uses the forward rotation button and the reverse rotation button to control the transfer device during the operation process, which leads to the fact that the operator must know where the transfer device is located to accurately issue the operation instruction during the operation process, thereby increasing the operation difficulty.

[0043] In the prior art, the forward direction is fixed during programming, but in the case where the movement direction of the pipeline changes, the movement direction of the transfer device can be the same as or opposite to the movement direction of the pipeline, i.e., the forward direction of the transfer device can be the same as or opposite to the process direction. Therefore, in the prior art, if the transfer device is controlled to move forward along the process direction during programming, it is also necessary to determine whether the motor of the transfer device needs to be forward rotated or reverse rotated according to the current pipeline in which the transfer device is located. In this way, the logic level is not clear enough during programming, and it is necessary to determine whether the motor is forward rotated or reverse rotated according to the process direction of the pipeline in which the transfer device is located and the forward direction of the transfer device, thereby easily causing programming errors.

[0044] To solve the above problems, the embodiment of the present application provides a control method, which will be described in detail as follows:

[0045] Please refer to 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 pipelines 10 and a transfer device 20, the pipeline 10 is used for transporting target goods, and the transfer device 20 is used for transferring the target goods in the plurality of pipelines 10; the transfer device 20 includes a first motor, a first conveying belt 21, a first in-place sensor 22 and a second in-place sensor 23, the first motor is used for driving the first conveying belt 21 to move; and the control method includes the following steps.

[0046] Step 011: determining a target rotation direction of the first motor based on a current pipeline 10 in which the transfer device 20 is located, and the movement direction of the first conveying belt 21 matches the movement direction of the current pipeline 10 when the first motor rotates in the target rotation direction.

[0047] Specifically, the transportation system 100 includes a plurality of pipelines 10 and a transfer device 20, the movement directions of the plurality of pipelines 10 can be the same or different, the pipeline 10 is used for transporting target goods (for example Figure 1 The transfer device 20 can be selectively connected with the plurality of pipelines 10, so that the transfer device 20 can transfer the target goods in the plurality of pipelines 10. The process direction is the direction of the transportation system transporting the target goods, and the movement direction of each pipeline is determined according to the process direction, for example Figure 1The first and second conveyors 10 are arranged in an upper layer and a lower layer respectively, and the moving directions of the two conveyors 10 are opposite. The transfer device 20 comprises a first conveying belt 21 which is liftable. The connection relationship of the transfer device 20 can be changed by changing the height of the first conveying belt 21, so that the first conveying belt 21 can be selectively connected with the first and second conveyors 10, thereby enabling the transfer device 20 to transfer the target goods from the first conveyor 10 to the second conveyor 10.

[0048] The transfer device 20 comprises a first motor, the first conveying belt 21, a first in-position sensor 22 and a second in-position sensor 23. The first motor is connected with the first conveying belt 21, so that the first motor can drive the first conveying belt 21 to move. The moving directions of the first conveying belt 21 are different when the first motor rotates in forward or reverse directions. The in-position sensor can determine whether the target goods are in a specific position by detecting the distance between the target goods and the sensor. It generally comprises a transmitter and a receiver. The transmitter emits electromagnetic waves or infrared signals to the target goods, and the receiver receives the reflected signals and determines whether the target goods are in the specific position according to the signal strength. Therefore, the in-position sensor can confirm that the target goods are in position when the target goods block and reflect the signals sent by the in-position sensor.

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

[0050] During the operation of the transfer device 20, the target moving direction of the first conveying belt 21 can be determined based on the moving direction of the current conveyor 10 where the transfer device 20 is located, so as to determine the target rotating direction of the first motor, thereby ensuring that the moving direction of the first conveying belt 21 matches the moving direction of the current conveyor 10, and enabling the target goods to be smoothly transported between the first conveying belt 21 and the current conveyor 10. For example, when the moving direction of the current conveyor 10 is from left to right, the target moving direction of the first conveying belt 21 is determined to be from left to right. If the moving direction of the first conveying belt 21 is from left to right when the first motor rotates in reverse direction, the target rotating direction of the first motor is determined to be reverse.

[0051] Step 012: controlling the first motor based on the target rotating direction, the first detection information of the first in-position sensor 22 and the second detection information of the second in-position sensor 23.

[0052] Specifically, the first in-place sensor 22 and the second in-place sensor 23 have the same function of detecting 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 at the right side of the first conveying belt 21, and the second in-place sensor 23 is arranged at the left side of the first conveying belt 21. Therefore, the first detection information and the second detection information can have different uses, and one of the first in-place sensor 22 and the second in-place sensor 23 can be an occupancy sensor, and the other can be a stop sensor. In the case that the occupancy sensor detects the target goods, it can be confirmed that the target goods are entering the first conveying belt 21, and therefore the first motor needs to be controlled to run in the target rotation direction. In the case that the stop sensor detects the target goods, it can be confirmed that the target goods have reached the target stop position on the first conveying belt 21, and therefore the first motor needs to be controlled to stop running, so as to ensure that the target goods can be stopped in the target stop position and prevent the target goods from overrunning.

[0053] The movement direction of the first conveying belt 21 is changeable, and in different movement directions, the in-place sensor that the target goods pass through first is different. Therefore, when the movement direction of the first conveying belt 21 is different, the uses 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 scene schematic diagram when the transfer device 20 is connected with the first assembly line, and Figure 1 The scene schematic diagram when the transfer device 20 is connected with the second assembly line. 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. When the transfer device 20 is located at the lower layer and connected with the first assembly line, the movement direction of the first conveying belt 21 is from left to right, the target goods enter the transfer device 20, and the first conveying belt 21 can stop only 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. When the transfer device 20 is located at the upper layer and connected with the second assembly line, the movement direction of the first conveying belt 21 is from right to left, the target goods enter the transfer device 20, and the first conveying belt 21 can stop only 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 goods in the transfer device 20, and therefore the positions of the first in-place sensor 22 and the second in-place sensor 23 need to be determined according to the target stop position.

[0055] Therefore, when controlling the first motor to operate, it is necessary to determine the passway of the first in-place sensor 22 and the second in-place sensor 23 according to the target rotating direction, in which one is the in-place sensor and the other 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 accessed to obtain the corresponding detection information. For example, when judging whether the first motor is stopped, the detection information of the stop sensor is required. If the first in-place sensor 22 is determined to be the stop sensor, the interface of the first in-place sensor 22 is accessed 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 are controlled according to the first detection information and the second detection information, so as to ensure that the transfer device 20 can smoothly complete the transfer work.

[0056] In this way, the target rotating direction of the first motor, the use of the first in-place sensor 22, and the use of the second in-place sensor 23 can be automatically converted according to the current flow line 10 where the transfer device 20 is located, so that the hardware positions of the two in-place sensors are not changed, the functions of the two in-place sensors are reversed through the program, the reversing of the transfer device 20 is realized, that is, the forward direction of the transfer device 20 is redefined, and it is ensured that the forward direction of the transfer device 20 always follows the process direction of the transportation system 100, and the uses of the first in-place sensor 22 and the second in-place sensor 23 are always determined along the process direction, so as to ensure that the transfer device 20 and the current flow line 10 where the transfer device 20 is located can work cooperatively.

[0057] Therefore, the rotating direction of the transfer device 20 and the uses of the sensors can be automatically adjusted according to the current flow line 10, so that when the transfer device 20 is controlled, 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 conveying belt 21 will drive the target goods to move forward according to the movement direction of the current flow line 10, and when the transfer device 20 is controlled to move backward, the first conveying belt 21 will drive the target goods to move backward according to the movement direction of the current flow line 10. Therefore, the transportation system 100 can only be provided with a forward button and a backward button, and does not need to be provided with a forward rotation button and a reverse rotation button as in the prior art, and it is necessary to judge whether the motor needs to be controlled to rotate forward or reverse according to the current flow line 10 where the transfer device 20 is located.

