Control method and device of transportation system

Abstract

The invention discloses a control method and device for a transportation system, and the method comprises the steps: obtaining stator track information corresponding to a real scene, displaying a virtual stator track corresponding to the stator track information on a graphical user interface, and enabling the stator track to be formed by splicing and combining a plurality of stator modules; position information of a rotor on a stator track in a real scene is obtained, rotor information is displayed on a virtual stator track on the graphical user interface in a real-time overlapping mode on the basis of the position information of the rotor, and the rotor information comprises a rotor control corresponding to the rotor; and receiving a control instruction input through the graphical user interface to control the operation state of the transportation system in the real scene. According to the method, the stator track information and the rotor information corresponding to a real scene can be visually displayed in real time, the transportation system is controlled on a visual interface, and the monitoring and control precision and efficiency of the transportation system are improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a control method and device for a transportation system. Background Art

[0002] In automated logistics and industrial production lines, real-time monitoring and efficient control of movers and stators on the transportation system are the key to improving production efficiency, reducing operating costs and ensuring safe production. Traditional monitoring methods generally use physical sensors and manual inspections, which are not only inefficient and difficult to achieve real-time performance, but also complex to operate and have high maintenance costs. Summary of the invention

[0003] The embodiments of the present application provide a control method and device for a transportation system, which can visually display the stator track information and mover information corresponding to the real scene in real time, and realize the control of the transportation system on a visual interface, thereby improving the accuracy and efficiency of monitoring and controlling the transportation system.

[0004] In one aspect, an embodiment of the present application provides a method for controlling a transportation system, the method comprising:

[0005] The stator track information corresponding to the real scene is obtained, and a virtual stator track corresponding to the stator track information is displayed on a graphical user interface, wherein the stator track is composed of a plurality of stator modules spliced ​​together; the position information of a mover in the real scene on the stator track is obtained, and based on the position information of the mover, the mover information is superimposed and displayed in real time on the virtual stator track on the graphical user interface, wherein the mover information includes a mover control corresponding to the mover; and a control instruction input through the graphical user interface is received to control the operation status of the transportation system in the real scene.

[0006] In some embodiments, displaying the virtual stator orbit corresponding to the stator orbit information on a graphical user interface includes: mapping the length of each stator module in the stator orbit information, and using target parameters to determine the virtual position of each stator module mapped to the graphical user interface, and determining the virtual stator orbit corresponding to the stator orbit information according to the virtual position of each stator module; and displaying the virtual stator orbit corresponding to the stator orbit information on a graphical user interface.

[0007] In some embodiments, based on the position information of the mover, the mover information is superimposed and displayed in real time on the virtual stator track on the graphical user interface, including: analyzing the position information of the mover to obtain the target stator module corresponding to the mover, and the relative position information of the mover on the target stator module; determining the virtual position of the mover mapped to the graphical user interface according to the virtual position of the target stator module and the relative position information of the mover; based on the virtual position of the mover, the mover information is superimposed and displayed in real time on the virtual stator track on the graphical user interface.

[0008] In some embodiments, the method further includes: correcting the virtual position of the mover according to the mover position compensation value.

[0009] In some embodiments, the control instruction includes a motion trajectory and a motion rule of the target mover, and the motion rule is used to indicate the motion position and / or motion speed of the target mover; before receiving the control instruction input through the graphical user interface, the method also includes: in response to a drag operation and / or a trajectory point configuration operation on the target mover control, generating a motion trajectory of the target mover corresponding to the target mover control; in response to a motion rule configuration operation on the target mover control, generating a motion rule of the target mover corresponding to the target mover control.

[0010] In some embodiments, if the control instruction includes motion trajectories and motion rules of multiple target movers, the method further includes:

[0011] If it is predicted according to the control instruction that there is a collision risk between two adjacent target movers, then collision risk prompt information is generated; or

[0012] After receiving a control instruction input through the graphical user interface to control the operating state of the transportation system in the real scene, if it is determined that there is a collision risk between two adjacent target movers according to the current motion states of the multiple target movers in the operating state, collision risk prompt information is generated, and the motion speed of one of the two adjacent target movers with the collision risk is adjusted;

[0013] The risk warning information is used to prompt the user to readjust at least one of the motion trajectory and the motion mode.

[0014] In some embodiments, the method further includes: scaling and displaying the virtual stator track on the graphical user interface according to a mover scaling ratio; scaling and displaying the mover control on the graphical user interface according to a stator scaling ratio; wherein the mover scaling ratio is different from the stator scaling ratio.

[0015] In some embodiments, the method further comprises: correcting the virtual stator orbit according to a stator gap compensation value.

[0016] In some embodiments, displaying the virtual stator orbit corresponding to the stator orbit information on a graphical user interface includes: receiving, through the graphical user interface, a stator orbit configuration instruction input by a user based on the stator orbit information; and displaying the virtual stator orbit corresponding to the stator orbit information on the graphical user interface in response to the stator orbit configuration instruction.

[0017] In some embodiments, in response to the stator track configuration instruction, displaying the virtual stator track corresponding to the stator track information on the graphical user interface includes: for the straight stator module indicated in the stator track configuration instruction, connecting the first stator controls corresponding to the adjacent straight stator modules end to end to determine the linear track of the virtual stator track; for the arc-type stator module indicated in the stator track configuration instruction, performing arc deformation according to the attribute information of the second stator control corresponding to the arc-type stator module to determine the arc track of the virtual stator track, the attribute information including the starting point, the ending point, the rotation angle and the ending point rotation angle, the first stator control and the second stator control having the same initial attribute information before being configured; according to the linear track and the arc track, displaying the virtual stator track corresponding to the stator track information on the graphical user interface.

[0018] In some embodiments, the method further includes: in response to a setting operation of setting a workstation control on the virtual stator track, displaying the workstation control on the virtual stator track; sending the virtual stator track information carrying the workstation control to the controller of the transportation system, so that the controller configures the workstation on the transportation system according to the virtual stator track information carrying the workstation control and generates updated stator track information; obtaining the workstation information in the updated stator track information; and generating an error prompt message when it is determined according to the workstation information that the distance between adjacent workstations is less than a preset minimum travel distance.

[0019] In some embodiments, receiving control instructions input through the graphical user interface to control the operating status of the transportation system in the real scene includes: receiving control instructions input through the graphical user interface, and sending the control instructions to a controller of the transportation system, so that the controller controls the operating status of the transportation system in the real scene according to the control instructions; updating the actuator information displayed on the graphical user interface according to the operating status.

[0020] In some embodiments, if a docking module is provided on the transport system, and a docking-type stator module is configured on the docking module, the method further includes: when it is determined according to the operating state that the mover on the transport system moves to the docking module, generating a binding instruction, and sending the binding instruction to the controller of the transport system, so that the controller controls the mover on the transport system to perform a binding operation with the docking-type stator module configured on the docking module according to the binding instruction, and generates a new operating state according to the binding operation; when it is determined according to the operating state that the mover on the transport system leaves the docking module, generating an unbinding instruction, and sending the unbinding instruction to the controller of the transport system, so that the controller controls the mover on the transport system to perform an unbinding operation with the docking-type stator module configured on the docking module according to the unbinding instruction, and generates a new operating state according to the unbinding operation.

[0021] On the other hand, an embodiment of the present application provides a control device for a transportation system, the device comprising: a first display unit, used to obtain stator track information corresponding to a real scene, and display a virtual stator track corresponding to the stator track information on a graphical user interface, the stator track being composed of a plurality of stator modules spliced ​​together; a second display unit, used to obtain position information of a mover on the stator track in a real scene, and based on the position information of the mover, display the mover information in real time on the virtual stator track on the graphical user interface, the mover information including a mover control corresponding to the mover; and a control unit, used to receive control instructions input through the graphical user interface to control the operating state of the transportation system in the real scene.

