Conveying control method, linear magnetic drive equipment, linear magnetic drive system, electronic equipment and medium

Abstract

The invention provides a conveying control method, linear magnetic drive equipment, an automatic conveying system, electronic equipment and a computer readable storage medium, and relates to the field of automatic conveying, the method is applied to the linear magnetic drive equipment, and the linear magnetic drive equipment comprises a track and a plurality of moving parts for loading objects. The method comprises the following steps: acquiring position information of each moving part, preventing a second moving part from passing through a first mark when determining that a first moving part passing through the first mark exists in a plurality of moving parts based on the position information of each moving part, and arranging the first mark and a second mark along a track at intervals, the second moving part is a moving part located behind the first moving part; after it is determined that the first moving part passes through the second mark, the second moving part is allowed to pass through the first mark. The safety distance between the moving parts in the automatic conveying system can be ensured, collision of the moving parts is avoided, and the reliability and conveying efficiency of the system can be improved.

Description

Technical Field

[0001] The present application relates to the field of automated conveying, and more specifically, to a conveying control method, a linear magnetic drive device, an automated conveying system, an electronic device, and a computer-readable storage medium in the field of automated conveying. Background Art

[0002] Linear magnetic drive equipment uses electromagnetic drive. Compared with traditional mechanical transmission equipment, linear magnetic drive equipment has the advantages of no friction, high precision, high-speed response and low maintenance cost. These characteristics make linear magnetic drive equipment as an advanced conveying equipment gradually promoted and used in various automated production scenarios.

[0003] In a linear magnetic drive device, one or more moving parts move along a conveying track under the action of electromagnetic force. As production requirements increase, the movement control of the moving parts becomes increasingly complicated, which increases the probability of incorrect movement of the moving parts, thereby increasing the risk of conveying.

[0004] Therefore, how to reduce the transportation risk caused by erroneous movement of moving parts has become an urgent problem to be solved. Summary of the invention

[0005] The present application provides a conveying control method, a linear magnetic drive device, an automated conveying system, an electronic device and a computer-readable storage medium. The present application sets limit marks along the conveying track of the linear magnetic drive device, and controls the movement of each moving component moving along the conveying track based on the limit marks. This can simplify the movement control logic of the moving components, reduce the amount of data processing, reduce the difficulty of movement control of the moving components, improve the accuracy of movement control of the moving components, ensure that the moving components can move correctly along the conveying track in an orderly and efficient manner, and reduce conveying risks.

[0006] In a first aspect, a conveying control method is provided, which is applied to a linear magnetic drive device, wherein the linear magnetic drive device includes a conveying track and multiple moving parts for loading objects; the conveying control method includes: obtaining position information of each moving part; based on the position information of each moving part, when it is determined that there is a first moving part that passes a first limit mark among the multiple moving parts, preventing a second moving part from passing the first limit mark, wherein the first limit mark is arranged along the conveying track, and the second moving part is a moving part located behind the first moving part; after determining that the first moving part passes the second limit mark, allowing the second moving part to pass the first limit mark, wherein the second limit mark is arranged along the conveying track, and there is a spacing between the first limit mark and the second limit mark.

[0007] Based on the above description, the embodiment of the present application adopts a technical solution of setting a first limit mark and a second limit mark with a spacing on the conveying track of the linear magnetic drive device. When a moving part passes through the first limit mark but does not pass through the second limit mark, other moving parts are prevented from passing through the first limit mark. When the moving part that has passed the first limit mark passes through the second limit mark, the blocked moving part is allowed to pass through the first limit mark. By controlling the movement of each moving part through the limit mark, the movement control logic of the moving part can be simplified, the data processing amount can be reduced, the difficulty of the movement control of the moving part can be reduced, the accuracy of the movement control of the moving part can be improved, and it can be ensured that the moving parts can move correctly along the conveying track in an orderly and efficient manner, thereby reducing the transportation risk.

[0008] In a second aspect, a linear magnetic drive device is provided, the linear magnetic drive device comprising: a control device, a conveying track, and a plurality of moving parts for loading objects;

[0009] A control device, configured to obtain position information of each moving part, and based on the position information of each moving part, when it is determined that there is a first moving part passing through the first limit mark among the plurality of moving parts, prevent the second moving part from passing through the first limit mark, and when it is determined that the first moving part passes through the second limit mark, allow the second moving part to pass through the first limit mark;

[0010] The first limit mark is arranged along the conveying track, the second movable component is a movable component located behind the first movable component, the second limit mark is arranged along the conveying track, and there is a distance between the first limit mark and the second limit mark.

[0011] In a third aspect, an automated conveying system is provided, the automated conveying system comprising:

[0012] A linear magnetic drive device including a conveyor track and a plurality of moving parts for loading objects;

[0013] A display device, used for displaying a simulation interface, the simulation interface includes a mobile model, a track model, and a first limit mark and a second limit mark distributed along the track model; wherein the mobile model is used to simulate a mobile component, the track model is used to simulate a conveying track, and there is a spacing between the first limit mark and the second limit mark;

[0014] A control device is used to obtain position information of each moving part, and based on the position information of each moving part, when it is determined that there is a first moving part passing through the first limit mark among multiple moving parts, prevent the second moving part from passing through the first limit mark, and after determining that the first moving part passes through the second limit mark, allow the second moving part to pass through the first limit mark; wherein the second moving part is a moving part located after the first moving part.

[0015] In a fourth aspect, an electronic device is provided, comprising a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, so that the automated conveying system executes the conveying control method in the first aspect or any possible implementation of the first aspect.

[0016] In a fifth aspect, a computer program product is provided, which includes: a computer program code, which, when executed on a computer, enables the computer to execute the conveying control method in the first aspect or any possible implementation of the first aspect.

[0017] In a sixth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the conveying control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram showing a scene in which a moving component passes through an arc-shaped track component in the related art is shown;

[0019] Figure 2 A schematic flow chart of a transport control method provided in an embodiment of the present application is shown;

[0020] Figure 3 An exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of the present application is shown;

[0021] Figure 4 Another exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram of assembling a single track component and a single moving component provided in an embodiment of the present application is shown;

[0023] Figure 6 A schematic diagram of a curve showing speed adjustment control of the second moving part;

[0024] Figure 7 Another exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of the present application is shown;

[0025] Figure 8 A schematic diagram of configuring limit marks is shown;

[0026] Fig. 9 A schematic diagram showing setting limit mark configuration information is shown;

[0027] Fig.10 An exemplary schematic diagram of a conveyor track is shown;

[0028] Fig.11 Another exemplary schematic diagram of a conveyor track is shown;

[0029] Fig.12 Another exemplary schematic diagram of a conveyor track is shown;

[0030] Fig.13 A structural block diagram of a linear magnetic drive device provided in an embodiment of the present application is shown;

[0031] Fig.14 A structural diagram of an automated conveying system provided in an embodiment of the present application is shown;

[0032] Fig.15 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0033] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0034] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0035] Linear magnetic drive equipment uses electromagnetic drive. Compared with traditional mechanical transmission equipment, linear magnetic drive equipment has the advantages of no friction, high precision, high-speed response and low maintenance cost. These characteristics make linear magnetic drive equipment as an advanced conveying equipment gradually promoted and used in various automated production scenarios.

[0036] In a linear magnetic drive device, one or more moving parts move along a conveying track under the action of electromagnetic force. As production needs increase, the movement control of moving parts becomes increasingly complicated, which increases the probability of incorrect movement of moving parts. The incorrect movement of moving parts will interfere with related entities (such as other moving parts, conveying tracks, external operating equipment, etc.), thereby increasing the risk of transportation.

[0037] Schematically, the following examples illustrate the increasing risk of conveying as the movement control of moving parts becomes increasingly complex:

[0038] 1. The conveying track of the linear magnetic drive equipment is spliced ​​by multiple track components. Due to the diverse requirements for the extension direction of the conveying track in the linear magnetic drive equipment, the track components can be divided into linear track components and arc-shaped track components according to their shapes. When multiple moving parts pass through the arc-shaped track components, if one or more moving parts move incorrectly, they will collide with other moving parts. Figure 1 As shown, Figure 1 A schematic diagram of a scene in which a moving part passes through a curved track part in the related art is shown. The moving part D1 and the moving part D2 successively enter the curved track part from the straight track part. The directions indicated by the arrows are the moving directions of the moving part D1 and the moving part D2. The moving part D2 is located in front of the moving part D1. Figure 1 In the embodiment, since the moving part D2 moves along the curved track part and has an angle deflection, if the moving part D1 moves erroneously, such as suddenly accelerating, it will collide with the moving part D2.

[0039] 2. During the operation of the linear magnetic drive device, there is a need to monitor the movement of each moving part. In order to distinguish each moving part, a unique and readable identification information (Identifier, ID) is assigned to each moving part, and then the collected status information is bound to the identification information in the specified patrol order, so as to serve as the status information of the moving part corresponding to the identification information. As the number of moving parts increases, it will occupy too many computer resources, affecting the efficiency of program operation. It may be possible to incorrectly bind the status information of a moving part with the identification information of another moving part, thereby incorrectly controlling the movement of one or more moving parts, which is prone to collision with other moving parts and affecting the operation of external devices.