[0058] In 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 use of each sensor can be automatically adjusted according to the current flow line 10. Subsequently, only two 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. Unlike the prior art, only two concepts of forward and reverse rotation are introduced for programming, and the positive direction of the transfer device 20 is fixed, so that the positive direction of the transfer device 20 may be the same as or opposite to the process direction in different flow lines 10, resulting in that when the transfer device 20 is controlled to move forward, it is necessary to determine whether the motor is forward or reverse rotation according to the process direction of the flow line 10 where the transfer device 20 is located, so that the transfer device 20 can run along the process direction. It can be seen that the programming of the transportation system 100 of the present application is more clear in the logic level, the positive direction of the transfer device 20 is automatically switched, so that only the forward or backward of the transfer device 20 needs to be determined according to the business logic when programming, without determining which direction the transfer device 20 needs to run.

[0059] The target rotation direction of the transfer device 20, the use of the first in-place sensor 22 and the use of the second in-place sensor 23 of the control method of the present application can be automatically adjusted according to the current flow line 10 where the transfer device 20 is located, the direction of the transfer device 20 is changed, and the positive direction of the transfer device 20 can be redefined according to the current flow 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 flow line 10. In this way, when the transfer device 20 is controlled, only the forward or backward of the transfer device 20 needs to be controlled. When the transfer device 20 is controlled to move forward, the first conveyor belt 21 will drive the target goods to move forward according to the movement direction of the current flow line 10, and when the transfer device 20 is controlled to move backward, the first conveyor belt 21 will drive the target goods to move backward according to the movement direction of the current flow line 10. Unlike the prior art, it is necessary to determine whether the motor needs to be controlled to rotate forward or reverse according to the current flow line 10 where the transfer device 20 is located. It can be seen that the operation of the transportation system 100 of the present application is more simple and easy to operate, so that the transmission of the operation command is facilitated.

[0060] Please refer to 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-place sensor 22 and the second detection information of the second in-place sensor 23, comprising:

[0061] Step 0121: In the case that the target rotation direction is the first direction, the first in-place sensor 22 is determined as an occupancy sensor and the second in-place sensor 23 is determined as a stop sensor, and in the case that 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 towards the transfer device 20, and in the current transportation direction, the first in-place sensor 22 is in front of the second in-place sensor 23;

[0062] Step 0122: In the case that 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.

[0063] Step 0123: In the case that the first detection information and the second detection information are both that the target goods are detected, the first motor is controlled to stop.

[0064] Specifically, in the case that 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 towards the transfer device 20, and at this time, the target goods are transported from the current assembly line 10 to 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, so the target goods pass through the first in-place sensor 22 and the second in-place sensor 23 in sequence when entering the transfer device 20, at this time, the first in-place sensor 22 is an occupancy sensor and the second in-place 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, the target rotation direction can be determined as the first direction.

[0065] In the case that the first detection information is that the target goods are detected and the second detection information is that the target goods are not detected, it can be considered that the target goods have begun to enter the transfer device 20, but the target goods have not 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 that the first detection information and the second detection information are both that the target goods are detected, it can be considered that the target goods have moved to the position of the stop sensor, and if the target goods continue to move, an overtravel problem is likely to occur, so at this time, the first motor is controlled to stop, so as to ensure that when the first motor stops running, the target goods are located at the target stop position, at this time, the transportation of the target goods when entering the transfer device 20 is completed.

[0066] Therefore, when the target goods need to be transported from the assembly line 10 to the transfer device 20, the first in-place sensor 22 can be determined as an occupancy sensor and the second in-place sensor 23 can be determined as a stop sensor, and then the first motor is controlled according to the first detection information and the second detection information, so as to ensure that the target goods can finally be parked in the target stop position of the transfer device 20 more accurately, which is convenient for the transfer device 20 to subsequently transport the target goods to other assembly lines 10.

[0067] Please refer to Figure 1 、 Figure 3 and Figure 5 In some embodiments, step 0122: 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 in the target rotation direction, comprising:

[0068] Step 01221: In the case that the first detection information is that the target goods are detected, the second detection information and the third detection information of the third in-place sensor 24 are that the target goods are not detected, the first motor is controlled to rotate in the target rotation direction at a first preset rotating speed, and 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.

[0069] Step 01222: In the case that the first detection information and the third detection information of the third in-place sensor 24 are 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 in the target rotation direction at a second preset rotating speed, and the first preset rotating speed is greater than the second preset rotating speed.

[0070] Specifically, the pipeline 10 can also be provided with a third in-place sensor 24 as a deceleration sensor, and 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 the third in-place sensor 24 can be two, and the two third in-place sensors 24 are respectively arranged close to 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 decelerate, only when the transfer device 20 receives the target goods, the target goods need to decelerate, then the third in-place sensor 24 can also be only one, and the third in-place sensor 24 is arranged close to the second in-place sensor 23. The distance between the deceleration sensor and the stop sensor is determined according to the movement speed of the target goods on the current pipeline 10, for example, 10 cm. The greater the movement speed, the greater the inertia of the target goods, and the greater the distance between the deceleration sensor and the stop sensor.

[0071] In the case that the target goods enter the transfer device 20, if the third in-place sensor 24 detects the target goods, the first motor starts to slow down, and ensures that the speed of the target goods is not too large when the first motor stops running, so as to ensure that the target goods can finally stop at the target stop position. Therefore, the first preset rotating speed and the second preset rotating speed can be set, the first preset rotating speed is the rotating speed of the first motor when the first conveying belt 21 normally runs, and the second preset rotating speed is the rotating speed of the first motor when the first conveying belt 21 slows down, so as to ensure that the target goods can accurately stop at the target stop position when the first motor stops running after the target goods reach the stop sensor. The second preset rotating speed can also be multiple rotating speeds, so that the rotating speed of the first motor gradually decreases after entering the slowing-down stage, thereby ensuring that the target goods can accurately stop at the target stop position after the first motor stops running.

[0072] Therefore, in the case that the first detection information is that the target goods are detected, and the second detection information and the third detection information of the third in-place sensor 24 are that the target goods are not detected, the first motor is controlled to rotate along the target rotating direction at the first preset rotating speed, so as to ensure that the target goods can be quickly transported to the transfer device 20. In the case that the first detection information and the third detection information of the third in-place sensor 24 are that the target goods are detected, and the second detection information is that the target goods are not detected, it is considered that the target goods need to start to slow down, and therefore the first motor can be controlled to rotate along the target rotating direction at the second preset rotating speed, so that the speed of the target goods gradually decreases, and it is ensured that the target goods can stop at the target stop position when the second in-place sensor 23 detects the target goods and the motor stops running, thereby preventing the target goods from overrunning.

[0073] Please refer to Figure 1 , Figure 3 and Figure 6 In some embodiments, the step 012 of controlling the first motor based on the target rotating direction, the first detection information of the first in-place sensor 22 and the second detection information of the second in-place sensor 23 comprises:

[0074] The step 0124 of determining that the second in-place sensor 23 is the occupying sensor and the first in-place sensor 22 is the stop sensor in the case that the target rotating direction is the second direction, and the first direction is opposite to the second direction.

[0075] The step 0125 of controlling the first motor to rotate along the target rotating direction in the case that at least one of the first detection information or the second detection information is that the target goods are detected.

[0076] The step 0126 of controlling the first motor to stop in the case that the first detection information within a preset time length is that the target goods are not detected.

[0077] Specifically, the first direction is opposite to the second direction, so that in the case that the motor rotates in the second direction, the current transportation direction between the current pipeline 10 and the first conveying belt 21 is the second transportation direction of the transfer device 20 towards the current pipeline 10, and at this time the target goods are transported from the transfer device 20 to the current pipeline 10. The first direction can be defined as the forward rotation direction, and the second direction can be defined as the reverse rotation direction, or the first direction can be defined as the reverse rotation direction, and the second direction can be defined as the forward rotation direction, depending on the current transportation direction between the current pipeline 10 and the transfer device 20 when the motor rotates forward and reversely.