[0022] On the other hand, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is suitable for loading by a processor to execute the control method of the transportation system as described in any of the above embodiments.

[0023] On the other hand, an embodiment of the present application provides a computer device, which includes a processor and a memory, wherein a computer program is stored in the memory, and the processor is used to execute the control method of the transportation system described in any of the above embodiments by calling the computer program stored in the memory.

[0024] On the other hand, an embodiment of the present application provides a computer program product, including computer instructions, which, when executed by a processor, implement the control method of the transportation system described in any of the above embodiments.

[0025] The embodiment of the present application obtains the stator track information corresponding to the real scene, and displays the virtual stator track corresponding to the stator track information on the graphical user interface, wherein the stator track is composed of a plurality of stator modules spliced ​​together; obtains the position information of the mover on the stator track in the real scene, and based on the position information of the mover, displays the mover information in real time on the virtual stator track on the graphical user interface, wherein the mover information includes the mover control corresponding to the mover; and receives the control instruction input through the graphical user interface to control the operation status of the transportation system in the real scene. The embodiment of the present application can visually display the stator track information and mover information corresponding to the real scene in real time, and realize the control of the transportation system on the visual interface, thereby improving the accuracy and efficiency of the monitoring and control of the transportation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 A flow chart of a method for controlling a transportation system provided in an embodiment of the present application.

[0028] Figure 2 A schematic diagram of a first configuration of a transportation system provided in an embodiment of the present application.

[0029] Figure 3 A schematic diagram of a second configuration of a transportation system provided in an embodiment of the present application.

[0030] Figure 4 A schematic diagram of a stator control provided in an embodiment of the present application.

[0031] Figure 5 A schematic diagram of the properties of the first stator control corresponding to the linear stator module provided in an embodiment of the present application.

[0032] Figure 6 A schematic diagram of the properties of the second stator control corresponding to the arc-shaped stator module provided in an embodiment of the present application.

[0033] Figure 7 A schematic diagram of the coordinate points of the linear stator module at position t of the track unit provided in an embodiment of the present application.

[0034] Figure 8 A schematic diagram of the coordinate points of the arc-shaped stator module at position t of the track unit provided in an embodiment of the present application.

[0035] Fig. 9A schematic diagram of the relative relationship of various coordinate systems provided in an embodiment of the present application.

[0036] Fig.10 A schematic diagram of the stator gap provided in an embodiment of the present application.

[0037] Fig.11 A schematic diagram of trajectory customization provided for an embodiment of the present application.

[0038] Fig.12 A schematic diagram of the location rules provided in an embodiment of the present application.

[0039] Fig.13 A schematic diagram of the motion speed rule provided in an embodiment of the present application.

[0040] Fig.14 A schematic diagram of a third configuration of the transportation system provided in an embodiment of the present application.

[0041] Fig.15 A schematic diagram of a fourth configuration of the transportation system provided in an embodiment of the present application.

[0042] Fig.16 A schematic diagram of a fifth configuration of the transportation system provided in an embodiment of the present application.

[0043] Fig.17 A schematic diagram of the configuration sub-module calculation provided in an embodiment of the present application.

[0044] Fig.18 A schematic diagram of the structure of a control device for a transportation system provided in an embodiment of the present application.

[0045] Fig.19 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0047] The embodiment of the present application provides a control method and device for a transportation system. Exemplarily, the control method for the transportation system of the embodiment of the present application can be executed by a computer device, wherein the computer device can be a terminal or a server. The terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart TV, a smart speaker, a wearable smart device, a personal computer (PC), a smart car terminal and other devices. The terminal can also include a client, which can be a video client, a shopping application client, a reading application client, a browser client or an instant messaging client. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), and basic cloud computing services such as big data and artificial intelligence platforms.

[0048] An embodiment of the present application provides a control method for a transportation system, which can be executed by a terminal or a server, or by both a terminal and a server. The embodiment of the present application takes the control method for a transportation system executed by a server as an example for explanation.

[0049] See also Figures 1 to 17 , Figure 1 A flow chart of a control method for a transportation system provided in an embodiment of the present application is shown in FIG. Figures 2 to 17 These are schematic diagrams of application scenarios of the control method of the transportation system provided in the embodiments of the present application. The method may include the following steps:

[0050] Step 110, obtaining stator track information corresponding to the real scene, and displaying a virtual stator track corresponding to the stator track information on a graphical user interface, wherein the stator track is composed of a plurality of stator modules spliced ​​together.

[0051] Among them, the transportation system in the real scene includes a plurality of stator modules forming a stator track and a plurality of movers arranged on the stator track. The stator track is extended along the transmission direction, and the plurality of movers can move independently along the stator track.

[0052] For example, step 110 involves collecting detailed configuration information of the stator track from a transportation system in a real scene, including but not limited to the type (straight type, curved type, etc.), quantity, arrangement order, connection mode (such as end-to-end connection), length or arc of each stator module, and possible special attributes (such as starting point position, end point position, rotation angle, etc.) of the stator module. This information can be obtained through sensors, manual input or automatic configuration tools.

[0053] Then, based on the collected stator track information, the system generates a virtual model corresponding to the stator track in the real scene on the graphical user interface (GUI), namely the virtual stator track. The virtual stator track displays the geometric shape and layout of the stator track through graphical representations (such as lines, arrows, color coding, etc.), allowing users to intuitively see the physical structure of the entire transportation system.

[0054] For example, in order to improve readability and user experience, the system can also provide view operation functions such as zooming, panning, and rotating, allowing users to adjust the display ratio and viewing angle of the virtual stator track as needed.

[0055] In some embodiments, displaying a virtual stator track corresponding to the stator track information on a graphical user interface includes:

[0056] receiving a stator track configuration instruction input by a user according to the stator track information through a graphical user interface;

[0057] In response to the stator track configuration instruction, a virtual stator track corresponding to the stator track information is displayed on the graphical user interface.

[0058] For example, the user can input the configuration instructions of the stator track through the provided graphical user interface (GUI) according to the information of the stator track that has been spliced ​​and assembled in the real scene. These configuration instructions may include adding new stator modules, deleting stator modules, adjusting the position of existing modules, or changing their morphological properties (such as length, curvature, etc.). These operations can be completed through the toolbar buttons, menu options or directly dragging virtual controls provided on the interface. The GUI usually displays an interactive editing area in which the user can configure the stator track by clicking, dragging, etc.

[0059] For example, based on the stator track configuration instructions entered by the user, the system will display a virtual stator track in real time on the GUI. The virtual stator track is a visual view of the stator track information, showing the number, position, direction of the stator modules and the connection relationship between them. The display of the virtual stator track provides users with an intuitive preview effect, helping them to better understand and adjust the configuration.

[0060] In some embodiments, the method further comprises:

[0061] Provide a graphical user interface;

[0062] The dragging operation for the stator control and the property information input for each dragged stator control are received through the graphical user interface, and the stator track configuration instruction is generated.

[0063] For example, Figure 2or Figure 3 As shown, firstly, an intuitive and easy-to-use graphical user interface (GUI) is presented to the user. The GUI may include various toolbars, menus, panels, etc., to assist the user in configuring the stator track. On the GUI, device configuration, application configuration, parameter configuration, motion configuration, tuning and other related configuration processes may be performed.