[0040] 3. In the linear magnetic drive device, the movable track component reciprocates and connects between multiple fixed track components spaced along multiple directions, so that the effect of spatial transfer of the movable component can be achieved. Among them, for the convenience of description, the movable component transferred by the movable track component can be called a transfer movable component, and the movable component moving along the fixed track component can be called a non-transfer movable component. If the control is unreasonable and the non-transfer movable component moves incorrectly, it will interfere with the transfer process of the movable track component to the transfer movable component, such as causing the non-transfer movable component to move to the movable track component, the non-transfer movable component collides with the movable track component, etc., resulting in the transfer being terminated or even failed, thereby affecting the conveying efficiency.

[0041] 4. In many automated production scenarios, mobile parts need to move to operating stations to cooperate with external operating equipment (such as loading operations, unloading operations, processing operations, etc.). If the control is unreasonable, the mobile parts outside the operating stations will move incorrectly, interfering with the operational coordination between the mobile parts located at the stations and the external operating equipment, such as collisions with the mobile parts located at the stations, collisions with external operating equipment, etc., affecting operational efficiency and even causing operation failures, thereby affecting the conveying efficiency.

[0042] Therefore, the erroneous movement of the moving parts will increase the risk of transportation. To this end, the present application provides a transportation control method, a linear magnetic drive device, an automated transportation system, an electronic device and a computer-readable storage medium, which are conducive to reducing the transportation risk caused by the erroneous movement of the moving parts.

[0043] The following is a detailed description of a delivery control method provided in an embodiment of the present application.

[0044] Figure 2 A schematic flow chart of a transport control method provided in an embodiment of the present application is shown. Figure 3 An exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of the present application is shown. Figure 2 and Figure 3 As shown, the conveying control method provided in the embodiment of the present application is applied to a linear magnetic drive device 100 , which includes a conveying track 110 and a plurality of moving parts for loading objects, and the moving parts move along the conveying track 110 . Figure 3 Some moving parts are shown, namely, moving parts 1201 to 1203, and the direction indicated by the arrow is the moving direction of the moving part.

[0045] In practical applications, one of the track component and the moving component of the conveying track is provided with an excitation sub-component, which generates a variable magnetic field when energized, and the other of the conveying track and the moving component is provided with a magnetic sub-component, which is used to interact with the variable magnetic field generated by energizing the excitation sub-component to generate an electromagnetic force acting on the moving component, so as to drive the moving component to move along the conveying track. Among them, the excitation sub-component can be formed based on a coil, and the magnetic sub-component can be understood as an object with a magnetic field, such as a permanent magnet, a magnet, etc.; the track component can also be called a stator component, a winding component, etc.; the moving component can also be called a mover component.

[0046] The delivery control method provided in the embodiment of the present application may include the following steps:

[0047] S110: Acquire the position information of each moving component;

[0048] S120: Based on the position information of each moving component, if it is determined that there is a first moving component passing through the first limit mark among the plurality of moving components, preventing a second moving component from passing through the first limit mark;

[0049] S130: After determining that the first movable part passes through the second limit mark, allowing the second movable part to pass through the first limit mark.

[0050] Among them, the limit mark (such as the first limit mark or the second limit mark) can be a physical mark with an entity, or it can be a virtual mark formed by running a program. When the limit mark is a physical mark, the limit mark can be deployed on the surface or around the conveyor track, and the human eye can see it in the real space; when the limit mark is a virtual mark, the user configures the limit mark on the surface or around the model of the simulated conveyor track (i.e., the track model) through configuration operations. The human eye cannot see it in the real space, but it can be seen in the virtual space. In addition, in order to facilitate observation, the limit mark can be represented by linear, circular, polygonal and other shape patterns, which are not specifically limited in this application.

[0051] The spacing between the first limit mark and the second limit mark can accommodate at least one moving component. The first moving component performs corresponding actions (such as unidirectional movement, reciprocating movement, stationary, etc.) between the first limit mark and the second limit mark according to the control instruction, thereby completing the transportation-related tasks. Among them, the specific tasks of the first moving component may include at least one of a turning task, a space transfer task, a task of cooperating with an external device, and an information binding task.

[0052] In an exemplary embodiment, if Figure 3 As shown, the circular pattern 1301 set along the conveying track 110 represents the first limit mark and the circular pattern 1302 set along the conveying track 110 represents the second limit mark 1302, there is a spacing between the first limit mark 1301 and the second limit mark 1302, and the spacing between the first limit mark 1301 and the second limit mark 1302 is greater than the maximum outer diameter of the moving part along the moving direction. The first limit mark 1301 and the second limit mark 1302 can be physical marks or virtual marks.

[0053] It should be noted that, for ease of understanding, the first limit mark and the second limit mark are shown in the relevant drawings of the embodiments of the present application, but this does not limit the first limit mark and the second limit mark described in the embodiments of the present application to be physical marks. According to actual application conditions, the first limit mark and the second limit mark described in the embodiments of the present application can be physical marks or virtual marks.

[0054] The second moving part is a moving part located after the first moving part. The order of the moving parts is determined by the moving direction. Figure 3 As shown, according to the moving direction, the moving component 1203 is ahead of the moving component 1202, and the moving component 1202 is ahead of the moving component 1201.

[0055] The moving part passing through the first limit mark is set as the first moving part, and the moving part located behind the first moving part is set as the second moving part. Specifically, first attribute information is set for the moving part passing through the first limit mark, and the first attribute information is used to indicate that the moving part is the first moving part; and second attribute information can be set for the moving part located behind the first moving part, and the second attribute information is used to indicate that the moving part is the second moving part.

[0056] It should be noted that multiple moving parts can be allowed to pass through the first limit mark at a time, that is, there can be multiple first moving parts. The specific number of moving parts allowed to pass is related to the type of task that the moving part needs to perform between the first limit mark and the second limit mark. For example, when the moving part needs to perform a loading task, an unloading task or a processing task between the first limit mark and the second limit mark, multiple moving parts can be allowed to pass through the first limit mark, so that multiple first moving parts perform tasks synchronously, thereby improving the conveying efficiency. Among them, by presetting a quantity threshold for the first limit mark, when the number of moving parts that pass through the first limit mark at a time exceeds the quantity threshold, the second moving part setting operation is performed on the moving parts after the last first moving part that passes, thereby limiting the number of moving parts that are allowed to pass through the first limit mark at a time, and preventing subsequent moving parts from passing through the first limit mark. Among them, according to actual conditions, "not exceeding" in the embodiment of the present application can be understood as less than or less than or equal to, and accordingly, "exceeding" can be understood as greater than or equal to or greater than, and the embodiment of the present application does not make specific restrictions on this.

[0057] Optionally, when there are multiple moving parts after the first moving part, the second moving part can be at least a part of the moving part located between the first moving part and the starting point along the moving direction, such as Figure 3 As shown, according to the moving direction, the moving part 1203 is set as the first moving part after passing through the first limit mark 1301, and the moving part 1203 is correspondingly provided with first attribute information, which is used to indicate that the moving part 1203 is the first moving part; the moving part 1202 and / or the moving part 1201 located after the moving part 1203 can be set as the second moving part, and the moving part 1202 and / or the moving part 1201 are correspondingly provided with second attribute information, which is used to indicate that the moving part 1202 and / or the moving part 1201 is the second moving part.

[0058] It is understandable that the starting points of the moving parts may be the same or different. Taking the starting position of the moving parts after power-on as the starting point, if the starting positions of the moving parts after power-on are different, then the starting points of the moving parts may be different; if the moving parts move to a designated position in turn and wait for departure, then the starting points of the moving parts may be the same.

[0059] While multiple moving parts are moving along the conveying track, the position information of each moving part is obtained in real time. The movement of each moving part can be located through the position information, so as to determine whether there is a moving part passing the first limit mark and whether there is a moving part passing the second limit mark. If it is determined based on the position information of each moving part that there is a first moving part passing the first limit mark among the multiple moving parts, the second moving part is prevented from passing the first limit mark. Among them, the first moving part can perform turning tasks between the first limit mark and the second limit mark, tasks of waiting for the position information to be bound to the identification information, tasks of spatial transfer through the movable track part, tasks of cooperating with external operating equipment, etc.

[0060] like Figure 3 As shown, according to the position information of the moving parts 1201 to 1203, after determining that the moving part 1203 has passed the first limit mark 1301, the moving part 1203 is set as the first moving part, and the moving parts 1201 and 1202 after the moving part 1203 are set as the second moving part, and the second moving part 1201 and the second moving part 1202 are blocked from passing the first limit mark 1301. When the first moving part 1203 is between the first limit mark 1301 and the second limit mark 1302, the position information of each moving part is continuously obtained, and after determining that the first moving part has passed the second limit mark through the position information of the first moving part, the blocking operation on the second moving part is released, and the second moving part is allowed to pass the first limit mark.