[0078] In the case that the target rotation direction is the second direction, the target goods pass through the second in-place sensor 23 and the first in-place sensor 22 in sequence when leaving the transfer device 20, at this time the second in-place sensor 23 is an occupancy sensor, and the first in-place sensor 22 is a stop sensor. When the transfer device 20 needs to transport the target goods to the current pipeline 10 where the transfer device 20 is located, the target rotation direction can be determined as the second direction.

[0079] Therefore, in the case that the target rotation direction is the second direction, if at least one of the first detection information or the second detection information detects the target goods, the first motor is controlled to rotate along the target rotation direction. In the case that both the first detection information and the second detection information detect the target goods, it can be considered that part of the target goods is still in the transfer device 20, so that the first motor needs to be controlled to rotate along the target rotation direction at this time. In the case that the first detection information detects the target goods and the second detection information does not detect the target goods, it can be considered that part of the target goods is still in the transfer device 20, so that the first motor needs to be controlled to rotate along the target rotation direction at this time.

[0080] In the case that the first in-place sensor 22 does not detect the target goods, the target goods can not have completely left the transfer device 20, and part of the target goods is still located at the end of the first conveying belt 21 of the transfer device 20. Therefore, the preset time length can be determined according to the minimum time from when the first in-place sensor 22 does not detect the target goods to when the target goods completely leave the transfer device 20. In the case that the first detection information is first not detected, the timing is started, and the first motor continues to operate. If the first detection information is not detected within the preset time length, it can be considered that the target goods have completely left the transfer device 20, and the first motor is controlled to stop operating, so as to prevent the first conveying belt 21 of the transfer device 20 from rotating for a long time and reduce unnecessary loss of the first motor.

[0081] Thus, when the transfer device 20 needs to transport the target goods to the current flow 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 operate or stop according to the first detection information and the second detection information, so as to ensure that the target goods can be transferred to the current flow line 10 where the transfer device 20 is located.

[0082] Please refer to Figure 1 、 Figure 3 and Figure 7 In some embodiments, the flow line 10 includes a first flow line and a second flow line, and the transfer device 20 is used to receive the target goods on the first flow line and transfer the target goods on the first flow line to the second flow line; the method further includes:

[0083] Step 013: according to the current flow line 10, the first detection information and the second detection information of the transfer device 20, the transfer device 20 is controlled to move to selectively connect with the first flow line or the second flow line;

[0084] In the case that the transfer device 20 is connected with the first flow line or the second flow line, the step of determining the target rotation direction of the first motor based on the current flow line 10 where the transfer device 20 is located is entered.

[0085] Specifically, the flow line 10 includes a first flow line and a second flow line, wherein the first flow line is the flow line 10 where the target goods need to be transported to the transfer device 20, and the second flow line is the flow line 10 where the target goods need to be transported to the transfer device 20. It can be understood that the first flow line and the second flow line do not specifically refer to a certain flow line 10, and the same flow line 10 can be used as the first flow line or the second flow line.

[0086] The transfer device 20 can be provided with a sixth in-place sensor at a position corresponding to the first flow line and the second flow line. When the detection information of the sixth in-place sensor corresponding to a certain flow line 10 is that the first conveying belt 21 is detected, it means that the first flow line is in a connected state with the flow line 10, i.e., the transfer device 20 is in a connected state with the flow line 10.

[0087] When the transfer device 20 is connected with the first assembly line, the first assembly line can deliver the target goods to the transfer device 20. When the current assembly line 10 is the first assembly line, if the first detection information and the second detection information of the transfer device 20 are both the detection of the target goods, it is judged that the transfer device 20 has completed the receiving of the target goods, at this time, the transfer device 20 can be controlled to move towards the second assembly line, so that the transfer device 20 is connected with the second assembly line. When the transfer device 20 is connected with the second assembly line, the transfer device 20 and the second assembly line can be started, so that the target goods of the transfer device 20 can be delivered into the second assembly line. If the first detection information and the second detection information of the transfer device 20 are both the non-detection of the target goods, it is judged that the transfer device 20 has completed the transfer of the target goods, at this time, the transfer device 20 can be controlled to return to the first assembly line and be connected with the first assembly line, so as to facilitate the transfer of the next target goods.

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

[0089] In this way, according to the current assembly line 10 and the first detection information and the second detection information of the transfer device 20, the assembly line 10 to which the transfer device 20 needs to be connected can be accurately judged, and the transfer device 20 can be controlled to move, so as to ensure that the transfer device 20 can smoothly transfer the target goods of the first assembly line to the second assembly line.

[0090] Please refer to Figure 1 , Figure 8 and Figure 9 In some embodiments, the assembly line 10 includes a plurality of stations connected with each other, and each station is provided with a second conveying belt 11, a fourth in-place sensor 12, a fifth in-place sensor 13 and a second motor for driving the second conveying belt 11 to move. The control method further includes:

[0091] Step 014: according to the movement direction of the current assembly line 10, one of the fourth in-place sensor 12 and the fifth in-place sensor 13 of the current station is determined as an occupancy sensor, and the other is determined as a stop sensor, and the current station is any station in the assembly line 10;

[0092] Step 015: According to the station attribute of the current station, the detection information of the occupying sensor and the detection information of the stopping sensor, the second motor is controlled, and the station attribute includes a receiving station and an output station, the receiving station is a station for receiving the target goods, and the output station is a station for outputting the target goods.

[0093] Specifically, a plurality of stations connected with each other can be provided on the flow line 10, and each station is provided with a corresponding second conveying belt 11 and a second motor for driving the second conveying belt 11 to move, for example, to drive the second conveying belt 11 to move forward along the movement direction of the flow line 10, or to drive the second conveying belt 11 to move backward along the opposite direction of the movement direction of the flow line 10, so that the target goods can be transported between the plurality of stations on the flow line 10. The fourth in-place sensor 12 and the fifth in-place sensor 13 can be provided on the second conveying belt 11, and 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 station according to the movement direction of the flow line 10. The in-place sensor passed through first is the occupying sensor, and the in-place sensor passed through last is the stopping sensor. For example, the left in-place sensor in each station of the flow line 10 is the fourth in-place sensor 12, and the right in-place sensor is the fifth in-place sensor 13. When the movement direction of the flow line 10 is from left to right, the fourth in-place sensor 12 is the occupying sensor, and the fifth in-place sensor 13 is the stopping sensor. When the movement direction of the flow line 10 is from left to right, the opposite is true. When the movement direction of the flow line 10 is fixed, the uses of the fourth in-place sensor 12 and the fifth in-place sensor 13 of the current station can be set in advance, that is, one of the two is determined as the occupying sensor and the other is determined as the stopping sensor, and the preset uses 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. Figure 9

[0094] ​The station attribute includes a receiving station and an output station. 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. Whether the current station belongs to the receiving station or the output station can be determined according to the movement direction of the assembly line 10, the upstream station of the current station, and the downstream station of the current station. The upstream station refers to the station that is adjacent to the current station and located before the current station along the movement direction of the assembly line, and the downstream station refers to the station that is adjacent to the current station and located after the current station along the movement direction of the assembly line. In the case that the target goods exist in the upstream station and do not exist in the current station, or in the case that the target goods exist in the upstream station, exist in the current station, and are not detected by the occupancy sensor, it can be considered that the upstream station needs to deliver the target goods to the current station, and the current station belongs to the receiving station. In the case that the target goods exist in the current station and do not exist in the downstream station, or in the case that the target goods exist in the current station, exist in the downstream station, and are not detected by the occupancy sensor, it can be considered that the current station needs to deliver the target goods to the downstream station, and the current station belongs to the output station.

[0095] After obtaining the station attribute of the current station and the usage of the fourth occupancy sensor 12 and the fifth occupancy sensor 13, the second motor can be controlled based on the station attribute of the current station, the detection information of the occupancy sensor, and the detection information of the stop sensor. For example, in the case that the current station belongs to the receiving station, it can be confirmed that the current station needs to receive the target goods, and therefore the second motor is 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. In the case that the current station belongs to the output station, the current station needs to output the target goods, and therefore the second motor is controlled to stop only when the detection information of the stop sensor is not detected within a preset time period.