[0064] For example, on the GUI, the user can drag the stator control (such as the icon or representation of the stator module) to the specified location to preliminarily build the layout of the stator track. In addition to the dragging operation, the user can also enter attribute information for each dragged stator control, such as module type, size, color, etc. This information is crucial for accurately configuring the stator track. The system captures the user's dragging operation and input attribute information in real time, and generates a stator track configuration instruction based on this information. The stator track configuration instruction contains all the information required to build the stator track in the real scene, such as the location, type, quantity, etc. of the stator module. The system then sends the stator track configuration instruction to the controller to guide the stator modules on the transport system to be spliced ​​and combined.

[0065] In some embodiments, in response to the stator track configuration instruction, displaying a virtual stator track corresponding to the stator track information on a graphical user interface includes:

[0066] For the linear stator modules indicated in the stator track configuration instruction, first stator controls corresponding to adjacent linear stator modules are connected end to end to determine a linear track of the virtual stator track;

[0067] For the arc-shaped stator module indicated in the stator track configuration instruction, arc deformation is performed according to the attribute information of the second stator control corresponding to the arc-shaped stator module to determine the arc track of the virtual stator track, the attribute information includes a starting point, an end point, a rotation angle and an end point rotation angle, and the first stator control and the second stator control have the same initial attribute information before being configured;

[0068] According to the linear track and the arc track, a virtual stator track corresponding to the stator track information is displayed on the graphical user interface.

[0069] Among them, the first stator control and the second stator control have the same initial attribute information before being configured, which means that various forms of stator tracks are presented using a unified control, which effectively reduces memory usage.

[0070] For example, the stator track of the transport system may include straight line segments and arc segments, which may be generated by user input on custom developed software.

[0071] For the linear stator module, it is only necessary to connect the ends of each first stator control corresponding to the linear stator module and determine the length of each first stator control. The linear track of the virtual stator track can be determined according to the length of each selected first stator control.

[0072] For the arc-shaped stator module, each second stator control corresponding to the linear stator module has four attribute information: start point, stop point, rotation angle, and stop point rotation angle. The arc deformation can be performed according to the attribute information of the second stator control corresponding to the arc-shaped stator module to determine the arc track of the virtual stator track.

[0073] like Figure 4 As shown, the stator control (the first stator control and / or the second stator control) is implemented by a rectangle (Rectangle) object. The stator control on the scene configuration interface of the graphical user interface is a Rectangle object. The background of the Rectangle object itself can be set to transparent. At the same time, it carries an image (Image) control that covers itself. The Image control displays a model image of the stator module (the image can have a transparent channel). It can be seen that the actual stator control is a rectangle. These rectangles are spliced ​​together to have a circular line effect. If there is only a straight stator module, each stator control (the first stator control) can be connected end to end to achieve the effect of a circular line.

[0074] If there are arc-shaped stator modules to be added, the angle of the stator control (second stator control) needs to be taken into account. For example, four attribute information is first set for each stator control: Start Point, Stop Point, Rotation Angle, and Stop Point Angle. The Start Point represents the starting point of the track, the Stop Point represents the end of the track, the Rotation Angle represents how many degrees the current stator control is rotated relative to the local coordinate system (UVC), and the Stop Point Angle represents the angle between the tangent of the track at the Stop Point and the x-axis of the world coordinate system (GSC) after the current stator control is rotated.

[0075] like Figure 5 Four attribute information of the first stator control corresponding to the linear stator module are shown.

[0076] like Figure 6 Four attribute information of the second stator control corresponding to the quarter-circle arc-shaped stator module are shown.

[0077] When adding a new stator control, you need to read the rotation angle of the end point of the previously added stator control, and use this angle as the rotation angle of the new stator control and rotate it around its own starting point. Then, in the world coordinate system, move the starting point of the new stator control to the end point of the previous stator control. In this way, each stator control will be correctly connected end to end.

[0078] In some embodiments, displaying a virtual stator track corresponding to the stator track information on a graphical user interface includes:

[0079] Mapping the length of each stator module in the stator track information, and using the target parameter to determine the virtual position of each stator module mapped to the first stator control on the graphical user interface, and determining the virtual stator track corresponding to the stator track information according to the virtual position of each stator module;

[0080] A virtual stator track corresponding to the stator track information is displayed on the graphical user interface.

[0081] Each stator module has a track unit. The lengths of track units of different stator modules are different. For unified management, the length of each stator module can be mapped to the interval [0,1], and the parameter t is used to indicate the virtual position of each stator module on the track unit. The value range of parameter t is [0,1].

[0082] like Figure 7 The schematic diagram of the coordinate point of the linear stator module at the position t of the track unit shown in the figure can represent the virtual position of the linear stator module mapped to the first stator control on the graphical user interface, and the coordinate point can be expressed as the following formula (1):

[0083] P = (1-t)*Pstart + t*Pstop (1);

[0084] Among them, P, Pstart, and Pstop are all vectors, representing points in the first stator control corresponding to the linear stator module, and are all defined in the local coordinate system (UVC).

[0085] Among them, L1 represents the distance between the starting point Pstart of the first stator control and the virtual position P of the first stator control, L2 represents the distance between the virtual position P of the first stator control and the end point Pstop of the first stator control; L represents the length of the first stator control, L=L1+L2; parameter t=L1 / L, L2 / L=1-t.

[0086] like Figure 8The schematic diagram of the coordinate point of the arc-shaped stator module at the position t of the track unit shown in the figure, the coordinate point represents the virtual position P (Px, Py) of the arc-shaped stator module mapped to the second stator control on the graphical user interface, and the coordinate point can be expressed as the following formula (2):

[0087] θ=(1-t)*Π

[0088] Py=R*sin(θ)

[0089] Px=R*cos(θ)

[0090] Among them, P is a vector, which represents the point in the second stator control corresponding to the arc-shaped stator module (quarter circle), defined in the local coordinate system (UVC); θ is the angle between the straight line with the origin as the starting point and the x-axis; R is the circular orbit radius of the second stator control.

[0091] For example, the names and descriptions of various coordinate systems are shown in Table 1 below:

[0092] Table 1

[0093]

[0094]

[0095] like Fig. 9 The diagram shows the relative relationship of the coordinate systems. The dark rectangle A is the control before rotation is applied, and the light rectangle B is the control after rotation is applied.

[0096] In some embodiments, the method further comprises:

[0097] The virtual stator orbit is corrected according to the stator gap compensation value.

[0098] like Fig.10 The schematic diagram of the stator gap shown in the figure can be used by the user to call Figure 2 or Figure 3 The mover debugging module shown in the figure starts the process of obtaining the stator gap compensation value. Starting from position 0, move the mover step by step. During the movement, the system detects the feedback value of the mover in real time. When the mover moves to a certain position, the system loses the feedback value for the first time. This position is recorded as position 1, indicating that the mover has left the effective sensing range of the previous stator module. Continue to move the mover until the system obtains the feedback value again. This position is recorded as position 2, indicating that the mover has entered the effective sensing area of ​​the next stator module.

[0099] The actual stator gap size can be calculated based on the difference between the feedback value of position 2 and the theoretical stator module length. This difference is the stator gap compensation value.

[0100] The stator gap compensation value is then applied to the virtual stator track model to fine-tune the connection points between the stator components corresponding to adjacent stator modules. For example, when building the virtual stator track, the system automatically adds a proportional compensation value to the actual length of each stator component to ensure that the virtual model accurately reflects the real-world layout.

[0101] In addition, when the user adjusts the stator track configuration through the graphical user interface, the system will also take into account the known stator gap compensation value in real time, so as to ensure that the virtual stator track under the new configuration is synchronized with the real scene. The virtual stator track corrected by stator gap compensation is not only closer to the actual situation, but also helps to improve the stability and accuracy of the mover operation. For example, it avoids the mover positioning error caused by the unconsidered small gap, and improves the overall performance of the system.