[0061] After the first movable component passes through the second limit mark, the first attribute information corresponding to the first movable component may be cleared, so that the movable component no longer serves as the first movable component.

[0062] After the first moving part passes through the second limit mark, the second attribute information corresponding to the second moving part can be cleared, so that the moving part is no longer used as the second moving part, until the moving part passes through the first limit mark and is set as the first moving part, or the moving part before the moving part passes through the first limit mark, so that the moving part is set as the second moving part again. Alternatively, after the first moving part passes through the second limit mark, the second attribute information corresponding to the second moving part can be retained until the moving part passes through the first limit mark and is set as the first moving part.

[0063] For example, Figure 4 As shown, Figure 4 Another exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of the present application is shown. After the first movable part 1203 passes through the second limit mark 1302, the first attribute information corresponding to the first movable part 1203 is cleared, and the blocking operation on the second movable part 1202 is released, allowing the second movable part 1202 to pass through the first limit mark 1301.

[0064] After the first moving part 1203 passes through the second limit mark 1302, the second attribute information corresponding to the second moving part 1202 and the second moving part 1201 is cleared. After the moving part 1202 passes through the first limit mark 1301, the moving part 1202 is set as the first moving part, and the first attribute information is set accordingly, and the moving part 1201 is set as the second moving part, and the second attribute information is set accordingly, so as to prevent the second moving part 1201 from passing through the first limit mark 1301. By analogy, the movement of multiple moving parts is controlled in the above manner.

[0065] Alternatively, before the first movable part 1203 passes the second limit mark 1302 and before the second movable part 1202 passes the first limit mark 1301, the second attribute information of the second movable part 1202 and the second attribute information of the second movable part 1201 are retained, and after the second movable part 1202 passes the first limit mark 1301, the second movable part 1202 is set as the first movable part, and the corresponding second attribute information is replaced with the first attribute information, so as to prevent the second movable part 1201 from passing the first limit mark 1301. By analogy, the movement of multiple movable parts is controlled in the above manner.

[0066] It is understandable that the first moving part and the second moving part of the plurality of moving parts may be dynamically adjusted (eg Figure 3 The moving part 1203 is the first moving part, the moving parts 1202 and 1201 are the second moving parts, and Figure 4 In the figure, the moving part 1202 is the first moving part, and the moving part 1201 is the second moving part). In order to distinguish the association relationship between the first moving part and the second moving part, the identification information of the first moving part can be bound to the second moving part, thereby indicating the first moving part that the second moving part corresponds to this time. Figure 3 When the mobile component 1203 is set as the first mobile component, the identification information of the mobile component 1203 is bound to the second mobile component 1201 and the second mobile component 1202, thereby indicating that the second mobile component 1201 and the second mobile component 1202 are the first mobile component corresponding to this time, which is the mobile component 1203.

[0067] The embodiment of the present application adopts a technical solution of setting a first limit mark and a second limit mark with a spacing on the conveying track of the linear magnetic drive device. When a moving part passes through the first limit mark but does not pass through the second limit mark, other moving parts are prevented from passing through the first limit mark. When the moving part that has passed through the first limit mark passes through the second limit mark, the blocked moving part is allowed to pass through the first limit mark. By controlling the movement of each moving part through the limit mark, the movement control logic of the moving part can be simplified, the data processing amount can be reduced, the difficulty of the movement control of the moving part can be reduced, the accuracy of the movement control of the moving part can be improved, and it can be ensured that the moving part can move correctly along the conveying track in an orderly and efficient manner, thereby reducing the transportation risk.

[0068] It is understandable that the conveying track includes at least one track component, and the conveying track may also include other components, such as a circuit board, a guide rail, a base, etc., and the moving component may also include other components, such as a circuit board, a guide member, a support member, etc. For example, Figure 5 The schematic diagram of assembling a single track component and a single moving component provided in an embodiment of the present application is shown. The track component 1101 and the moving component 1201 can be assembled as shown in FIG. Figure 5 Assemble in the manner described in .

[0069] In a possible implementation, preventing the second movable component from passing through the first limit mark comprises at least one of the following steps:

[0070] S1101: Based on the movement restriction time information and the speed information of the second moving part, when it is determined that the first moving part has not passed the second limit mark when the second moving part moves to the first limit mark at the current speed, speed adjustment control is performed on the second moving part.

[0071] S1102: Based on the movement restriction time information and the speed information of the second moving component, when it is determined that the first moving component has passed the second limit mark when the second moving component moves to the first limit mark at the current speed, speed limit control is performed on the second moving component.

[0072] The movement limit duration information is used to indicate the time required for the first moving part to move from the first limit mark to the second limit mark, and the time is represented by T0. T0 is data known before executing the method described in the embodiment of the present application, and T0 can be calculated in advance or obtained by experiment in advance according to the type of task performed by the first moving part between the first limit mark and the second limit mark.

[0073] Based on the movement restriction time information and the speed information of the second moving part, the method of determining whether the first moving part has not passed the second limit mark when the second moving part moves to the first limit mark at the current speed is as follows:

[0074] Method a: Obtain the current speed information V1 of the second moving part and the distance information D1 between the second moving part and the first limit mark, calculate the time T1 required for the second moving part to move to the first limit mark based on D1 and V1, if T1 does not exceed T0, it is determined that the first moving part has not passed the second limit mark when the second moving part moves to the first limit mark according to V1, then the speed of the second moving part is adjusted to prevent the second moving part from passing the first limit mark before the first moving part passes the second limit mark, if T1 exceeds T0, it is determined that the first moving part has passed the second limit mark when the second moving part moves to the first limit mark according to V1, then the speed of the second moving part is limited, so that the second moving part moves under the maximum speed limit, to prevent the second moving part from passing the first limit mark before the first moving part passes the second limit mark.

[0075] Method b: Assuming that the second moving part keeps V1 unchanged, calculate the moving distance D2 of the second moving part through V1 and T0, and judge whether the second moving part has passed the first limit mark after the second moving part moves D2 according to the moving distance D2 and the position information of the first limit mark. If the second moving part has passed the first limit mark after moving D2, it is determined that the first moving part has not passed the second limit mark when the second moving part moves to the first limit mark according to V1, and the speed of the second moving part is adjusted and controlled to prevent the second moving part from passing the first limit mark before the first moving part passes the second limit mark; if the second moving part has not passed the first limit mark after moving D2, it is determined that the first moving part has passed the second limit mark when the second moving part moves to the first limit mark according to V1, and the speed of the second moving part is limited, so that the second moving part moves under the maximum speed limit, so as to prevent the second moving part from passing the first limit mark before the first moving part passes the second limit mark.

[0076] Method c: Calculate the upper speed limit information V2 allowed before the second moving part passes the first limit mark through V1, D1 and T0; if it is determined that V1 exceeds V2, and it is determined that the first moving part has not passed the second limit mark when the second moving part moves to the first limit mark according to V1, then the speed of the second moving part is adjusted to prevent the second moving part from passing the first limit mark before the first moving part passes the second limit mark; if V1 does not exceed V2, and it is determined that the first moving part has passed the second limit mark when the second moving part moves to the first limit mark according to V1, then the speed limit control is performed on the second moving part, so that the second moving part moves under the maximum speed limit, to prevent the second moving part from passing the first limit mark before the first moving part passes the second limit mark.

[0077] In a possible implementation, the speed adjustment control of the second moving component includes at least one of the following steps:

[0078] S11011: Determine a target deceleration of the second moving part based on the speed information of the second moving part and the distance information between the second moving part and the first limit mark, and perform deceleration control on the second moving part according to the target deceleration.

[0079] S11012: Based on the speed information of the second moving part, the distance information between the second moving part and the first limit mark, the movement limit time information and the target speed information corresponding to the first limit mark, motion planning is performed for the second moving part, and speed adjustment control of the second moving part is performed based on the motion planning result.

[0080] It is understandable that when the second moving part is decelerated, the second moving part can be subjected to variable deceleration motion with a changing acceleration or uniform deceleration motion with a constant acceleration; when the second moving part is subjected to motion planning, the second moving part can be subjected to motion planning with a changing acceleration or motion planning with a constant acceleration. For ease of description, the embodiment of the present application uses a constant acceleration to describe the control of the second moving part, but the solution provided by the present application does not exclude the possibility of controlling the second moving part with a changing acceleration.

[0081] For S11011, substitute T0, D1 and V1 into the uniform deceleration formula: Get the minimum deceleration a min , set the target deceleration of the second moving part to be greater than or equal to a minAfter the second moving part is decelerated and controlled based on the target deceleration, it can be ensured that the second moving part stops before reaching the first limit mark or just when it reaches the first limit mark. The second moving part stops before reaching the first limit mark, which can reserve a distance for the second moving part to accelerate; and the second moving part stops when it reaches the first limit mark, which can reduce the time for the second moving part to pass the first limit mark.