[0096] In this way, the second motor of the current station can be controlled based on the station attribute of the current station and the detection information of the two sensors, so as to ensure that the current station can successfully complete the transportation task corresponding to the station attribute.

[0097] Please refer to Figure 1 , Figure 9 and Figure 10 In some embodiments, in the case that the current station belongs to the receiving station, the step 015 of controlling the second motor based on 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: In the case that the detection information of the occupying sensor and the detection information of the stopping sensor are both not detecting the target goods, or in the case that the detection information of the occupying sensor is detecting the target goods and the detection information of the stopping sensor is not detecting the target goods, the second motor of the current station is controlled to run based on the moving direction of the assembly line 10 where the current station is located;

[0099] Step 0152: In the case that the detection information of the occupying sensor and the detection information of the stopping sensor are both detecting the target goods, the second motor of the current station is controlled to stop.

[0100] Specifically, in the case that the current station belongs to a receiving station, it can be confirmed that the current station needs to receive the target goods. In the case that the detection information of the occupying sensor and the detection information of the stopping sensor are both not detecting the target goods, 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 moving direction of the assembly line 10 where the current station is located, so as to ensure that the second conveying belt 11 of the current station has a certain speed when the target goods move to the current station, thereby reducing the friction generated between the target goods and the second conveying belt 11.

[0101] In the case that the detection information of the occupying sensor is detecting the target goods and the detection information of the stopping sensor is not detecting the target goods, it can be considered that the target goods have begun to enter the current station, but the target goods have not yet moved to the target stopping position of the current station. Therefore, the second motor of the current station is continued to be controlled to run based on the moving direction of the assembly line 10 where the current station is located, so as to ensure that the target goods can move in the moving direction of the assembly line 10 where the current station is located.

[0102] In the case that the detection information of the occupying sensor and the detection information of the stopping sensor are both detecting the target goods, the second motor of the current station is controlled to stop, so as to ensure that the target goods are located at the target stopping position of the current station when the second motor of the current station is running. At this time, the transportation of the target goods into the current station is completed.

[0103] In this way, in the case that the current station needs to receive the target goods, the second motor of the current station can be controlled to run by the fourth in-position sensor 12 and the fifth in-position sensor 13 of the current station, so as to ensure that the target goods can be safely transported into the current station and accurately parked at the target stopping position of the current station, thereby achieving active parking, eliminating collision and unnecessary mechanical wear, and facilitating the humanization of the operation process.

[0104] In some embodiments, a seventh in-position sensor 14 can also be provided on each station, which is used as a deceleration sensor. The seventh in-position sensor 14 needs to be arranged close to the stop sensor on each station. In the case of a fixed motion direction of the flow line 10, the stop sensor can be one, and in the case of a motion direction of the flow line 10, the stop sensor can be two, corresponding to the fourth in-position sensor 12 and the fifth in-position sensor 13 on each station respectively.

[0105] In the case of the target goods entering the current station, if the seventh in-position sensor 14 detects the target goods, the second motor starts to decelerate, ensuring that the speed of the target goods is not too large when the subsequent second motor stops running, so as to ensure 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 motion speed of the target goods on the flow line 10. The greater the motion speed, the greater the inertia of the target goods, and the greater the distance between the deceleration sensor and the stop sensor.

[0106] Please refer to Figure 9 and Figure 11 In some embodiments, in the case of the current station being 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, comprising:

[0107] Step 0153: in the case that at least one of the detection information of the occupancy sensor or the detection information of the stop sensor detects the target goods, controlling the second motor of the current station to run based on the motion direction of the flow line 10 where the current station is located;

[0108] Step 0154: in the case that the detection information of the stop sensor within a preset time length does not detect the target goods, controlling the second motor of the current station to stop.

[0109] Specifically, in the case of the current station being an output station, the current station needs to output target goods. First, it also needs to determine one of the fourth in-position sensor 12 and the fifth in-position sensor 13 as an occupancy sensor and the other as a stop sensor according to the motion direction of the second conveying belt 11 of the current station.

[0110] In the case that at least one of the detection information of the occupancy sensor or the detection information of the stop sensor is detecting the target goods, i.e. in the case that both the detection information of the occupancy sensor and the detection information of the stop sensor are detecting the target goods, or in the case that the detection information of the stop sensor is detecting the target goods and the detection information of the occupancy sensor is not detecting the target goods, it can be considered that the target goods still have a partial region located on the current station, and thus it is required to continue to control the second motor of the current station to operate based on the moving direction of the assembly line 10 where the current station is located, so as to output the target goods. In the case that the detection information of the stop sensor within the preset time length is not detecting the target goods, it can be considered that the target goods have completely left the current station, and thus the second motor of the current station can be controlled to stop.

[0111] Thus, in the case that 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, so as to ensure that the target goods can be smoothly transported to the downstream station of the current station.

[0112] Please refer to Figure 1 and Figure 12 In some embodiments, the control method comprises:

[0113] Step 016: in the case that at least one of the detection information of the occupancy sensor and the detection information of the stop sensor of the upstream station of the current station is detecting the target goods, and the detection information of the occupancy sensor of the current station is not detecting the target goods, or in the case that both the detection information of the occupancy sensor and the detection information of the stop sensor of the current station are detecting the target goods, and the detection information of the occupancy sensor of the downstream station of the current station is not detecting the target goods, the second motor of the current station is controlled to operate;

[0114] Step 017: in the case that both 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 length are not detecting the target goods, or in the case that both the detection information of the occupancy sensor and the detection information of the stop sensor of the downstream station are detecting the target goods, and both the detection information of the occupancy sensor and the detection information of the stop sensor of the current station are detecting the target goods, the second motor of the current station is controlled to stop operating.

[0115] Specifically, in the linkage mode, the second motors of the plurality of 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 on the downstream station of the current station where the target goods are located. Therefore, in the linkage mode, the start and stop of the second motor of the current station need to be determined by considering the upstream station and the downstream station.

[0116] In the case that the detection information of at least one of the occupancy sensor and the stop sensor of the upstream station is that the target goods are detected, and the detection information of the occupancy sensor of the current station is that the target goods are not detected, it is considered that the target goods of the upstream station are being transported to the current station, there is no target goods in 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. Therefore, it is 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 is controlled to operate at this time. Similarly, in the case that the detection information of the occupancy sensor and the stop sensor of the current station are that the target goods are detected, and the detection information of the occupancy sensor of the downstream station of the current station is that the target goods are not detected, it is considered that there are target goods in the current station, and the downstream station has the ability to receive the target goods of the current station. Therefore, the second motor of the current station is also controlled to operate at this time.

[0117] In the case that the detection information of the stop sensor of the current station and the detection information of the occupancy sensor of the current station are that the target goods are not detected within a preset time length, it is considered that the target goods are not transported to the current station from the upstream station, and the target goods of the current station have left the current station. Therefore, the second motor of the current station is controlled to stop operating at this time. In the case that the detection information of the occupancy sensor and the stop sensor of the downstream station of the current station are that the target goods are detected, and the detection information of the occupancy sensor and the stop sensor of the current station are that the target goods are detected, it is considered that the target goods of the current station cannot continue to be transported to the downstream station. Therefore, the second motor of the current station is controlled to stop operating at this time.