[0102] In some embodiments, the method further comprises:

[0103] In response to a setting operation of setting the workstation control on the virtual stator track, displaying the workstation control on the virtual stator track;

[0104] Sending the virtual stator track carrying the workstation controls to a controller of the transportation system, so that the controller configures the workstations on the transportation system according to the virtual stator track carrying the workstation controls, and generates updated stator track information;

[0105] Obtain the workstation information in the updated stator track information;

[0106] When it is determined according to the workstation information that the distance between adjacent workstations is less than the preset minimum travel distance, an error prompt message is generated.

[0107] like Figure 3 As shown, the method not only supports the user to configure the virtual stator track through a graphical user interface (GUI), but also allows the user to set workstation controls on the track and automatically verifies whether the configurations of these workstations are reasonable.

[0108] For example, users can set workstation controls on the generated virtual stator track by clicking, dragging or other interactive methods on the GUI. These workstation controls represent actual workstations that need to be deployed on the transportation system, such as loading points, unloading points, inspection stations, etc.

[0109] For example, based on the workstation attribute information configured by the user, such as the workstation name, location information (starting position, ending position, etc.), speed information (such as maximum speed, acceleration, deceleration, etc.), the location and identification of the workstation controls can be accurately displayed on the virtual stator track, so that the user can intuitively view and verify the layout and configuration of the workstation.

[0110] After the station controls are set up, the system sends the virtual stator track information with the station controls to the transport system controller to ensure that the user's design can be directly applied to the actual transport system. After receiving this information, the controller configures the stations on the transport system according to the information of the virtual stator track with the station controls. This includes setting the physical location of the station, the type of function, the order of operation, etc. After the configuration is completed, the controller generates updated stator track information with the location and configuration details of all stations.

[0111] The system obtains information about all workstations from the controller or updated stator track information, including their location, type, operation sequence, etc. Based on this information, the system calculates the distance between adjacent workstations and compares it with the preset minimum travel distance. The minimum travel distance is set based on the physical limitations of the transportation system (such as the minimum turning radius of the vehicle, the maximum driving speed, etc.) and operational efficiency requirements (such as avoiding frequent starts, stops and turns).

[0112] If the system finds that the distance between adjacent workstations is less than the preset minimum travel distance, it will immediately generate an error message. The error message will clearly indicate which workstations do not meet the distance requirements, as well as possible solutions or suggestions. Users can view the error message through the GUI and make corresponding corrections based on the prompts. This includes adjusting the position of the workstation, changing the type of workstation or the order of operation, etc. After the user makes the correction, the system will update the display of the virtual stator track and the configuration information in the controller in real time to ensure that they are always consistent.

[0113] By automatically performing distance verification during the workstation setup process, this method effectively avoids the risk of reduced efficiency or failure of the transportation system due to improper workstation configuration. Error messages and correction suggestions on the GUI enable users to easily understand and solve configuration problems, improving the ease of use and reliability of the system.

[0114] It should be noted that the stator track can be a square line body or a vertical line body, and the actual device view configuration can be directly presented to the interface based on the information fed back by the controller, and this application does not limit it.

[0115] Step 120, obtaining the position information of the mover on the stator track in the real scene, and based on the position information of the mover, superimposing and displaying the mover information on the virtual stator track on the graphical user interface in real time, the mover information including the mover control corresponding to the mover.

[0116] For example, the system can capture the precise position information of the mover on the stator track in real time through sensors installed on the mover or stator track, such as Radio Frequency Identification (RFID) tags, photoelectric sensors, position encoders, etc. The position information of the mover is usually expressed in the form of absolute coordinates (such as meters from the starting point) or relative coordinates (such as a percentage of the entire track length).

[0117] For example, based on the real-time position information of the mover, controls (such as small icons, moving points, text boxes, etc.) representing the mover can be dynamically added or updated on the virtual stator track on the graphical user interface (GUI). These controls not only display the current position of the mover, but may also include the status information of the mover (such as speed, direction, whether it is fully loaded, etc.), and enhance the expressiveness of the information through color changes, animation effects or additional text prompts.

[0118] For example, in order to ensure the accuracy and timeliness of information, it is necessary to continuously obtain the latest position information of the mover from the real scene, and update the position and status of the mover control in real time on the GUI to achieve dynamic monitoring.

[0119] In some embodiments, based on the position information of the mover, the mover information is superimposed and displayed in real time on the virtual stator track on the graphical user interface, including:

[0120] Analyze the position information of the mover to obtain the target stator module corresponding to the mover and the relative position information of the mover on the target stator module;

[0121] Determine the virtual position of the mover mapped to the graphical user interface according to the virtual position of the target stator module and the relative position information of the mover;

[0122] Based on the virtual position of the mover, the mover information is superimposed and displayed in real time on the virtual stator track on the graphical user interface.

[0123] For example, the system first obtains the position information of the mover from the actual operation of the transportation system through sensors or communication protocols. This information may include the absolute position (such as coordinates), speed, direction, etc. of the mover.

[0124] The system then analyzes the position information of the mover to determine the target stator module that the mover is currently in. This usually involves comparing the absolute position of the mover with the absolute positions of each stator module on the stator track to find the closest stator module.

[0125] Then, the relative position information of the mover on the target stator module will be further calculated, which may include the distance and direction angle of the mover relative to the starting point of the stator module.

[0126] Then, according to the virtual position of the target stator module (coordinates on the GUI) and the relative position information of the mover, a certain mapping rule is applied to convert the actual position of the mover into the virtual position on the GUI. This process involves the conversion between coordinate systems, such as the conversion from the world coordinate system (the coordinate system of the actual transport system) to the screen coordinate system (the coordinate system on the GUI).

[0127] After determining the virtual position of the mover on the GUI, the system will overlay and display the mover's icon or mark at that position on the virtual stator track in real time. These icons or marks can contain additional information such as the type, number, speed, etc. of the mover.

[0128] As the mover moves, the system will continuously repeat the above steps and update the display position of the mover on the GUI in real time to ensure that the user can see the latest position information of the mover in real time.

[0129] In order to improve the user experience, the mover information on the GUI can also be designed to be interactive. For example, the user can click the mover icon to view more detailed mover information or perform other operations.

[0130] In some embodiments, the method further comprises:

[0131] According to the mover position compensation value, the virtual position of the mover is corrected.

[0132] For example, in a transportation system, due to various factors such as mechanical accuracy, sensor error, control system response delay, etc., there may be a certain error when the mover reaches the target position. For example, the target absolute position of the mover is 5m, but due to the above factors, the mover may be recognized by the system as in place when it reaches 4.95m.

[0133] If this error is not taken into account and the actual position of the mover is directly mapped to the graphical user interface of the display screen, then when the mover is actually in place (although there is an error), the display screen will still show that the mover is not in place, which will cause confusion and misjudgment to the user. In order to solve the above problem, a mover position compensation value can be set. The mover position compensation value is a value obtained by the technician based on the actual system calibration, which is used to correct the virtual position of the mover on the display screen to make it closer to the actual position of the mover. Technicians usually record the actual position error of the mover at different positions through multiple experiments and measurements, and then take a reasonable average value or range as the mover position compensation value. The mover position compensation value can be adjusted according to the different systems and the specific conditions of the transportation line.

[0134] For example, after obtaining the actual position information of the mover, the system will correct the virtual position of the mover according to the preset mover position compensation value. If the error between the actual position of the mover and the target position is within the compensation value range, the system will consider that the mover is in place and display the mover's in-place status on the display screen. As the mover moves and reaches its position on the transport line, the system will update the mover's virtual position in real time and make corrections based on the compensation value to ensure that the display on the display screen is consistent with the actual situation.