[0082] For S11012, the first limit mark may be pre-configured with target speed information V3, and based on the speed information V1 of the second moving part, the spacing information D1 between the second moving part and the first limit mark, the movement limit duration information T0 and the target speed information V3 corresponding to the first limit mark, motion planning is performed to determine the target deceleration a1, target deceleration period T2, target acceleration a2, target acceleration period T3 and target waiting period T4 of the second moving part. Among them, the target acceleration a2 and the target acceleration period T3 may be zero, and the target waiting period T4 may be zero.

[0083] Specifically, the result of motion planning for the second moving part may include three situations, namely, a situation with only deceleration, a situation with deceleration and acceleration but no waiting time, and a situation with deceleration, acceleration and waiting time.

[0084] like Figure 6 As shown, Figure 6 A curve schematic diagram of speed adjustment control of the second moving component is shown, where the abscissa represents time and the ordinate represents speed.

[0085] For case 1 where only deceleration occurs: Figure 6 As shown in the curve Q1 in FIG. 1 , a1 is not 0, T2 is not 0, and V3 is not 0. When the second moving part is controlled to decelerate from V1 to V3, the first moving part passes the second limit mark and the second moving part reaches the first limit mark, and the second moving part is allowed to pass the first limit mark, so as to continue to move at V3, thereby reducing the speed adjustment time for the second moving part. Among them, the shaded area Di represents the total distance moved by the second moving part during deceleration, and Di is equal to the distance between the second moving part and the first limit mark when it starts to decelerate.

[0086] For case 2 with deceleration and acceleration but no waiting time: Figure 6As shown in the curve Q2 in , a1 is not 0, T2 is not 0, a2 is not 0, V3 is not 0, and T3 is not 0. After the second moving part is controlled to decelerate from V1 to 0, the second moving part is controlled to accelerate from 0 to V3. When the second moving part accelerates to V3, the first moving part passes the second limit mark and the second moving part reaches the first limit mark. The second moving part is allowed to pass the first limit mark, so as to continue to move at V3, thereby reducing the speed adjustment time for the second moving part. Among them, the shaded area Di represents the total distance moved by the second moving part during deceleration, and the shaded area Dj represents the total distance moved by the second moving part during acceleration. The sum of Di and Dj is equal to the distance between the second moving part and the first limit mark when it starts to decelerate.

[0087] For case 3 with deceleration, acceleration and waiting time: Figure 6 As shown in the curve Q3 in , a1 is not 0, T2 is not 0, a2 is not 0, V3 is not 0, T3 is not 0, and T4 is not 0. After the second moving part is controlled to decelerate from V1 to 0, the second moving part stops moving. After waiting for T4, the second moving part is controlled to accelerate from 0 to V3. When the second moving part accelerates to V3, the first moving part passes the second limit mark and the second moving part reaches the first limit mark. The second moving part is allowed to pass the first limit mark, so as to continue to move at V3, thereby reducing the speed adjustment time for the second moving part. Among them, the shaded area Di represents the total distance moved by the second moving part during deceleration, and the shaded area Dj represents the total distance moved by the second moving part during acceleration. The sum of Di and Dj is equal to the distance between the second moving part and the first limit mark when it starts to decelerate.

[0088] It should be noted that, for the sake of ease of description and understanding, the embodiments of the present application all assume that the moving parts adopt uniform speed variation, that is, the acceleration and deceleration remain unchanged, but in actual implementation, the moving parts may adopt non-uniform speed variation, that is, the acceleration and / or deceleration may vary. The embodiments of the present application do not impose specific restrictions on this.

[0089] In a possible implementation, the speed limiting control of the second moving component includes the following steps:

[0090] S11021: Determine the upper speed limit information of the second movable component based on the speed information of the second movable component, the distance information between the second movable component and the first limit mark, and the movement limit time information;

[0091] S11022: Control the maximum speed of the second moving component before reaching the first limit mark according to the smaller value of the speed upper limit information and the target speed information corresponding to the first limit mark.

[0092] After calculating the speed upper limit information V2 of the second moving part through V1, D1 and T0, the smaller value of V2 and the target speed information V3 corresponding to the first limit mark is used as the maximum speed Vmax of the second moving part before reaching the first limit mark, thereby limiting the speed of the second moving part before reaching the first limit mark to not exceed the maximum speed Vmax, thereby realizing speed limit control of the second moving part, thereby ensuring that the first moving part has passed the second limit mark when the second moving part moves to the first limit mark.

[0093] In a possible implementation, there may be multiple second limit marks, and there is a spacing between the multiple second limit marks, and the spacing between two adjacent second limit marks can accommodate at least one moving component. Figure 7 As shown, Figure 7 Another exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of the present application is shown, wherein a first limit mark 1301 and three second limit marks (such as Figure 7 As shown, they are respectively the second limit mark 13021, the second limit mark 1302 and the second limit mark 13023, the spacing between the first limit mark 1301 and the second limit mark 13021 can accommodate a moving part, the spacing between the second limit mark 13021 and the second limit mark 1302, and the spacing between the second limit mark 1302 and the second limit mark 13023 can accommodate a moving part. The first limit mark 1301 allows a preset number of moving parts to pass through at a time.

[0094] In the case where there are multiple first moving parts, after determining that the first moving part passes through the second limit mark, allowing the second moving part to pass through the first limit mark includes at least one of the following steps:

[0095] S1301: after the last first movable component passes through the last second limit mark, allowing the second movable component to pass through the first limit mark;

[0096] S1302: After the last first movable component passes through the designated second limit mark, the second movable component is allowed to pass through the first limit mark.

[0097] For S1301, Figure 7 As shown, it is assumed that there is a first moving part 1203 between the second limit mark 13022 and the second limit mark 13023, and the first moving part 1203 is the last first moving part passing the first limit mark 1301 this time ( Figure 7The first moving part before the first moving part 1203 is not shown in the figure, the second limit mark 13023 is the last second limit mark, and the second moving parts (such as the second moving part 1202 and the second moving part 1201) are prevented from passing through the first limit mark 1301. After the first moving part 1203 passes through the second limit mark 13023, the second moving part is allowed to pass through the first limit mark 1301.

[0098] For S1302, according to the specified rule, the specified second limit mark can be at least one of the multiple second limit marks, for example, the second limit mark closest to the first moving part is determined as the specified second limit mark; for another example, according to a preset number of interval marks (such as 1, 2, 3, etc.), the second limit mark that is spaced from the first moving part by a preset number of marks is used as the specified second limit mark. Figure 7 As shown, it is assumed that there is a first moving part 1203 between the first limit mark 1301 and the second limit mark 13021. For example, the first moving part 1203 is located between the first limit mark 1301 and the second limit mark 13021, and the first moving part 1203 is the last first moving part passing through the first limit mark 1301 this time ( Figure 7 The first movable part before the first movable part 1203 is not shown in the figure), the second limit mark 13021 is a designated second limit mark, and after the first movable part 1203 passes the second limit mark 13021, the second movable part is allowed to pass the first limit mark 1301. For another example, the first movable part 1203 is located between the second limit mark 13021 and the second limit mark 13022, the first movable part 1203 is the last first movable part to pass the first limit mark 1301 this time, the second limit mark 13022 is a designated second limit mark, and after the first movable part 1203 passes the second limit mark 13021, the second movable part is still prevented from passing the first limit mark 1301, and after the first movable part 1203 passes the second limit mark 13022, the second movable part is allowed to pass the first limit mark 1301. For another example, the first movable part 1203 is located between the second limit mark 13022 and the second limit mark 13023. The first movable part 1203 is the last first movable part to pass through the first limit mark 1301 this time. The second limit mark 13023 is the designated second limit mark. After the first movable part 1203 passes through the second limit mark 13021, the second movable part is prevented from passing through the first limit mark 1301. After the first movable part 1203 passes through the second limit mark 13022, the second movable part is still prevented from passing through the first limit mark 1301. After the first movable part 1203 passes through the second limit mark 13023, the second movable part is allowed to pass through the first limit mark 1301.

[0099] It can be understood that when there are multiple first moving parts, the multiple first moving parts can move synchronously or asynchronously; when there are multiple second moving parts, the multiple second moving parts can move synchronously or asynchronously.

[0100] In a possible implementation, when there is at least one first moving component between two adjacent second limit marks, the above-mentioned conveying control method further includes at least one of the following steps:

[0101] S1303: After the last first movable part passes through the designated second limit mark, if it is determined that there is a next designated second limit mark, prevent the second movable part from passing through the nearest second limit mark until the last first movable part passes through the next designated second limit mark;

[0102] S1304: After the last first movable part passes through the designated second limit mark, if it is determined that there is a next designated second limit mark, the second limit mark passed this time is replaced with the first limit mark to prevent the second movable part from passing through until the last first movable part passes through the next designated second limit mark.