[0118] It should be noted that steps 014 to 015 above are the basic control logic for the second motor at each station. When controlling the motor according to steps 014 to 015 above, the situation at adjacent stations is not considered. The transport system 100 includes a push box mode. At this time, the transport system 100 only controls two adjacent stations according to steps 014 to 015 above. There is no target cargo in the current station of the two adjacent stations, and there is 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 that do not interfere with each other. The second motor will only stop when the control strategies of both control threads are to stop the second motor. For example, if the detection information of the occupancy sensor and the stop sensor of the current station both indicate 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 to stop the second motor. 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 is to continue to control the operation of the second motor. Then, 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 existing technology only uses the box-pushing method during transportation, such as Figure 13 , Figure 13 The small and medium-sized cars are the target goods. Moving the 1# car to the 2# position requires two steps, that is, moving the 2# car to the 3# position, and then moving the 1# car to the 2# position. Only one car is started at a time, and each car stops after starting and reaching its position. Figure 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 the transportation method of one body position, thereby greatly improving the beat 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 is only necessary 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 multiple transportation methods for transportation.

[0120] Thus, in addition to the push-box mode and the manual execution mode, the linkage function can be realized, so that multiple stations in the flow line 10 can be transported simultaneously, thereby facilitating reduction of the transportation time of the target goods.

[0121] The current station can obtain information of the upstream station and the downstream station, that is, the current station, the upstream station and the downstream station have certain interaction logic, and at this time, the complex interaction logic can be integrated in the function block, for example Figure 15 , a unified programming mode is formed, which facilitates problem point troubleshooting and program replication and dissemination.

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

[0123] Please refer to Figure 1 and Figure 16 In some embodiments, the control method further comprises:

[0124] Step 018: In the case of receiving the start instruction, obtaining the target station of the start instruction and the station attribute of the target station, the station attribute including the receiving station and the output station, and the target station being any station on the flow line 10;

[0125] Step 019: In the case that 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 satisfy the preset start condition, 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 for ensuring that the receiving station and the output station can be safely started in the case of receiving the start instruction. For example, the preset start condition is that the fourth detection information and the fifth detection information of the receiving station are both not detected target goods, and the fourth detection information and the fifth detection information of the output station are both detected target goods, and in the case that a certain station is both the receiving station and the output station, the fourth detection information and the fifth detection information of the station are both detected target goods.

[0127] The starting instruction includes target stations that need to be controlled, and station attributes of each target station, wherein the station attributes include a receiving station and an output station. It can be understood that the target stations include at least two or more stations adjacent to each other. Therefore, the starting instruction includes stations that need to transport goods and stations that need to receive goods. In a case where 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 preset starting conditions, it can be considered that the plurality of 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 is started, so as to ensure that the conveying belt of the output station has a certain speed when the target goods on the receiving station are transported to the output station, thereby reducing the friction between the conveying belt of the output station and the target goods.

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

[0129] Please refer to Figure 1 , Figure 9 and Figure 17 In some embodiments, the station is also provided with a blocking piece 15 corresponding to the stop sensor on the station. The control method further includes:

[0130] Step 020: In a case where the current station only belongs to the output station and the second motor of the current station is running, or in a case where the current station belongs to both the receiving station and the output station and the second motor of the current station is running, the blocking piece 15 of the current station is controlled to be in a release state.

[0131] Step 021: In a case where the current station only belongs to the receiving station and the second motor of the current station is running, or in a case where the second motor is stopped, the blocking piece 15 of the current station is controlled to be in a blocking state.

[0132] Specifically, in the linkage mode, the current station can belong to both the receiving station and the output station, i.e. the target goods in the current station need to be transported to the target goods in the upstream station and also need to be transported to the target goods in the downstream station. The blocking piece 15 is provided on the station and corresponds to the stop sensor on the station. The blocking piece 15 is installed in the second conveying belt 11. When the blocking piece 15 is in the blocking state, the target goods are blocked by the first blocker and cannot continue to move forward. When the blocking piece 15 is in the release state, the target goods can move along the second conveying belt 11 smoothly.

[0133] Therefore, when the target goods in the current station need to be transported to the downstream station, the blocking piece 15 needs to be in the release state to ensure that the target goods can move to the downstream station smoothly. 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, it means that the target goods in the current station need to be transported to the downstream station. At this time, the blocking piece 15 of the current station needs to be controlled to be in the release state.

[0134] When the target goods in the current station do not need to be transported to the downstream station, the blocking piece 15 needs to be in the blocking state to prevent the target goods from overrunning. When there is no target goods in the current station, the blocking piece 15 can also be controlled to be in the blocking state to ensure that when the target goods in the subsequent station move to the current station from the upstream station, the target goods will not overrun. When the current station only belongs to the 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 in the current station or the target goods in the current station do not need to be transported to the downstream station. Therefore, at this time, the blocking piece 15 needs to be controlled to be in the blocking state.

[0135] In this way, the blocking piece 15 can assist in stopping the target goods to further prevent the target goods from overrunning during movement. Of course, when the movement speed of the second conveying belt 11 of the station is small, the risk of overrunning of the target goods is small, so the blocking piece 15 can also not be provided in the station to reduce the cost of the assembly line 10.

[0136] In the case that the movement speed of the first conveying belt 21 of the transfer device 20 is large, the transfer device 20 can be provided with the blocking piece 15 corresponding to the stop sensor in the transfer device 20, and in this case, the blocking piece 15 can be two. The blocking piece 15 can also correspond to only the stop sensor when the current transportation direction between the current assembly line 10 and the transfer device 20 is that the current assembly line 10 faces the transfer device 20, and in this case, the blocking piece 15 can be one. In this way, the blocking piece 15 can assist in stopping the target goods, preventing the target goods from overrunning. In the case that the movement speed of the first conveying belt 21 of the transfer device 20 is small, the risk of the target goods overrunning is small, and therefore the transfer device 20 can also not be provided with the blocking piece 15, so as to reduce the cost of the transfer device 20.

[0137] Please refer to Figure 1 、 Figure 9 and Figure 18 In some embodiments, the method further comprises:

[0138] Step 022: In the case that the control button of the transportation system 100 is clicked, the motor of the target device corresponding to the control button is controlled to operate 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: In the case that the control button is not clicked, or in the case that the detection information of the two in-place sensors of the target device is that the target goods are detected, the motor of the target device is controlled to stop operating.

[0140] Specifically, the transportation system 100 also provides a manual execution mode, and the assembly line 10 and the transfer device 20 can operate in the manual execution mode or in the automatic execution mode. Any station on the assembly line 10 and the transfer device 20 are provided with a corresponding operation panel. The operation panel can be provided with a manual execution button, an automatic execution button and a control button, and the control button can include a forward button and a backward button. After the worker clicks the automatic execution button, the transportation system 100 automatically executes the transportation of the target goods. After the worker clicks the manual execution button, the transportation system 100 enters 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 conveying belt to move. After the worker clicks the manual execution button, the worker can click the forward button or the backward button to control the target device.

[0141] Among them, please refer to Figure 19 Each station 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 station corresponding to the operation panel. In the case that the assembly line 10 is in the linkage state, the target device corresponding to the control button is the station corresponding to the operation panel, and the adjacent station of the station of the operation panel.

[0142] Therefore, in the case that the control button of the transportation system 100 is clicked, the target device corresponding to the control button can be controlled to operate according to the target movement direction corresponding to the control button. For example, the target device is a station of the assembly line 10. The rotation direction of the second motor can be preset when the second conveyor belt 11 of each station is advancing or retreating. For example, in the case that the control button is an advancing button, the second motor is controlled to operate according to the rotation direction of the second motor, so that the second conveyor belt 11 can move according to the requirement of the worker. In the case that the control button is not clicked, it can be considered that the worker releases the advancing button or the retreating button, at this time, the second motor is controlled to stop operating, so that the second conveyor belt 11 also stops operating. In the case that 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 reach the target stop position of the target device, at this time, the motor of the target device can also be controlled to stop operating.

[0143] Therefore, in the manual execution mode, the transportation system 100 also realizes the inching function, that is, the motor of the target device starts to operate only when the worker clicks the control button, and the motor of the target device immediately stops operating once the worker releases the control button, so that when the worker finds a safety hazard during the manual operation, the worker can immediately release the control button, so that the target device can be parked in time. At the same time, in the case that the target goods reach the target stop position of the target device, the motor of the target device can be controlled to stop operating to realize active parking, so that the worker does not need to manually park the target goods, and the target goods can be accurately parked on the target stop position.