[0135] By applying the mover position compensation value to correct the virtual position of the mover, this method can more accurately reflect the actual position of the mover on the transportation line, thereby improving the reliability of the system and the user's operating experience.

[0136] In some embodiments, the method further comprises:

[0137] The virtual stator track is displayed in a scaled manner on the graphical user interface according to the scaling ratio of the mover;

[0138] The mover controls are displayed in a scaled manner on the graphical user interface according to the stator scale;

[0139] Among them, the scaling ratio of the mover is different from that of the stator.

[0140] For example, when multiple movers are running, for two movers that are close to each other, the problem of overlapping display of mover controls on the display screen needs to be solved.

[0141] In the transport system, the length of the stator modules may vary greatly, some are very short and some are very long. The size of the mover is usually fixed and will not change due to changes in the stator length. When displaying a longer stator module on the GUI, if the mover and the stator use the same scale, the mover will appear very small and it will be difficult to observe its status and movement. In order to solve the above problems, the stator module is usually displayed on the display at a smaller scale (such as 1:30) to ensure that the entire stator track can be fully displayed within the limited screen space. At the same time, in order to maintain the visibility and clarity of the mover, the mover module is usually displayed at a larger scale (such as 1:10). In this way, even if the stator is very long, the status of the mover can be clearly observed.

[0142] When the distance between two actual movers is close, the two movers may overlap on the GUI due to the different scaling ratios of the mover and stator on the display screen, which not only affects the user's observation but also may cause misjudgment.

[0143] One solution is to appropriately reduce the display ratio of the mover module to reduce the possibility of overlap. This requires fine-tuning according to actual conditions to ensure that the mover is still clearly visible.

[0144] Another solution is to partially enlarge the area where overlap may occur, that is, set a magnification window around the overlapping area so that users can clearly see the details of the area. This magnification can keep the original scaling of the mover and stator unchanged and only magnify the specific area. This can avoid the problem of overlapping display while maintaining the clarity and readability of the overall interface.

[0145] It is also possible to use an intelligent avoidance algorithm to automatically adjust the display position or angle of the movers when it is detected that they may overlap, so as to avoid the overlap. This algorithm needs to take into account factors such as the movement trajectory and speed of the movers to ensure the rationality and effectiveness of the adjustment.

[0146] As the mover moves on the transport line and the stator track changes, the zoom display on the GUI also needs to be updated in real time. The system should be able to automatically detect the position changes of the mover and stator and adjust their zoom ratio and display position accordingly.

[0147] At the same time, the GUI should also provide user interaction functions, allowing users to manually adjust the scaling and display position of the mover and stator as needed. This can improve user flexibility and satisfaction, allowing them to optimize the interface display according to their own observation needs.

[0148] Step 130 , receiving a control instruction input through a graphical user interface to control the operating state of the transportation system in the real scene.

[0149] For example, a graphical user interface (GUI) is not only used to display information, but also provides an interface for user interaction. Users can input control instructions such as starting / stopping a mover, changing the speed or direction of a mover, and adjusting the travel plan of a mover by clicking buttons, dragging sliders, and selecting menu items.

[0150] After receiving the control instructions input by the user, the system will parse and verify them to ensure the legality and feasibility of the instructions. Then, the control instructions will be converted into a format that the transportation system can understand and transmitted to the controller or actuator in the real scene through wired or wireless means.

[0151] For example, after receiving the control instruction, the controller or actuator of the transportation system will drive the corresponding mechanical components (such as motors, cylinders, etc.) to perform the corresponding actions, thereby changing the operating state of the transportation system. At the same time, the system can also collect feedback information during the execution process (such as execution results, error codes, etc.) and display it to the user on the GUI so that the user can understand the execution status of the control instruction and make necessary adjustments.

[0152] In some embodiments, the control instruction includes a motion trajectory and a motion rule of the target mover, and the motion rule is used to indicate the motion position and / or motion speed of the target mover;

[0153] Before receiving the control instruction input through the graphical user interface, the method further includes:

[0154] In response to a drag operation and / or a trajectory point configuration operation on a target mover control, generating a motion trajectory of a target mover corresponding to the target mover control;

[0155] In response to the motion rule configuration operation for the target mover control, a motion rule of the target mover corresponding to the target mover control is generated.

[0156] For example, a motion trajectory consists of a series of trajectory points that define the path of the mover on the transport system. Users can customize the motion path of the mover by adding, deleting, or adjusting these trajectory points on the GUI. For example, the trajectory points of the motion trajectory can be set on the graphical user interface, and the trajectory can be fed back to the controller, which controls the mover to move according to the trajectory points of the motion trajectory.

[0157] like Fig.11 The schematic diagram of trajectory customization shown in the figure shows that the host computer provides operations for trajectory customization within the workstation range; add trajectory points of the motion trajectory in the operation bar on the right and download them to the controller. The controller will move according to the configured trajectory points.

[0158] Users can generate a preliminary motion trajectory by dragging the target mover control on the GUI. The system will automatically add corresponding trajectory points on the path according to the user's drag operation. In addition, users can also directly add, delete or adjust trajectory points on the GUI to optimize the motion trajectory.

[0159] Among them, the motion rules are used to further refine the motion behavior of the mover, including the motion position and / or motion speed. The user can also configure the motion rules of the mover through the GUI. For example, the user can choose to set the time the mover stays at the target position in the motion position rule, and configure the mover's target speed, acceleration and other parameters in the speed rule.

[0160] like Fig.12 The schematic diagram of the position rule shown is that the motion position rule is used to configure the time that the target mover stays at the first target position (target position 1) and the time that it moves to the second target position (target position 2).

[0161] like Fig.13 The schematic diagram of the motion speed rule shown is used to configure the target speed of the target mover within the target time period, as well as the acceleration, deceleration, acceleration time, deceleration time, etc.

[0162] When the user drags the target mover control or configures the motion rules on the GUI, the system will provide real-time feedback on the expected motion trajectory and speed changes of the target mover control, helping the user to understand and adjust the control instructions more intuitively.

[0163] Then, the control instructions are downloaded to the controller, which will accurately control the movement of the actuator in the real scene according to the motion trajectory and motion rules in the instructions.

[0164] For example, in the configuration view, the mover control can be dragged with the mouse, and the moving range is between the front and rear movers.

[0165] When there is only one mover, its range of movement is usually within the entire track length (i.e. [0, length]).

[0166] In the docking configuration, the range of motion of the mover is limited by the absolute position of the previous mover and the next mover. The system automatically adjusts the range of motion of the mover based on this position information.

[0167] In a ring configuration, such as Figures 14 to 16 As shown, the dragging range is determined by comparing the absolute positions of mover 1, mover 2, and mover 3.

[0168] When the zero position of the circular track is used as the absolute position (Abpos) of the segmentation mover, there are the following situations:

[0169] like Fig.14 As shown, Abpos1 <Abpos3<Abpos2;

[0170] like Fig.15 As shown, Abpos2 <Abpos1<Abpos3;

[0171] like Fig.16 As shown, Abpos3 <Abpos2<Abpos1;

[0172] By comparing each coordinate to obtain the t value of the minimum / maximum absolute position and the minimum / maximum index value, the system can limit the dragging range of the actuator control to ensure the accuracy and safety of the operation.

[0173] In some embodiments, if the control instruction includes motion trajectories and motion rules of multiple target movers, the method further includes:

[0174] If a collision risk is predicted between two adjacent target movers according to the control instruction, a collision risk prompt message is generated; or

[0175] After receiving a control instruction input through a graphical user interface to control the operating state of a transportation system in a real scene, if it is determined according to the current motion states of a plurality of target movers in the operating state that there is a collision risk between two adjacent target movers, collision risk prompt information is generated, and a motion speed of one of the two adjacent target movers with the collision risk is adjusted;

[0176] The risk warning information is used to prompt the user to readjust at least one of the motion trajectory and the motion mode.