[0103] For S1303, Figure 7 As shown, assuming that the first movable part 1203 moves between the first limit mark 1301 and the second limit mark 13021, and the first movable part 1203 is the last first movable part, the second movable part (such as the second movable part 1202 and the second movable part 1201) is blocked from passing through the first limit mark 1301, according to the specified rule, the second limit mark 13021 closest to the first movable part 1203 is the first specified second limit mark, after the first movable part 1203 passes through the second limit mark 13021, the second limit mark 13022 is closest to the first movable part 1203 and becomes the second specified second limit mark, then the second movable part is allowed to pass through the first limit mark 1301, and the second movable part 1202 is blocked from passing through the second limit mark 13021, until the first movable part 1203 subsequently passes through the specified second limit mark 13022, and then the second movable part is allowed to pass through the second limit mark 13021.

[0104] For S1304, Figure 7As shown, for example, assuming that the first movable part 1203 is located between the first limit mark 1301 and the second limit mark 13021, the first movable part 1203 is the last first movable part, the second limit mark 13021 is the first designated second limit mark, the second limit mark 13022 is the second designated second limit mark, and the second limit mark 13023 is the third designated second limit mark and the last designated second limit mark. After the first movable part 1203 passes the second limit mark 13021, because there is a next designated second limit mark (i.e., the second limit mark 13022) after the second limit mark 13021, and there is a next designated second limit mark (i.e., the second limit mark 13023) after the second limit mark 13022, the second limit mark 13021 is adjusted to the first limit mark, that is, the function of the second limit mark 13021 undergoes a dynamic change, and the second limit mark 13021 is replaced. After the first limit mark, the second movable part 1202 is allowed to pass through the first limit mark 1301, and is prevented from passing through the adjusted second limit mark 13021 (as the first limit mark), and so on, until the first movable part 1203 passes through the second limit mark 13023. Since the second limit mark 13023 is the last designated second limit mark, the second limit mark 13023 is not adjusted, and the second movable part 1202 is allowed to pass through the second limit mark 13023.

[0105] For another example, assume that the first movable part 1203 is located between the second limit mark 13021 and the second limit mark 13022, the first movable part 1203 is the last first movable part, the second limit mark 13021 is the first designated second limit mark, the second limit mark 13022 is the second designated second limit mark, and the second limit mark 13023 is the third designated second limit mark and the last designated second limit mark. After the first movable part 1203 passes through the second limit mark 13022, because there is a next designated second limit mark (i.e., the second limit mark 13023) after the second limit mark 13022, the second limit mark 13022 is adjusted to the first limit mark, that is, the function of the limit mark 13022 has undergone a dynamic change. After the second limit mark 13022 is replaced by the first limit mark, the second movable part 1202 is allowed to pass through the first limit mark 13021 (as the first limit mark), and the second movable part 1202 is prevented from passing through the adjusted second limit mark 13022 (as the first limit mark), and so on, until the movable part 1203 passes through the second limit mark 13023. Since the second limit mark 13023 is the last designated second limit mark, the second limit mark 13023 is not adjusted, and the second movable part 1202 is allowed to pass through the second limit mark 13023.

[0106] For another example, assume that the first movable part 1203 is located between the second limit mark 13022 and the second limit mark 13023, the first movable part 1203 is the last first movable part, the second limit mark 13022 is the first designated second limit mark, and the second limit mark 13023 is the second designated second limit mark and the last designated second limit mark. After the first movable part 1203 passes the second limit mark 13022, because there is a next designated second limit mark (i.e., second limit mark 13023) after the second limit mark 13022, the second limit mark 13022 is adjusted to the first limit mark, that is, the function of the second limit mark 13022 has undergone a dynamic change. After the second limit mark 13022 is replaced by the first limit mark, the second movable part 1202 is allowed to pass through the first limit mark 1301 and the second limit mark 13021, and the second movable part 1202 is prevented from passing through the adjusted first limit mark 13022; when the first movable part 1203 passes through the second limit mark 13023, since the second limit mark 13023 is the last designated second limit mark, the second limit mark 13023 is not adjusted, and the second movable part 1202 is allowed to pass through the second limit mark 13023.

[0107] After some second limit marks are adjusted to first limit marks, when the last first movable component passes the last second limit mark, the second limit mark adjusted to the first limit mark is initialized, and the second limit mark adjusted to the first limit mark is readjusted to the second limit mark.

[0108] S1301-S1304 respectively belong to a specific control method for the second moving part after determining that the first moving part passes through the second limit mark, which not only improves the flexibility of controlling the moving part, but also effectively improves the moving efficiency of the moving part.

[0109] In a possible implementation, the above-mentioned conveying control method further includes the following steps:

[0110] Get limit mark configuration information;

[0111] Based on the limit mark configuration information, the corresponding first limit mark and second limit mark are displayed along the track model in the simulation interface.

[0112] The limit mark configuration information is used to indicate the position information of the first limit mark and the position information of the second limit mark. The position information of the first limit mark is absolute position information or relative position information based on a preset reference mark setting. The position information of the second limit mark is absolute position information or relative position information based on a preset reference mark setting. The absolute position information includes absolute coordinate information and / or absolute angle information, and the relative position information includes coordinate offset information and / or angle offset information.

[0113] like Figure 8 As shown, Figure 8 A schematic diagram of configuring limit marks is shown. For the position information of the first limit mark and the case where the second limit mark is a virtual limit mark, the corresponding first limit mark 1301 and second limit mark 1302 are displayed along the track model G in the simulation interface M through the acquired limit mark configuration information.

[0114] In the case where the position information of the first limit mark and the position information of the second limit mark are absolute position information, such as Figure 8 As shown in the configuration scenario J1, the absolute position information of the first limit mark 1301 on the track model G is obtained as P1 through the position information of the first limit mark, and the absolute position information of the second limit mark 1302 on the track model G is obtained as P2 through the position information of the second limit mark 1302. The distance between P1 and P2 is ΔX, then the corresponding shape patterns are displayed at the P1 position and the P2 position on the track model G, representing the first limit mark and the second limit mark respectively. Figure 8In the configuration scenario J1, the first limit mark 1301 and the second limit mark 1302 can be displayed along the track model G in the simulation interface M, and the shape pattern of the first limit mark 1301 is displayed as a "square", and the shape pattern of the second limit mark 1302 is displayed as a "diamond" in the simulation interface M. Optionally, at least one of the absolute position information P1 of the first limit mark 1301 on the track model G, the absolute position information P2 of the second limit mark 1302 on the track model G, and the spacing ΔX between the first limit mark 1301 and the second limit mark 1302 can also be displayed in the simulation interface M.

[0115] In the case where the position information of the first limit mark and the position information of the second limit mark are relative position information, such as Figure 8 As shown in the configuration scenarios J2 and J3, the reference mark 1300 is a pre-set mark, and the spacing between the first limit mark 1301 and the second limit mark 1302 is ΔX, and the relative position information includes coordinate offset information.

[0116] For configuration scenario J2, the original coordinate XA of the reference mark 1300 is horizontally offset to the right by X1 units to obtain the first mark coordinate of the first limit mark 1301, and the shape pattern of the first limit mark 1301 is displayed at the position where the first mark coordinate is located. Similarly, the original coordinate of the reference mark 1300 is horizontally offset to the right by X2 units to obtain the second mark coordinate of the second limit mark 1302, and the shape pattern of the second limit mark 1302 is displayed at the position where the second mark coordinate is located, wherein ΔX=X2-X1, that is, the first limit mark 1301 and the second limit mark 1302 can be displayed along the track model G in the simulation interface M, and the shape pattern of the first limit mark 1301 seen by the user in the simulation interface M is a "square", and the shape pattern of the second limit mark 1302 is a "diamond". Optionally, the reference mark 1300 can also be displayed in the simulation interface M, and the shape pattern of the reference mark 1300 seen by the user in the simulation interface M is a "circle".

[0117] For configuration scenario J3, the original coordinate XA of the reference mark 1300 is horizontally offset to the left by X3 units to obtain the third mark coordinate of the first limit mark 1301, and the shape pattern of the first limit mark 1301 is displayed at the position of the third mark coordinate. Similarly, the original coordinate of the reference mark 1300 is horizontally offset to the right by X4 units to obtain the fourth mark coordinate of the second limit mark 1302, and the shape pattern of the second limit mark 1302 is displayed at the position of the fourth mark coordinate, wherein ΔX=X3+X4, that is, the first limit mark 1301 and the second limit mark 1302 can be displayed along the track model G in the simulation interface M, and the shape pattern of the first limit mark 1301 seen by the user in the simulation interface M is "square", and the shape pattern of the second limit mark 1302 is "diamond". Optionally, the reference mark 1300 can also be displayed in the simulation interface M, and the shape pattern of the reference mark 1300 seen by the user in the simulation interface M is "circle".

[0118] In a possible implementation, the above-mentioned obtaining of limit mark configuration information further includes the following steps:

[0119] In response to an interface input operation, the limit mark configuration information is acquired, wherein the interface input operation is acquired based on a configuration box in a simulation interface or based on a track model.