[0144] Please refer to Figure 1 , Figure 9 and Figure 20 In some embodiments, the method further comprises:

[0145] Step 024: In the case that the enforcement command is received, the interlocking restriction condition of the target device corresponding to the enforcement command is released, and the target device includes any station of the assembly line 10 and the transfer device 20;

[0146] Step 025: An operation command is obtained, and the target device is controlled to operate according to the operation command.

[0147] Specifically, the interlocking limit condition is a limit condition set for the transportation system 100 in the case of ensuring safe operation of the transportation system 100. For example, a certain station is provided with a processing device and a second conveying belt 11, and the interlocking limit condition can be that the processing device and the second conveying belt 11 cannot operate at the same time when the processing device is processing the target goods on the second conveying belt 11, so as to prevent the processing device from being unable to grab the target goods or the processing device from colliding with the target goods directly. In the automatic execution mode or the manual execution mode, the operation of the transportation system 100 is limited by the interlocking limit condition, ensuring the safety of the transportation system 100 in the automatic execution mode or the manual execution mode, and reducing the safety hazards of the transportation system 100.

[0148] However, in some cases, for example in the case of a jamming problem, the interlocking limit condition will limit the maintenance of the staff, for example, if the processing device fails during processing, the target goods on the second conveying belt 11 need to be transported away first. However, under the limitation of the interlocking limit condition, the second conveying belt 11 cannot be moved at this time. Therefore, it is necessary to enter the forced execution mode at this time. The operation panel can be provided with a forced button, and the transportation system 100 can receive a forced execution command and enter the forced execution mode after the staff clicks the forced button. For example, by using Figure 19 The buttons of the operation panel, long press the "forced" button until the button yellow light flashes, indicating that the target device corresponding to the operation panel has opened the forced function, and can be arbitrarily operated forward and backward, and also with the removal of the transportation state memory between the target device and the adjacent device of the target device, that is, the initialization of the target device is completed. The transportation state memory includes Figure 19 The positive forward and negative forward, the upper unit (i.e. the upstream station) forward memory and the lower unit (the downstream unit) backward memory shown in the figure, wherein the positive and negative in the positive forward and negative forward refer to the positive direction and the negative direction. The transportation system 100 can also record the transportation state memory between the target device and the adjacent device of the target device during operation, that is, record the interaction information between each device, so as to facilitate subsequent problem troubleshooting.

[0149] Or also can be provided with two physical buttons on the operation platform, respectively a manual button and a reset button, which can be specified to enter the forced execution mode according to a fixed operation sequence, so as to improve the threshold of entering the forced execution mode, prevent the forced execution mode from being triggered by mistake, and thus cause safety problems. The fixed operation sequence can be as follows: first press the manual button, then press the reset button, and after a delay of 2 seconds, the transportation system 100 can receive a forced execution command and enter the forced execution mode.

[0150] After entering the enforcement mode, the interlocking restriction condition of the target device corresponding to the enforcement command can be released, and the target device corresponding to the enforcement command can include any station on the pipeline 10 and the transfer device 20, so that the worker can freely manipulate the target device to work, for example, manipulate the conveyor belt of the target device to advance or retreat. After entering the enforcement mode, the worker issues 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 advance, and then the conveyor belt of the target device can be controlled to advance.

[0151] In this way, the enforcement mode is separately provided in the present application, and the enforcement mode and the manual execution mode are two separate modes, on the one hand, ensuring that the operation of the transportation system 100 can be restricted by the interlocking restriction condition in the manual execution mode, ensuring the safety of the transportation system 100 in the manual execution mode, and on the other hand, facilitating the entry into the enforcement mode when maintenance is required, facilitating the maintenance of the transportation system 100. After the mode is switched to the automatic execution mode or the manual execution mode, the enforcement mode is automatically released, and the interlocking restriction condition is relocked.

[0152] Please refer to Figure 1 and Figure 21 In some embodiments, the method further comprises:

[0153] Step 026: controlling the rotation speed of the first motor and the second motor of the pipeline 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, an enforcement mode or an emergency working condition.

[0154] Specifically, the rotation speed of the first motor and the second motor can be adjusted, and at this time, the rotation speed 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 at least includes a manual execution mode, an automatic execution mode, an enforcement mode or an emergency working condition. The corresponding rotation speed is different in different working states. For example, in the working state of the manual execution mode, the rotation speed of the first motor and the second motor should be small, so as to facilitate the worker to operate the pipeline 10 or the transfer device 20 running at low speed. For example, in the working state of the automatic execution mode, the rotation speed of the first motor and the second motor should be large, so as to facilitate the pipeline 10 and the transfer device 20 to quickly complete the transportation work.

[0155] Therefore, when the automatic execution mode is switched to the manual execution mode, the rotation speed of the first motor and the second motor needs 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 speed of the first motor and the second motor needs 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 is restored, that is, the first motor and the second motor run at a preset high speed. In the emergency working condition, for example, in the case of emergency stop or loss of safety signal of the transportation system 100, the first motor and the second motor are controlled to be closed to ensure the safety of the transportation system 100. In the emergency working condition, the safe torque off (STO) control function of the controller of the transportation system 100 can also be triggered to further ensure the safety of the transportation system 100.

[0156] Please refer to Figure 1 , Figure 22 and Figure 23 In some embodiments, the pipeline 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 condition of the station corresponding to the shipping station 40 of the transportation system 100 in each processing module 30;

[0158] Step 028: transporting the target goods to the target processing module 30.

[0159] Specifically, the transportation system 100 can be provided with a plurality of parallel processing modules 30, and one processing module 30 includes a pipeline 10 and a transfer device 20, wherein the number of the pipelines 10 is greater than or equal to two, and the number of the transfer devices 20 is greater than or equal to one. The functions of the pipelines 10 of each processing module 30 can be the same or different. The transportation system 100 can 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 processes and transports 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 needs to be sent. At this time, the transportation condition of the station corresponding to the shipping station 40 in the processing module 30 can be obtained, wherein the transportation condition is whether the processing module 30 can receive the target goods. The transportation condition can be determined according to whether the station (for example, the 3# position in the pipeline 10) for receiving the target goods in the pipeline 10 of the processing module 30 has goods. Figure 23

[0161] ​In the case that the work station for receiving the target goods in the flow line 10 of the processing module 30 has goods, it is considered that the processing module 30 is unable to receive the target goods, and the target goods are not transported to the processing module 30. In the case that the work station for receiving the target goods in the flow line 10 of the processing module 30 has no goods, it is considered that the processing module 30 is able to receive the target goods, and the target processing module 30 is determined, and then the target goods are transported to the target processing module 30.

[0162] In the case that there are multiple processing modules 30, the transport conditions of each processing module 30 can be determined according to the distance between each processing module 30 and the delivery work station 40, and the order of whether each processing module 30 can be the target processing module 30 is determined. For example, the processing modules 30 include three processing modules, the first processing module 30 is closest to the delivery work station 40, the second processing module 30 is next, and the third processing module 30 is farthest. In the case that the target processing module 30 is determined, it is first determined whether the first processing module 30 can be the target processing module 30, if yes, the first processing module 30 is directly determined as the target processing module 30, if not, it is determined whether the second processing module 30 can be the target processing module 30, and so on, until the target processing module 30 is determined.

[0163] In this way, compared with the prior art in which the delivery order of each processing module 30 is fixed, resulting in uneven distribution of workload, especially the processing module 30 located in the middle position may have a long waiting time and cannot be delivered, the delivery work station 40 of the present application can determine the target processing module 30 according to the specific transport condition of each processing module 30 when the target goods are sent, thereby avoiding the phenomenon that the channel between the delivery work station 40 and the processing module 30 is filled with a large amount of goods, balancing the processing amount in each processing module 30, and avoiding the idle condition of individual channels.