[0177] In some complex transport system embodiments, it may be necessary to control the motion trajectories and motion rules of multiple target movers at the same time. In order to ensure the safety and efficiency of the system operation, the method specifically adds collision risk prompts and speed adjustment functions.

[0178] Among them, when the user inputs a control instruction containing the motion trajectories and motion rules of multiple target movers through the graphical user interface (GUI), the system will first predict the collision risk of the control instruction. The prediction algorithm can consider factors such as the trajectory position spacing, motion speed, acceleration, etc. of adjacent movers to assess whether there is a potential collision risk. If the prediction result shows that there is a collision risk, the system will immediately generate a collision risk warning message and display it to the user through the GUI. The risk warning information will clearly indicate the mover number at risk, the time point or location of possible collision, and the recommended adjustment measures.

[0179] For example, when the user sets the trajectory and speed of multiple movers, if the system detects that the trajectories (position spacing and speed) of two adjacent movers may collide, a risk prompt box will immediately pop up on the GUI to prompt the user that "motor A and mover B may have a collision risk at position X, please adjust the trajectory or speed."

[0180] In addition to making predictions during the control command input stage, the system will also continuously monitor the current motion status of multiple target movers after receiving control commands and controlling the operation of the transportation system in real-life scenarios. By obtaining parameters such as the position, speed, and acceleration of the movers in real time, the system can dynamically assess whether there is a collision risk. Once a potential collision risk is detected, the system will immediately generate a collision risk prompt message and notify the user through the GUI or system log.

[0181] For example, while generating collision risk warning information, the system will automatically adjust the movement speed of one of the two adjacent target movers with collision risk according to the actual situation. The purpose of adjusting the speed is to reduce the risk of collision and ensure the safe operation of the system. The system will intelligently select the mover to be adjusted and the adjustment amplitude based on factors such as the risk level, the distance between the movers, and the speed difference.

[0182] For example, when the multi-motor is in actual operation, if the system detects that the distance between mover C and mover D is rapidly reduced and their speeds are close, and determines that there is a risk of collision, it will immediately reduce the speed of mover D and display "The speed of mover D has been automatically reduced to avoid collision, please check and adjust parameters" on the GUI.

[0183] After the system automatically adjusts the speed, the user can still further adjust the motion parameters of the mover through the GUI. The user can re-plan the motion trajectory of the mover, adjust the motion speed or acceleration and other parameters according to the risk information prompted by the system to eliminate the risk of collision. The system also provides flexible parameter setting options, allowing users to fine-tune according to actual needs to achieve the best transportation effect.

[0184] In some embodiments, receiving a control instruction input through a graphical user interface to control the operating state of a transportation system in a real scene includes:

[0185] receiving control instructions input through a graphical user interface, and sending the control instructions to a controller of the transportation system, so that the controller controls the operating state of the transportation system in a real scene according to the control instructions;

[0186] Update the mover information displayed on the graphical user interface according to the operating status.

[0187] For example, users input control instructions through the GUI, and the control instructions may include parameters such as the motion trajectory, speed, acceleration, and stop sites of the movers (such as vehicles, robots, etc.) in the transportation system. The GUI captures and parses the control instructions input by these users to ensure the accuracy and completeness of the instructions. The GUI sends the parsed control instructions to the controller of the transportation system through network communication (such as local area network, wireless network, etc.) or direct physical connection. The controller is the core component of the transportation system and is responsible for parsing and executing control instructions from the GUI. After receiving the control instructions, the controller adjusts the operating status of each mover in the transportation system according to the content of the instructions, which may include adjusting the motion trajectory, speed, acceleration, etc. of the mover, as well as controlling the start, stop, turn, and other actions of the mover.

[0188] While executing the control instructions or after the execution, the controller will feedback the current operating status of the transportation system (including the position, speed, status, etc. of each mover) to the GUI. The GUI updates the displayed mover information in real time based on this feedback information, ensuring that the user can see the operating status of the transportation system in real time.

[0189] In some embodiments, if a docking module is provided on the transport system, and a docking stator module is configured on the docking module, the method further includes:

[0190] When it is determined according to the operating state that the mover on the transport system moves to the docking module, a binding instruction is generated, and the binding instruction is sent to the controller of the transport system, so that the controller controls the mover on the transport system to perform a binding operation with the docking stator module configured on the docking module according to the binding instruction, and generates a new operating state according to the binding operation;

[0191] When it is determined according to the operating status that the mover on the transport system leaves the docking module, an unbinding instruction is generated and sent to the controller of the transport system, so that the controller controls the mover on the transport system and the docking stator module configured on the docking module to perform an unbinding operation according to the unbinding instruction, and generates a new operating status according to the unbinding operation.

[0192] Among them, the docking module (such as electric cylinder) in the transportation system is mainly used to transfer the mover from the main transportation line (such as magnetic drive line) to the auxiliary transportation line (such as docking line), or return from the auxiliary transportation line to the main transportation line, so as to realize the reflux and flexible scheduling of the mover.

[0193] Among them, the docking module is equipped with docking stator modules, which can be physically or logically bound to the mover to ensure the stability and accuracy of the mover during the transfer process.

[0194] For example, when the controller of the transport system determines that a mover needs to be moved to the docking module based on the operating status, the system generates a binding instruction. The binding instruction is sent to the controller, which then controls the mover to bind with the docking stator module configured on the docking module. After the binding operation is completed, the movement of the mover will be synchronized with the stator module, that is, the coordinate position of the mover will move with the position of the stator module. At this time, the system will generate a new operating status to reflect the status of the mover after binding with the stator module.

[0195] For example, when the controller determines that the mover needs to leave the docking module based on the operating status, the system generates an unbinding instruction. The unbinding instruction is sent to the controller, which then controls the mover to unbind from the stator module on the docking module. After the unbinding operation is completed, the mover will resume independent motion and will no longer be restricted by the stator module. At this time, the system will generate a new operating status again to reflect the state of the mover after unbinding.

[0196] Then, the new operating state is fed back to the graphical user interface, so that the updated mover information is superimposed and displayed in real time on the virtual stator track on the graphical user interface.

[0197] like Fig.17The schematic diagram of the configuration module calculation shown in the figure shows that in order to calculate the position coordinates of the docking configuration, the docking configuration is divided into four parts: the left electric cylinder (left docking type stator module), the straight line segment, the right electric cylinder (right docking type stator module) and the recirculation area. When the mover runs to the electric cylinder, the mover is bound to the stator on the electric cylinder. At this time, the coordinate position of the mover moves with the position of the stator. When the mover leaves the electric cylinder area and goes to the recirculation area or the straight line segment, the mover of the stator on the electric cylinder is unbound so that the mover can smoothly transition when the electric cylinder is in the upward position.

[0198] The embodiment of the present application uses only the same control when presenting multiple stator forms. By flexibly configuring the attribute information of the stator control, the display of different stator forms is achieved. This method effectively solves the problem of insufficient memory caused by using a large number of maps to adapt to multiple forms, and reduces the resource consumption of the system.

[0199] The embodiment of the present application adopts interval mapping to calculate the position coordinates of the mover, effectively reducing the problem of the mover and stator being offset due to the cumulative calculation of the mover position, and improving the calculation accuracy and display accuracy of the mover position.

[0200] All of the above technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described in detail here.