[0120] like Fig. 9 As shown, Fig. 9 A schematic diagram showing the configuration information for setting the limit mark is shown in conjunction with the reference Figure 8 , for a case where the interface input operation is obtained based on the configuration box in the simulation interface, such as Fig. 9 As shown in the configuration scenario Z1 in , if the user calls up the configuration box K1 for setting the absolute position information in the simulation interface M, enters "P1" as the absolute position information of the first limit mark in the configuration box K1, and enters "P2" as the absolute position information of the second limit mark in the configuration box K1, based on the absolute position information (P1) of the first limit mark and the absolute position information (P2) of the second limit mark, as shown in the configuration scenario J1, the first limit mark 1301 and the second limit mark 1302 are displayed along the track model G in the simulation interface M. Optionally, the specific shape pattern of the first limit mark and the specific shape pattern of the second limit mark can be selected in the simulation interface M, as shown in FIG. Fig. 9 In the configuration box K1, the shape pattern of the first limit mark can be selected as "square" and the shape pattern of the second limit mark can be selected as "diamond" in the configuration box K1.

[0121] For another case where the interface input operation is obtained based on the configuration box in the simulation interface, such as Fig. 9As shown in the configuration scenario Z2 in the simulation interface M, if the user calls up the configuration box K2 for setting the relative position information in the simulation interface M, the coordinate information of the reference mark can be displayed as XA in the configuration box K2, or XA can be entered as the coordinate information of the reference mark in the configuration box K2. In addition, in the configuration box K2, "X1" can be entered as the relative position information of the first limit mark relative to the reference mark, indicating that the coordinates of the first limit mark are offset by X1 units based on the coordinates of the reference mark; "X2" can be entered as the relative position information of the second limit mark relative to the reference mark, indicating that the coordinates of the second limit mark are offset by X2 units relative to the coordinates of the reference mark. Among them, a symbol indicating the direction can be added before the input value, such as "+" indicating the direction of offset to the right side of the reference mark, and "-" indicating the direction of offset to the left side of the reference mark. Based on the relative position information (X1) of the first limit mark and the absolute position information (X2) of the second limit mark, as shown in the configuration scenario J2, the first limit mark 1301 and the second limit mark 1302 are displayed along the track model G in the simulation interface M. Optionally, a specific shape pattern of the first limit mark and a specific shape pattern of the second limit mark may be selected in the simulation interface M, such as Fig. 9 In the configuration box K2, the shape pattern of the first limit mark can be selected as "square" and the shape pattern of the second limit mark can be selected as "diamond" in the configuration box K2.

[0122] For the case where the interface input operation is obtained based on the track model, such as Fig. 9 As shown in the configuration scenario Z3 in the figure, the user can directly operate the track model G to determine the first limit mark and the second limit mark that need to be set, thereby obtaining the interface input operation and generating the limit mark configuration information according to the interface input operation. For example, when the user enters the mode of setting the limit mark on the track model G from the simulation interface M, after clicking the P3 position of the track model G with the mouse, the first limit mark is set. When the user moves the mouse, the distance scale between the mouse and the P3 position will be displayed on the track model G ( Fig. 9(not shown), after the user determines the required spacing ΔX through the displayed distance scale, the user clicks the P4 position of the track model G with the mouse again, the second limit mark is set, and the coordinates of the P3 position, the coordinates of the P4 position and the spacing ΔX are read, thereby obtaining the limit mark configuration information including the absolute position information. Among them, the user can see through the simulation interface M that the first limit mark set on the track model G is represented by a "square" shape pattern, and the second limit mark is represented by a "diamond" shape pattern. Optionally, the user can also see through the simulation interface M the absolute position information P3 of the first limit mark 1301 on the track model G, the absolute position information P4 of the second limit mark 1302 on the track model G, and the spacing ΔX between the first limit mark 1301 and the second limit mark 1302.

[0123] In one possible implementation, the conveying track includes a first track component, a second track component and a third track component, the second track component is used to move between the first track component and the third track component, the first track component and the third track component are fixedly arranged, that is, the first track component and the third track component are fixed and cannot be moved, that is, the first track component and the third track component are fixed track components, and the second track component can be moved and belongs to a connecting track component.

[0124] The above-mentioned obtaining of the limit mark configuration information further includes at least one of the following steps:

[0125] S1401: Based on the moving direction of the moving component, a first limit mark and a second limit mark are respectively set at an end of the second rail component that is connected to the first rail component and an end of the third rail component that is connected to the first rail component;

[0126] S1402: Based on the moving direction of the moving component, a first limit mark and a second limit mark are respectively set at an end of the first rail component that is connected to the second rail component and an end of the third rail component that is connected to the second rail component.

[0127] For S1401, a method of setting the first limit mark and the second limit mark is as follows: Fig.10 As shown, Fig.10 An exemplary schematic diagram of a conveyor track is shown, Fig.10 Scene W1 in FIG. 1 shows the dynamic change process of the conveyor track, and the dynamic change state of the conveyor track includes the state at time t1 to the state at time t5, where t represents the time axis. Referring to the time axis, time t1 is earlier than time t2, time t3 is earlier than time t2, and so on.

[0128] The conveying track 110 includes a first track component 11011, a second track component 11012 and a third track component 11013. The second track component 11012 can be docked with the first track component 11011 or the third track component 1103. Based on the moving direction of the moving component, a first limit mark 103-11 is set at the end I21 of the second track component 11012 docked with the first track component 11011, and a second limit mark 103-12 is set at the end I22 of the second track component 11012 docked with the third track component 11013. The first limit mark 103-11 and the second limit mark 103-12 are located in the second track component 11012. Fig.10 The direction indicated by the arrow is the moving direction of the moving part.

[0129] like Fig.10 As shown in the scene W1 in FIG, at time t1, assuming that the moving component 120-11 is before the moving component 120-12, and there may be other moving components (not shown in the figure) after the moving component 120-12, the moving component 120-11 and the moving component 120-12 are both located on the first track component 11011. The second track component 11012 approaches the first track component 11011 and docks with the first track component 11011.

[0130] After that, after the second rail component 11012 and the first rail component 11011 are docked, at least the moving component 120-11 is controlled to move toward the second rail component 11012. Optionally, the moving component 120-12 may also be controlled to move toward the second rail component 11012.

[0131] At time t2, the second track component 11012 remains docked with the first track component 11011, and the moving component 120-11 has passed the first limit mark 103-11 and entered the second track component 11012. At this time, the moving component 120-11 is set as the first moving component, and the moving component 120-12 is set as the second moving component. The moving component 120-12 is prevented from passing through the first limit mark 103-11, thereby ensuring that the moving component 120-12 is still located in the first track component 11011, thereby preventing the moving component 120-12 from interfering with the spatial transfer of the moving component 120-11.

[0132] Afterwards, after determining that the moving part 120-11 reaches the second track part 11012, the second track part 11012 is controlled to move toward the third track part 11013. During the movement of the second track part 11012, in order to avoid the risk of conveying, the movement range of the moving part 120-11 is limited between the first limit mark 103-11 and the second limit mark 103-12 through the first limit mark 103-11 and the second limit mark 103-12.

[0133] At time t3, the second track component 11012 and the third track component 11013 complete docking, the moving component 120-11 is still set as the first moving component, the moving component 120-12 is still set as the second moving component, the moving component 120-12 is located at the first track component 11011, and the moving component 120-11 is located at the second track component 11012.

[0134] Afterwards, the movable part 120-11 is controlled to move from the second track part 11012 to the third track part 11013, and after the movable part 120-11 passes the second limit mark 103-12, the movable part 120-12 is allowed to pass the first limit mark 103-11. However, after determining that the second track part 11012 and the first track part 11011 are not docked, the movable part 120-12 is controlled to be located at the first track part 11011.

[0135] At time t4, the movable component 1203 has entered the third track component 11013, and the second track component 11012 remains docked with the third track component 11013. After determining that the second track component 11012 is in an unloaded state (i.e., no movable component is located in the second track component 11012), the second track component 11012 moves toward the first track component 11011.

[0136] When the second rail component 11012 and the first rail component 11011 are docked again, the moving component 120 - 12 can be controlled to move toward the second rail component 11012 , thereby passing through the first limit mark 103 - 11 and entering the second rail component 11012 .

[0137] At time t5, the moving component 120-11 moves along the third track component 11013, and the moving component 120-12 has passed the first limit mark 103-11 and entered the second track component 11012. At this time, the moving component 120-12 is set as the first moving component. The rest of the process can be inferred by referring to the above content and will not be repeated again.

[0138] By setting the first limit mark and the second limit mark along the moving second track component, after the first moving component enters the second track component, the first limit mark can prevent the second moving component from entering the second track component, thereby avoiding the second moving component from interfering with the spatial transfer of the first moving component and limiting the moving range of the first moving component during the transfer process, thereby improving the transportation safety and ensuring that the first moving component completes the transfer smoothly.

[0139] For S1402, another method of setting the first limit mark and the second limit mark is as follows: Fig.10As shown in the scene W2 in FIG. 1 , the conveying track 110 includes a first track component 11011, a second track component 11012 and a third track component 11013. The second track component 11012 can be docked with the second track component 11012 or with the third track component 11013. The direction indicated by the arrow is the moving direction of the moving component. Based on the moving direction of the moving component, a first limit mark 103-11 is set at the end I11 of the first track component 11011 docked with the second track component 11012, and a second limit mark 103-12 is set at the end I31 of the third track component 11013 docked with the second track component 11012. The first limit mark 103-11 is located at the first track component 11011, and the second limit mark 103-112 is located at the first track component 11011.