[0164] Please refer to Figure 1 , Figure 23 and Figure 24 In some embodiments, step 027: determining the target processing module 30 in the processing modules 30 according to the transport condition of the work station corresponding to the delivery work station 40 of the transport system 100 in each processing module 30, comprises:

[0165] Step 0271: determining the target processing module 30 in the processing modules 30 according to the priority and the transport condition corresponding to each processing module 30.

[0166] Specifically, the processing modules 30 can be provided with multiple preset priority levels, 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 is preferentially determined as the target processing module 30, and the processing module 30 with the lowest preset priority level is regarded as a closed state, and the dispatching station does 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 preset priority level is not included in the determination range.

[0167] The priority level corresponding to each processing module 30 can be adjusted manually or automatically by the transportation system 100. For example, in an embodiment, the priority level 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, the target goods leave the processing module 30 and are transported to the downstream assembly line 10 of the processing module 30, and the downstream assembly line 10 of each processing module 30 can 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 level corresponding to the processing module 30 to the lowest preset level. In another embodiment, a certain processing module 30 has problems during operation and is difficult to continue processing, and the worker can adjust the priority level corresponding to the processing module 30 to the lowest preset level when the worker is repairing the processing module 30. In yet another embodiment, a certain processing module 30 has a high processing effect, and then the worker can adjust the priority level of the processing module 30 to the highest preset level, so that the processing module 30 is preferentially determined as the target processing module 30.

[0168] When determining the target processing module 30, the transportation status of the processing module 30 with a high priority level can be obtained first, and if the processing module 30 with a high priority level can receive the target goods, the processing module 30 with a high priority level is determined as the target processing module 30. If multiple processing modules 30 have the same priority level and the transportation status of the multiple processing modules 30 is that the multiple processing modules 30 can receive the target goods, the processing module 30 closest to the dispatching station 40 can be determined as the target processing module 30.

[0169] In this way, the application further adds the priority level factor when determining the target processing module 30, and the priority level can be adjusted manually by the worker or automatically 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] In summary, compared with the prior art of directly controlling the operation of the transport system 100, the transport system 100 of the present application mainly triggers the operation of the pipeline 10 and the transfer device 20 according to the state of the in-place sensor, so that the transport system 100 has a strict logical sequence, which is convenient for later maintenance and modification of new additions.

[0171] Please refer to Figure 1 、 Figure 3 、 Figure 9 and Figure 25 In order to better implement the control method of the present application, the present application further provides a control device 50. The control device 50 is applied to the transport system 100, the transport system 100 includes a plurality of pipelines 10 and a transfer device 20, the pipeline 10 is used for transporting target goods, and the transfer device 20 is used for transferring target goods in the plurality of pipelines 10; the transfer device 20 includes a first motor, a first conveyor belt 21, a first in-place sensor 22 and a second in-place sensor 23, and the first motor is used to drive the first conveyor belt 21 to move. The control device 50 can 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 pipeline 10 where the transfer device 20 is located, and 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 pipeline 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-place sensor 22 and the second detection information of the second in-place 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 a first direction, and when the motor rotates in the first direction, the current transportation direction between the current pipeline 10 and the transfer device 20 is that the current pipeline 10 is towards the transfer device 20, and 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, and 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 configured to control the first motor to rotate along the target rotating direction at a first preset rotating speed in a case where the first detection information is detection of the target goods, and the second detection information and the third detection information of the third in-place sensor 24 are both non-detection of the target goods, the first in-place sensor 22 is in front of the third in-place sensor 24 in the current transporting direction, 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; control the first motor to rotate along the target rotating direction at a second preset rotating speed in a case where the first detection information and the third detection information of the third in-place sensor 24 are both detection of the target goods, and the second detection information is non-detection of the target goods, the first preset rotating speed being greater than the second preset rotating speed.

[0174] The first control module 52 is specifically configured to determine the second in-place sensor 23 as an occupancy sensor and the first in-place sensor 22 as a stop sensor in a case where the target rotating direction is a second direction, the first direction being opposite to the second direction; control the first motor to rotate along the target rotating direction in a case where at least one of the first detection information or the second detection information is detection of the target goods; and control the first motor to stop in a case where the first detection information within a preset time length is all non-detection of the target goods.

[0175] The first control module 52 is specifically configured to control the transfer device 20 to selectively connect with the first assembly line or the second assembly line according to the first detection information and the second detection information of the transfer device 20 and the current assembly line 10 where the transfer device 20 is located; and enter the step of determining the target rotating direction of the first motor in a case where the transfer device 20 is connected with the first assembly line or the second assembly line.

[0176] The control device 50 further includes a second determination module 53 and a second control module 54. The second determination module 53 is configured to determine one of a fourth in-place sensor 12 and a fifth in-place sensor 13 of a current station as an occupancy sensor and the other as a stop sensor according to a motion direction of an assembly line 10 where the current station is located, the current station being any station in the assembly line 10. The second control module 54 is configured to control the second motor according to a station attribute of the current station, detection information of the occupancy sensor, and detection information of the stop sensor, the station attribute including a receiving station and an output station, the receiving station being a station for receiving the target goods, and the output station being a station for outputting the target goods.

[0177] The second control module 54 is specifically configured 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 in a case where the detection information of the occupancy sensor and the detection information of the stop sensor are both not detected target goods, or in a case where the detection information of the occupancy sensor is detected target goods and the detection information of the stop sensor is not detected target goods; and control the second motor of the current station to stop in a case where the detection information of the occupancy sensor and the detection information of the stop sensor are both detected target goods.

[0178] The second control module 54 is specifically configured 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 in a case where at least one of the detection information of the occupancy sensor or the detection information of the stop sensor is detected target goods; and control the second motor of the current station to stop in a case where the detection information of the stop sensor within a preset time period is not detected target goods.

[0179] The second control module 54 is specifically configured to control the second motor of the current station to run in a case where at least one of the detection information of the occupancy sensor and the detection information of the stop sensor of the upstream station of the current station is detected target goods, and the detection information of the occupancy sensor of the current station is not detected target goods in the linkage mode, or in a case where the detection information of the occupancy sensor and the detection information of the stop sensor of the current station are both detected target goods, and the occupancy sensor of the downstream station of the current station is not detected target goods; and control the second motor of the current station to stop in a case where the detection information of the stop sensor of the current station within a preset time period and the detection information of the occupancy sensor of the current station are both not detected target goods, or in a case where the detection information of the occupancy sensor and the detection information of the stop sensor of the downstream station are both detected target goods, and the detection information of the occupancy sensor and the detection information of the stop sensor of the current station are both detected target goods.

[0180] The second control module 54 is specifically configured to, in a case where a start instruction is received, acquire a target station of the start instruction and a station attribute of the target station, the station attribute including a receiving station and an output station, and the target station being any station on the assembly line 10; and in a case where the detection information of the occupancy sensor and the detection information of the stop sensor of the receiving station and the detection information of the occupancy sensor and the detection information of the stop sensor of the output station satisfy a preset start condition, sequentially 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.

[0181] The second control module 54 is specifically configured to control the blocking piece 15 of the current station to be in a release state in a case where the current station only belongs to an output station and the second motor of the current station is running, or in a case where the current station simultaneously belongs to a receiving station and an output station and the second motor of the current station is running; and control the blocking piece 15 of the current station to be in a blocking state in a case where the current station only belongs to a receiving station and the second motor of the current station is running, or in a case where the second motor is stopped.

[0182] The control device 50 further comprises a third control module 55, which is configured to control a motor of a target device corresponding to a control button of the transportation system 100 to run according to a target movement direction corresponding to the control button in a case where the control button is clicked, the target device including any station of the assembly line 10 and the transfer device 20; and control the motor of the target device to stop running in a case where the control button is not clicked, or in a case where detection information of two in-place sensors of the target device is both that a target cargo is detected.

[0183] The third control module 55 is further configured to, in a case where a forced execution command is received, release an interlocking restriction condition of a target device corresponding to the forced execution command, the target device including any station of the assembly line 10 and the transfer device 20; acquire an operation command, and control the target device to run according to the operation command.