[0201] The embodiment of the present application obtains the stator track information corresponding to the real scene, and displays the virtual stator track corresponding to the stator track information on the graphical user interface, wherein the stator track is composed of a plurality of stator modules spliced ​​together; obtains the position information of the mover on the stator track in the real scene, and based on the position information of the mover, displays the mover information in real time on the virtual stator track on the graphical user interface, wherein the mover information includes the mover control corresponding to the mover; and receives the control instruction input through the graphical user interface to control the operation status of the transportation system in the real scene. The embodiment of the present application can visually display the stator track information and mover information corresponding to the real scene in real time, and realize the control of the transportation system on the visual interface, thereby improving the accuracy and efficiency of the monitoring and control of the transportation system.

[0202] In order to better implement the control method of the transportation system of the embodiment of the present application, the embodiment of the present application also provides a control device of the transportation system. Fig.18 , Fig.18 A schematic diagram of the structure of a control device of a transportation system provided in an embodiment of the present application. The control device 200 of the transportation system may include:

[0203] The first display unit 210 is used to obtain stator track information corresponding to the real scene, and display a virtual stator track corresponding to the stator track information on a graphical user interface, where the stator track is composed of a plurality of stator modules spliced ​​together;

[0204] The second display unit 220 is used to obtain the position information of the mover on the stator track in the real scene, and based on the position information of the mover, overlay and display the mover information on the virtual stator track on the graphical user interface in real time, wherein the mover information includes a mover control corresponding to the mover;

[0205] The control unit 230 is used to receive control instructions input through the graphical user interface to control the operating state of the transportation system in the real scene.

[0206] In some embodiments, the first display unit 210 can be used to: map the length of each stator module in the stator track information, and use the target parameters to determine the virtual position of each stator module mapped to the graphical user interface, and determine the virtual stator track corresponding to the stator track information according to the virtual position of each stator module; display the virtual stator track corresponding to the stator track information on the graphical user interface.

[0207] In some embodiments, the second display unit 220 can be used to: analyze the position information of the mover to obtain the target stator module corresponding to the mover and the relative position information of the mover on the target stator module; determine the virtual position of the mover mapped to the graphical user interface based on the virtual position of the target stator module and the relative position information of the mover; and based on the virtual position of the mover, display the mover information in real time on the virtual stator track on the graphical user interface.

[0208] In some embodiments, the second display unit 220 may also be used to correct the virtual position of the mover according to the mover position compensation value.

[0209] In some embodiments, the control instruction includes a motion trajectory and a motion rule of the target mover, and the motion rule is used to indicate the motion position and / or motion speed of the target mover;

[0210] Before receiving the control instructions input through the graphical user interface, the control unit 230 can also be used to: generate a motion trajectory of the target mover corresponding to the target mover control in response to a drag operation and / or a trajectory point configuration operation on the target mover control; generate a motion rule of the target mover corresponding to the target mover control in response to a motion rule configuration operation on the target mover control.

[0211] In some embodiments, if the control instruction includes the motion trajectories and motion rules of multiple target movers, the control unit 230 can also be used to: generate collision risk warning information if it is predicted that there is a collision risk between two adjacent target movers according to the control instruction; or after receiving a control instruction input through a graphical user interface to control the operating state of a transportation system in a real scene, if it is judged that there is a collision risk between two adjacent target movers according to the current motion state of multiple target movers in the operating state, generate collision risk warning information and adjust the motion speed of one of the two adjacent target movers with the collision risk; the risk warning information is used to prompt the user to readjust at least one of the motion trajectory and the motion mode.

[0212] In some embodiments, the first display unit 210 may also be used to display the virtual stator track in a scaled manner on the graphical user interface according to the mover scaling ratio;

[0213] The second display unit 220 may also be used to display the mover controls in a scaled manner on the graphical user interface according to the stator scaling ratio;

[0214] Among them, the scaling ratio of the mover is different from that of the stator.

[0215] In some embodiments, the first display unit 210 may also be used to correct the virtual stator track according to the stator gap compensation value.

[0216] In some embodiments, the first display unit 210 can be used to: receive a stator orbit configuration instruction input by a user according to the stator orbit information through a graphical user interface; and display a virtual stator orbit corresponding to the stator orbit information on the graphical user interface in response to the stator orbit configuration instruction.

[0217] In some embodiments, the first display unit 210 displays a virtual stator track corresponding to the stator track information on a graphical user interface in response to a stator track configuration instruction, and can be used to: for a linear stator module indicated in the stator track configuration instruction, connect the first stator controls corresponding to adjacent linear stator modules end to end to determine the linear track of the virtual stator track; for an arc-shaped stator module indicated in the stator track configuration instruction, perform arc deformation according to the attribute information of the second stator control corresponding to the arc-shaped stator module to determine the arc-shaped track of the virtual stator track, wherein the attribute information includes a starting point, an end point, a rotation angle, and an end point rotation angle, and the first stator control and the second stator control have the same initial attribute information before being configured; based on the linear track and the arc-shaped track, display the virtual stator track corresponding to the stator track information on the graphical user interface.

[0218] In some embodiments, the control unit 230 can also be used to: display the workstation controls on the virtual stator track in response to a setting operation of setting the workstation controls on the virtual stator track; send the virtual stator track information carrying the workstation controls to the controller of the transportation system, so that the controller configures the workstations on the transportation system according to the virtual stator track information carrying the workstation controls and generates updated stator track information; obtain the workstation information in the updated stator track information; and generate an error prompt message when it is determined according to the workstation information that the distance between adjacent workstations is less than the preset minimum travel distance.

[0219] In some embodiments, the control unit 230 can be used to: receive control instructions input through the graphical user interface, and send the control instructions to the controller of the transportation system, so that the controller controls the operating status of the transportation system in the real scene according to the control instructions; update the actuator information displayed on the graphical user interface according to the operating status.

[0220] In some embodiments, if a docking module is provided on the transport system, and a docking-type stator module is configured on the docking module, the control unit 230 can also be used to: when it is determined according to the operating state that the mover on the transport system moves to the docking module, generate a binding instruction, and send the binding instruction to the controller of the transport system, so that the controller controls the mover on the transport system and the docking-type stator module configured on the docking module to perform a binding operation according to the binding instruction, and generates a new operating state according to the binding operation; when it is determined according to the operating state that the mover on the transport system leaves the docking module, generate an unbinding instruction, and send the unbinding instruction to the controller of the transport system, so that the controller controls the mover on the transport system and the docking-type stator module configured on the docking module to perform an unbinding operation according to the unbinding instruction, and generates a new operating state according to the unbinding operation.

[0221] It should be noted that the functions of each module in the control device 200 of the transportation system in the embodiment of the present application can correspond to the specific implementation method of any embodiment in the above-mentioned method embodiments, and will not be repeated here.

[0222] Each unit in the above device can be implemented in whole or in part by software, hardware or a combination thereof. Each unit can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each unit.

[0223] For example, the control device 200 of the transportation system may be integrated in a terminal or a server that has a storage device and a processor installed therein and has computing capabilities, or the control device 200 of the transportation system is the terminal or the server.

[0224] In some embodiments, the present application further provides a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0225] Fig.19 A schematic structural diagram of a computer device provided in an embodiment of the present application, such as Fig.19 As shown, the computer device 300 may include: a communication interface 301, a memory 302, a processor 303 and a communication bus 304. The communication interface 301, the memory 302, and the processor 303 communicate with each other through the communication bus 304. The communication interface 301 is used to communicate data with an external device. The memory 302 can be used to store software programs and modules, and the processor 303 runs the software programs and modules stored in the memory 302, such as the software programs of the corresponding operations in the aforementioned method embodiments.