[0140] When the second rail component 11012 is docked with the first rail component 11011, the moving component 120-11 and the moving component 120-12 are located on the first rail component 11011. Assuming that the moving component 120-11 is before the moving component 120-12, there may be other moving components (not shown in the figure) behind the moving component 120-12. After the moving part 120-11 has passed the first limit mark 103-11 and entered the second track part 11012, the moving part 120-11 is set as the first moving part, the moving part 120-12 is set as the second moving part, and the moving part 120-12 is prevented from passing the first limit mark 103-11, so that the moving part 120-12 is still located in the first track part 11011, and because the first limit mark 103-11 is set on the first track part 11011, the distance between the moving part 120-12 and the second track part 11012 is larger, which can better prevent the moving part 120-12 from interfering with the spatial transfer of the moving part 120-11. In addition, because the first limit mark 103-11 is set on the first track part 11011, the distance between the moving part 120-12 and the first track part 11011 is larger, thereby reducing the risk of the second moving part falling.

[0141] After the second rail component 11012 is docked with the third rail component 11013, the moving component 120-11 leaves the second rail component 11012 and enters the third rail component 11013, and the moving component 120-11 moves along the third rail component 11053 and passes through the second limit mark 103-12. At this time, after determining that the second rail component 11012 is not docked with the first rail component 11011, the moving component 120-12 is controlled to be located at the first rail component 11011.

[0142] When the second rail component 11012 is docked with the first rail component 11011 again, the moving component 120-12 is controlled to pass through the first limit mark 103-11 and enter the second rail component 11012. After the moving component 120-12 passes through the first limit mark 103-11 and enters the second rail component 11012, the moving component 120-12 is set as the first moving component. When the second rail component 11012 is docked with the third rail component 11013 again, the moving component 120-12 passes through the second limit mark 103-12 and leaves the second rail component 11012 and enters the third rail component 11013. The moving component 120-12 moves along the third rail component 11013 and passes through the second limit mark 103-12.

[0143] By setting a first limit mark along the fixed first rail component and a second limit mark along the fixed third rail component, the second movable component can be prevented from reaching the end where the first limit mark is located after the first movable component passes through the first limit mark, thereby preventing the second movable component from interfering with the spatial transfer of the first movable component and avoiding the risk of the second movable component falling, thereby improving transportation safety. The first limit mark and the second limit mark are fixed unchanged, thereby effectively reducing the amount of calculation data.

[0144] In a possible implementation, the above-mentioned transport control method further includes at least one of the following steps:

[0145] S1501: When the first limit mark and the second limit mark are respectively set at the ends of the second rail component, a third limit mark is set at the first end of the target rail component to prevent the second movable component from passing through when the second rail component moves; wherein the first end of the target rail component is an end of the first rail component and the third rail component for allowing the first movable component to enter the second rail component.

[0146] Fig.11 Another exemplary schematic diagram of a conveyor track is shown, Fig.11As shown in the scene W3, the target rail component includes a first rail component 1101 and a third rail component 1103, the limit mark 1301 and the limit mark 1302 are located in the second rail component 1102, and the third limit mark 13031 can be set at the end N11 of the first rail component 1101, and the third limit mark 13032 can be set at the end N31 of the third rail component 1103. If the moving direction of the movable part is the direction indicated by the arrow T1, the first limit mark is 1301, and the second limit mark is 1302. After the second track part 1102 and the first track part 1101 are docked, the first movable part (not shown in the figure) enters the second track part 1102 through the first track part 1101, and the second movable part is prevented from passing through the first limit mark 1301. After the first movable part stays on the second track part 1102, the second track part 1102 moves toward the third track part 1103, and the end N11 of the first track part 1101 facing the second track part 1102 is suspended. The third limit mark 13031 will prevent the second movable part (not shown in the figure) moving along the first track part 1101 from passing through the third limit mark 13031, so as to prevent the second movable part from separating from the first track part 1101. After the second rail component 1102 and the third rail component 1103 are docked, the first movable component passes through the second limit mark 1302 and enters the third rail component 1103. At this time, the second movable component is allowed to pass through the first limit mark 1301, but because the second rail component 1102 is still moving toward the first rail component 1101 and has not docked with the first rail component 1101, the end N11 of the first rail component 1101 facing the second rail component 1102 is still suspended, and the third limit mark 13031 still prevents the second movable component from passing through the third limit mark 13031, thereby preventing the second movable component from detaching from the first rail component 1101, until the second rail component 1102 and the first rail component 1101 are docked, and the second movable component is allowed to pass through the third limit mark 13031.

[0147] If the moving direction of the moving part is the direction indicated by the arrow T2, the first limit mark is 1302, and the second limit mark is 1301. After the third rail component 1103 and the second rail component 1102 are docked, the first moving part (not shown in the figure) enters the second rail component 1102 through the third rail component 1103, and the second moving part is prevented from passing through the first limit mark 1302. After the first moving part stops at the second rail component 1102, the second rail component 1102 moves, and the end N31 of the third rail component 1103 facing the second rail component 1102 is suspended. The third limit mark 13032 will prevent the second moving part (not shown in the figure) moving along the third rail component 1103 from passing through the third limit mark 13032, so as to prevent the second moving part from detaching from the third rail component 1103. After the second rail component 1102 is docked with the first rail component 1101, the first movable component passes through the second limit mark 1301 and enters the first rail component 1101. At this time, the second movable component is allowed to pass through the first limit mark 1302, but because the second rail component 1102 is still moving toward the third rail component 1103 and has not docked with the third rail component 1103, the end N31 of the third rail component 1103 facing the second rail component 1102 is still suspended, and the third limit mark 13032 still prevents the second movable component from passing through the third limit mark 13032, thereby preventing the second movable component from detaching from the third rail component 11013, until the second rail component 1102 and the third rail component 1103 are docked, and the second movable component is allowed to pass through the third limit mark 13032.

[0148] S1502: When the first limit mark and the second limit mark are respectively set on the first rail component and the third rail component, a fourth limit mark is set on the first end of the second rail component to prevent the first movable component from passing after the first movable component enters the second rail component and before it leaves the second rail component; wherein the first end of the second rail component is the end of the second rail component for allowing the first movable component to enter.

[0149] like Fig.11As shown in the scene W4 in the figure, the first limit mark 1301 is located on the first rail component 1101, the second limit mark 1302 is located on the third rail component 1103, and the fourth limit mark 1304 is set at the end N21 of the second rail component 1102. The moving direction of the movable component is the direction indicated by the arrow. After the second rail component 1102 and the first rail component 1101 are docked, the first movable component (not shown in the figure) passes through the first limit mark 1301 and enters the second rail component 1102. After the first movable component stays on the second rail component 1102, the second rail component 1102 moves, and the end N21 of the second rail component 1102 facing the first rail component 1101 and the end N22 facing the third rail component 1103 are both suspended. The fourth limit mark 1304 will prevent the first movable component from passing through the fourth limit mark 1304, thereby preventing the first movable component from detaching from the second rail component 1102 from the end N21 of the second rail component 1102.

[0150] S1503: When the first limit mark and the second limit mark are respectively set on the first rail component and the third rail component, a fifth limit mark is set on the second end of the second rail component to prevent the first movable component from passing through before the first movable component leaves the second rail component; wherein the second end of the second rail component is the end of the second rail component used to make the first movable component leave.

[0151] like Fig.11 As shown in the scene W5 in FIG, the first limit mark 1301 is located on the first rail component 1101, the second limit mark 1302 is located on the third rail component 1103, and the fifth limit mark 1305 is set at the end N22 of the second rail component 1102. The moving direction of the moving component is the direction indicated by the arrow. After the second rail component 1102 and the first rail component 1101 are docked, the first moving component (not shown in the figure) passes through the first limit mark 1301 and enters the second rail component 1102. After the first moving component stays on the second rail component 1102, the second rail component 1102 moves, and the end N21 of the second rail component 1102 facing the first rail component 1101 and the end N22 facing the third rail component 1103 are both suspended. The fifth limit mark 1305 will prevent the first moving component from passing through the fifth limit mark 1305, so as to prevent the first moving component from detaching from the second rail component 1102 from the end N22 of the second rail component 1102.

[0152] like Fig.11As shown in scene W6, the first limit mark 1301 is located at the first rail component 1101, the second limit mark 1302 is located at the third rail component 1103, the fourth limit mark 1304 is set at the end N21 of the second rail component 1102, and the fifth limit mark 1305 is set at the end N22 of the second rail component 1102, and the moving direction of the moving component is the direction indicated by the arrow. When the second rail component 1102 and the first rail component 1101 are docked, the first movable component (not shown in the figure) passes through the first limit mark 1301 and enters the second rail component 1102. When the first movable component stays on the second rail component 1102, the second rail component 1102 moves, and the end N21 of the second rail component 1102 facing the first rail component 1101 and the end N22 facing the third rail component 1103 are both suspended. The fourth limit mark 1304 will prevent the first movable component from passing through the fourth limit mark 1304, and the fifth limit mark 1305 will prevent the first movable component from passing through the fifth limit mark 1305, thereby preventing the first movable component from detaching from the second rail component 1102 from the end N21 and / or end N22 of the second rail component 1102.