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

[0185] The control device 50 further comprises a shipping module 56, which is configured to determine a target processing module 30 in the processing module 30 according to a transportation condition of a station corresponding to a shipping station 40 of the transportation system 100 in each processing module 30; and transport a target cargo to the target processing module 30.

[0186] The shipping module 56 is specifically configured to determine the target processing module 30 in the processing module 30 according to a priority corresponding to each processing module 30 and a transportation condition.

[0187] The control device 50 is described above from the perspective of functional modules, which can be implemented in the form of hardware, implemented by instructions in the form of software, or implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiments in the embodiments of the present application can be completed by integrated logic circuits of hardware in the processor and / or instructions in the form of software. The steps of the method disclosed in the embodiments of the present application can be directly embodied as hardware coding processor execution completion, or executed by a combination of hardware and software modules in the coding processor. Alternatively, the software module can be located in a mature storage medium in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc. The storage medium is located in the memory, and the processor reads the information in the memory to complete the steps in the above method embodiments in combination with the hardware thereof.

[0188] Referring to Figure 1 , Figure 3 and Figure 26 , the transport system 100 of the embodiments of the present application includes a plurality of flow lines 10, a transfer device 20, a processor 50, a memory 60, and a computer program. The flow line 10 is used to transport target goods, and the transfer device 20 is used to transfer the target goods in the plurality of flow lines 10. The transfer device 20 includes a first motor, a first conveyor belt 21, a first in-place sensor 22, and a second in-place 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] Referring to Figure 3 and Figure 9 , in some embodiments, the flow line 10 includes a plurality of stations 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 station and the fifth in-place sensor 13 of the station are determined according to the length of the target goods along the movement direction.

[0190] Specifically, please refer to Figure 27 , Figure 27 is a structural schematic view of the station of the flow line 10 or the transfer device 20, wherein L is the length of the conveyor belt, l is the length of the target goods, i is the length between the in-place sensor and the stop sensor, and j is the length between the deceleration sensor and the stop sensor.

[0191] The length of the second conveying belt 11 of the station and the length of the first conveying belt 21 of the transfer device 20 are both greater than the length of the target goods along the movement direction. 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 goods along the movement direction, so that when the target goods are stationary in the transfer device 20, the target goods 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 detection of the target goods. 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 goods along the movement direction, so that when the target goods are stationary in a station on the assembly line 10, the target goods 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 detection of the target goods.

[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 conveying belt corresponding to the first motor or the second motor, if at least one of the detection information of the two in-place sensors corresponding to the conveying belt is not detection of the target goods, it means that an error occurs in the transportation system 100, and some detection information is missing, at which time an alarm needs to be issued. Therefore, the two in-place sensors on the conveying belt have an alarm function, so that in the case of an error in the transportation system 100, the error can be found in time according to the detection information, so that the transportation system 100 can be repaired in time.

[0193] Please refer to Figure 28 The embodiment of the present application also provides a computer readable storage medium 300, which stores a computer program 310, and the computer program 310 is executed by a processor 320 to realize the steps of the control method of any one of the above-mentioned embodiments. For brevity, the details are not described here.

[0194] In the description of the present specification, the description of the terms "some embodiments", "in an example", "exemplarily", etc. means that the specific features, structures, materials or characteristics described in combination with the embodiments or examples are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0195] Any processes or methods described in the flow charts or otherwise described herein can be understood as representing code modules, segments, or portions of code which include one or more executable instructions for implementing specific logic functions (or steps) of the process, and / or that the various processes described herein can be understood as representing executable instructions, code segments, or portions of code which include one or more steps for implementing the functions (or steps) of the processes, and that the various processes described herein can be implemented with or without the use of hardware, software, firmware, or any combination thereof.

[0196] Although the embodiments of the present application have been shown and described above, it should be understood by those skilled in the art that the above-described embodiments are exemplary only, and that changes, modifications, substitutions and variations can be made therein without departing from the scope of the application.

Claims

1. A control method, characterized in that: Applied to a transportation system, the transportation system includes multiple 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 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, wherein the first motor is used to drive the first conveyor belt to move; The control method includes: Determining a target rotation direction of the first motor based on the current assembly line in which the transfer device is located, wherein 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; controlling 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; 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 includes: When the target rotation direction is a first direction, determining that the first in-position sensor is an occupied sensor and the second in-position sensor is a stopped sensor, when the first motor rotates in the first direction, the current transport direction between the current assembly line and the transfer device is the current assembly line toward the transfer device, and in the current transport direction, the first in-position sensor is ahead 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.

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

3. The control method according to claim 1, wherein: 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 includes: When the target rotation direction is a second direction, determining that the second in-position sensor is an occupancy 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.

4. The control method according to claim 2, 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: Controlling the transfer device to move according to the current assembly line and the first detection information and the second detection information of the transfer device 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.

5. The control method according to claim 4, characterized in that: The assembly line includes a plurality of interconnected workstations, each of which is provided with a second conveyor belt, a fourth in-position sensor, a fifth in-position sensor, and a second motor, wherein the second motor is used to drive the second conveyor belt to move. The method includes: Determining, based on a movement direction of the assembly line where a current workstation is located, 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 stopped sensor, the current workstation being 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.

6. The control method according to claim 5, characterized in that: When the current workstation is a receiving workstation, controlling the second motor according to the workstation attribute of the current workstation, 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 workstation to operate based on the movement direction of the assembly line 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 been detected, the second motor of the current workstation is controlled to stop.

7. The control method according to claim 6, characterized in that: When the current workstation is an output workstation, controlling the second motor according to the workstation attribute of the current workstation, 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 have been 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.

8. The control method according to claim 7, characterized in that: The method comprises: 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 have been detected, and the detection information of the occupancy sensor of the current station indicates that the target goods have not been detected, or when the detection information of the occupancy sensor and the stop sensor of the current station indicates that the target goods have been detected, and the occupancy sensor of the downstream station of the current station indicates that the target goods have not been 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 both indicate that the target goods have not been 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 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.

9. The control method according to claim 5, characterized in that: The method further comprises: When a start instruction is received, obtaining a target station of the start instruction and station attributes of the target station, 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 detection information of the stop sensor of the receiving station, as well as the detection information of the occupancy sensor and the detection information of 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.

10. The control method according to claim 5, characterized in that: The workstation is further provided with a blocking member, the blocking member corresponding to a stop sensor on the workstation; 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, controlling the blocking member of the current station 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.

11. The control method according to claim 1, characterized in that: The method further comprises: When a 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 workstation and transfer device of the assembly line; When the control button is not clicked, or when 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.

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

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

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

15. The control method according to claim 1, characterized in that: Determining a target processing module in the processing modules according to the transportation status 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.

16. A control device, characterized in that: Applied to a transportation system, the transportation system includes multiple 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 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, wherein the first motor is used to drive the first conveyor belt to move; The control device comprises: a first determining module, configured to determine a target rotation direction of the first motor based on a current assembly line in which the transfer device is located, wherein when the first motor rotates in the target rotation direction, a movement direction of the first conveyor belt matches a movement direction of the current assembly line; A first control module is used to control the first motor 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 control module is also used to determine that the first in-place sensor is an occupancy sensor and the second in-place sensor is a stop sensor when the target rotation direction is the first direction. When the first motor rotates in the first direction, the current transportation direction between the current assembly line and the transfer device is the current assembly line toward the transfer device. In the current transportation direction, the first in-place sensor is in front of the second in-place sensor. 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.

17. A transportation system, characterized in that: include: Multiple assembly lines and transfer devices, the assembly lines are used to transport target goods, and the transfer devices are used to transfer the target goods among the 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, 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, the computer program including instructions for executing the control method according to any one of claims 1 to 15.

18. The transportation system according to claim 17, 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 movement direction.

19. 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 is caused to execute the control method according to any one of claims 1 to 15.

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