[0226] In some embodiments, the processor 303 can call the software programs and modules stored in the memory 302 to perform the following operations: obtain stator track information corresponding to the real scene, and display the virtual stator track corresponding to the stator track information on the graphical user interface, where the stator track is composed of multiple stator modules; obtain the position information of the mover on the stator track in the real scene, and based on the position information of the mover, display the mover information in real time on the virtual stator track on the graphical user interface, where the mover information includes the mover control corresponding to the mover; receive control instructions input through the graphical user interface to control the operating status of the transportation system in the real scene.

[0227] In some embodiments, the computer device 300 may be integrated in a terminal or server having a storage device and a processor installed therein and having computing capabilities, or the computer device 300 may be the terminal or server. The terminal may be a smart phone, a tablet computer, a laptop computer, a smart TV, a smart speaker, a wearable smart device, a personal computer, or other devices. The server may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms.

[0228] The present application also provides a computer-readable storage medium for storing a computer program. The computer-readable storage medium can be applied to a computer device, and the computer program enables the computer device to execute the corresponding processes in the above-mentioned methods in the embodiments of the present application, which will not be described in detail for the sake of brevity.

[0229] The present application also provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the corresponding processes in the above-mentioned methods in the embodiments of the present application, which will not be described here for the sake of brevity.

[0230] The present application also provides a computer program, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the corresponding processes in the above-mentioned methods in the embodiments of the present application, which will not be described here for the sake of brevity.

[0231] It should be understood that the processor of the embodiment of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by the hardware integrated logic circuit or software instructions in the processor. The above processor can be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor are combined and performed. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, and other mature storage media in the art. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0232] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0233] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0234] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0235] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0236] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0237] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0238] In addition, each functional unit in the embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0239] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0240] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for controlling a transportation system, characterized in that: The method comprises: Acquire stator track information corresponding to a real scene, and display a virtual stator track corresponding to the stator track information on a graphical user interface, wherein the stator track is composed of a plurality of stator modules spliced ​​together; Acquire position information of the mover on the stator track in a real scene, and based on the position information of the mover, overlay and display the mover information on the virtual stator track on the graphical user interface in real time, wherein the mover information includes a mover control corresponding to the mover; A control instruction inputted through the graphical user interface is received to control the operation state of the transportation system in the real scene.

2. The control method of the transportation system according to claim 1, characterized in that: The step of displaying the virtual stator track corresponding to the stator track information on the graphical user interface includes: Mapping the length of each stator module in the stator track information, and using target parameters to determine the virtual position of each stator module mapped to the graphical user interface, and determining the virtual stator track corresponding to the stator track information according to the virtual position of each stator module; The virtual stator orbit corresponding to the stator orbit information is displayed on a graphical user interface.

3. The control method of the transportation system according to claim 2, characterized in that: Based on the position information of the mover, superimposing and displaying the mover information on the virtual stator track on the graphical user interface in real time includes: Analyzing the position information of the mover to obtain a target stator module corresponding to the mover and relative position information of the mover on the target stator module; Determining the virtual position of the mover mapped to the graphical user interface according to the virtual position of the target stator module and the relative position information of the mover; Based on the virtual position of the mover, the mover information is superimposed and displayed in real time on the virtual stator track on the graphical user interface.

4. The control method of the transportation system according to claim 3, characterized in that: The method further comprises: According to the mover position compensation value, the virtual position of the mover is corrected.

5. The control method of the transportation system according to claim 1, characterized in that: The control instructions include the motion trajectory and motion rules of the target mover; Before receiving the control instruction input through the graphical user interface, the method further includes: In response to a drag operation and / or a trajectory point configuration operation on a target mover control, generating a motion trajectory of a target mover corresponding to the target mover control; In response to a motion rule configuration operation for a target mover control, a motion rule of a target mover corresponding to the target mover control is generated.

6. The control method of the transportation system according to claim 5, characterized in that: If the control instruction includes motion trajectories and motion rules of multiple target movers, the method further includes: If it is predicted according to the control instruction that there is a collision risk between two adjacent target movers, then collision risk prompt information is generated; or After receiving a control instruction input through the graphical user interface to control the operating state of the transportation system in the real scene, if it is determined that there is a collision risk between two adjacent target movers according to the current motion states of the multiple target movers in the operating state, collision risk prompt information is generated, and the motion speed of one of the two adjacent target movers with the collision risk is adjusted; The risk warning information is used to prompt the user to readjust at least one of the motion trajectory and the motion mode.

7. The control method of the transportation system according to claim 1, characterized in that: The method further comprises: scaling and displaying the virtual stator track on the graphical user interface according to a scaling ratio of the mover; scaling and displaying the mover control on the graphical user interface according to the stator scaling ratio; Wherein, the scaling ratio of the mover is different from the scaling ratio of the stator.

8. The method for controlling a transportation system according to claim 1, wherein: The method further comprises: The virtual stator track is corrected according to the stator gap compensation value.

9. The method for controlling a transportation system according to claim 1, wherein: The step of displaying the virtual stator track corresponding to the stator track information on the graphical user interface includes: Receiving, through the graphical user interface, a stator track configuration instruction input by a user according to the stator track information; In response to the stator track configuration instruction, a virtual stator track corresponding to the stator track information is displayed on the graphical user interface.

10. The method for controlling a transportation system according to claim 9, characterized in that: The step of displaying, in response to the stator track configuration instruction, a virtual stator track corresponding to the stator track information on the graphical user interface comprises: For the linear stator modules indicated in the stator track configuration instruction, first stator controls corresponding to adjacent linear stator modules are connected end to end to determine a linear track of a virtual stator track; For the arc-shaped stator module indicated in the stator track configuration instruction, arc deformation is performed according to the attribute information of the second stator control corresponding to the arc-shaped stator module to determine the arc track of the virtual stator track, wherein the attribute information includes a starting point, an end point, a rotation angle, and an end point rotation angle, and the first stator control and the second stator control have the same initial attribute information before being configured; According to the linear track and the arc track, a virtual stator track corresponding to the stator track information is displayed on the graphical user interface.

11. The control method of the transportation system according to claim 9, characterized in that: The method further comprises: In response to a setting operation of setting a workstation control on the virtual stator track, displaying the workstation control on the virtual stator track; Sending the virtual stator track information carrying the workstation control to the controller of the transportation system, so that the controller configures the workstation on the transportation system according to the virtual stator track information carrying the workstation control and generates updated stator track information; Obtaining workstation information in the updated stator track information; When it is determined according to the workstation information that the distance between adjacent workstations is less than a preset minimum travel distance, an error prompt message is generated.

12. The control method of the transportation system according to any one of claims 1 to 11, characterized in that: If a docking module is provided on the transport system, and a docking stator module is configured on the docking module, the method further includes: When it is determined according to the operating state that the mover on the transport system moves to the docking module, a binding instruction is generated, and the binding instruction is sent to the controller of the transport system, so that the controller controls the mover on the transport system to perform a binding operation with the docking stator module configured on the docking module according to the binding instruction, and generates a new operating state according to the binding operation; When it is determined according to the operating state that the mover on the transport system leaves the docking module, an unbinding instruction is generated and sent to the controller of the transport system, so that the controller controls the mover on the transport system to unbind the docking stator module configured on the docking module according to the unbinding instruction, and generates a new operating state according to the unbinding operation.

13. A control device for a transportation system, characterized in that: The device comprises: A first display unit is used to obtain stator track information corresponding to a real scene, and display a virtual stator track corresponding to the stator track information on a graphical user interface, wherein the stator track is composed of a plurality of stator modules spliced ​​together; A second display unit is used to obtain position information of the mover on the stator track in a real scene, and based on the position information of the mover, overlay and display the mover information on the virtual stator track on the graphical user interface in real time, wherein the mover information includes a mover control corresponding to the mover; A control unit is used to receive control instructions input through the graphical user interface to control the operating state of the transportation system in the real scene.

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