[0153] In a possible implementation, the above-mentioned transport control method further includes at least one of the following steps:

[0154] S1601: Based on the size information of the first moving part, the size information of the second moving part and the radius information of the arc-shaped track part, the first limit mark and the second limit mark are set along the arc-shaped track part.

[0155] The first moving part size information is used to indicate the edge length and edge width along the moving direction of the moving part that is close to the rear moving part in the moving part that enters the arc-shaped track part first among two adjacent moving parts; the second moving part size information is used to indicate the edge length and edge width along the moving direction of the moving part that is close to the front moving part in the moving part that enters the arc-shaped track part later among two adjacent second moving parts.

[0156] The determination of edge length is divided into the case where the moving part is loaded and the case where no object is loaded. In the case where no object is loaded, if the moving part is an irregular shape as a whole, the edge length used to determine the size information is the larger value among the multiple edge lengths of the moving part, and the edge width used to determine the size information is the larger value among the edge widths of the moving part body.

[0157] In the case of loading, the edge length used to determine the size information is the larger value of the edge length of the moving component body and the edge length of the loaded object, and the edge width used to determine the size information is the larger value of the edge width of the moving component body and the edge width of the loaded object.

[0158] Based on the size information of the first moving part, the size information of the second moving part and the radius of the arc-shaped track part, the minimum arc segment interval information between the preceding moving part and the following moving part can be calculated. The minimum arc segment interval information is the arc length or the angle. The arc segment or the angle between the first limit mark and the second limit mark is not less than the minimum arc segment interval information. The minimum arc segment interval information is used to determine the spacing between the first limit mark and the second limit mark set on the arc-shaped track part.

[0159] The end of the arc-shaped track component and the end of the straight-line track component can be spliced ​​together. Optionally, the first limit mark and the second limit mark can be set on the arc-shaped track component, or the first limit mark and the second limit mark can be set on the straight-line track component spliced ​​with the arc-shaped track component and located before the arc-shaped track component.

[0160] When the first limit mark and the second limit mark are arranged on the arc-shaped track component, for the convenience of arrangement, the first limit mark can be arranged at the end of the movable component entering the arc-shaped track component.

[0161] For example, the first limit mark and the second limit mark are set in a specific schematic diagram of the arc-shaped track component, such as Fig.12 As shown, Fig.12 Another exemplary schematic diagram of a conveyor track is shown. Fig.12 As shown in scene S1, the conveying track 110 includes a fourth track component 1104, a fifth track component 1105 and a sixth track component 1106, the fifth track component 1105 is an arc-type track component, the fourth track component 1104 and the sixth track component 1106 are straight-line track components, and among the two adjacent moving components 1203 and 1202, the moving component 1203 enters the fifth track component 1105 first, and the moving component 1202 enters the fifth track component 1105 later. Before the moving parts 1203 and 1202 enter the fifth track component 1105, the first moving part size information, the second moving part size information and the radius information of the fifth track component 1105 can be obtained, wherein the first moving part size information is used to indicate the edge length y1 of the moving part 1203 close to the moving part 1202 and the edge width y2 along the moving direction; the second moving part size information is used to indicate the edge length y3 of the moving part 1202 close to the moving part 1203 and the edge width y4 along the moving direction; the radius information of the fifth track component 1105 is used to indicate that the radius of the fifth track component 1105 is R.

[0162] According to the acquired first size information, second size information and radius information of the fifth track component 1105, the minimum arc segment interval information between the preceding moving component and the following moving component can be calculated. A first limit mark 1301 is set at the end of the fifth track component 1105 for accessing the moving component, and a second limit mark 1302 is set at intervals in the fifth track component 1105 according to the calculated minimum arc segment interval information. After the moving component 1203 is set as the first moving component through the first limit mark 1301, the first moving component 1203 turns on the fifth track component 1105, and in the process of the first moving component 1203 moving between the first limit mark 1301 and the second limit mark 1302, the second moving component 1202 will not turn, thereby reducing the risk of collision between the first moving component 1203 and the second moving component 1202, and improving the safety of the moving component turning.

[0163] When the first limit mark and the second limit mark are set on the straight track component spliced ​​with the arc track component and located in front of the arc track component, for the convenience of setting, the second limit mark can be set at the end of the moving component exiting the straight track component.

[0164] For example, combined with reference Fig.12 The conveying track 110 shown, after calculating the minimum arc segment interval information between the first moving part and the second moving part according to the acquired first size information, the second size information and the radius information of the fifth track component 1105, can set a second limit mark (not shown in the figure) at the end of the moving part in the fourth track component 1104, and set the first limit mark (not shown in the figure) in the fourth track component 1104 according to the calculated minimum arc segment interval information. Thus, after the moving part passes through the first limit mark and is set as the first moving part, it is ensured that before the first moving part deflects due to the bend, the second moving part has been blocked by the straight track component, so that the risk of collision between the first moving part and the second moving part can be further reduced, and the safety of the moving part in the bend is improved.

[0165] S1602: Setting a first limit mark and a second limit mark according to a scanning range of a scanning device; wherein the scanning device is used to obtain a device identification of a moving component.

[0166] like Fig.12As shown in the scene S2 in the figure, 200 represents a scanning device (such as a barcode scanner), 201 represents the scanning range of the scanning device, and the spacing △X between the first limit mark 1301 and the second limit mark 1302 is determined according to the maximum width L1 of the scanning range of the scanning device in the horizontal direction, where △X exceeds L1, and the first limit mark 1301 and the second limit mark 1302 are set to be located on both sides of the scanning range of the scanning device, that is, the area formed by the first limit mark 1301 and the second limit mark 1302 includes the scanning range of the scanning device, thereby preventing the scanning device from scanning the moving parts outside the area between the first limit mark 1301 and the second limit mark 1302. It can be understood that the first moving part between the first limit mark 1301 and the second limit mark 1302 can move or stay according to the scanning range, so that the scanning device can recognize the identification information of the first moving part.

[0167] By setting the first limit mark and the second limit mark on the conveying track according to the scanning range of the scanning device, it can be ensured that the scanning device accurately scans the moving parts in the area between the first limit mark and the second limit mark, and avoids the moving parts outside the area between the first limit mark and the second limit mark from interfering with the scanning work of the scanning device, which is conducive to improving the scanning efficiency. Before the linear magnetic drive device cooperates with the external device, the identification information of the moving parts located between the first limit mark and the second limit mark is scanned by the scanning device, and it is not necessary to bind the scanned identification information of the moving parts with the collected state information according to the specified patrol order during the operation of the linear magnetic drive device, which is conducive to reducing the data processing amount of the linear magnetic drive device; for the scenario where the identification information of the moving parts is lost (such as the linear magnetic drive device restarts due to a fault), the first limit mark and the second limit mark can be specified, and the moving parts can be moved to the area between the specified first limit mark and the second limit mark, so that the scanning device is used to rescan the identification information of the moving parts located between the specified first limit mark and the second limit mark to ensure that the historical information of the moving parts will not be lost.

[0168] S1603: Setting a first limit mark and a second limit mark according to the maximum outer diameter of the clamping component in the open state; wherein the clamping component is arranged around the conveying track.

[0169] like Fig.12As shown in the scene S3 in , 300 represents a clamping component (such as a mechanical claw clamp), and the position of the first limit mark 1301 and the position of the second limit mark 1302 are determined according to the maximum outer diameter L2 of the clamping component in the open state, wherein the first limit mark is located on the outside of the clamping component in the open state, that is, when the clamping component in the open state is projected onto the first limit mark, the first limit mark is located outside the projection range of the clamping component, thereby ensuring that the second movable component does not collide with the clamping component in the open state. The second limit mark can be located on the inside or outside of the open state, that is, when the clamping component in the open state is projected onto the second limit mark, the second limit mark is located inside or outside the projection range of the clamping component. As long as it is ensured that the first movable component has not moved to the second limit mark when the clamping component and the first movable component are handing over an object, the embodiment of the present application does not impose specific restrictions on the position of the second limit mark.

[0170] Alternatively, if Fig.12 As shown in the scene S3 in FIG. 3, 300 represents a clamping component (e.g., a mechanical claw clamp). According to the maximum outer diameter L2 of the clamping component in the open state, the spacing △X between the first limit mark 1301 and the second limit mark 1302 exceeds L2, and the first limit mark 1301 and the second limit mark 1302 are located outside the clamping component in the open state, that is, the area formed by the first limit mark 1301 and the second limit mark 1302 includes the clamping component in the open state. In the area where the first movable part is located between the first limit mark 1301 and the second limit mark 1302, the second movable part is located outside the area between the first limit mark 1301 and the second limit mark 1302. Since △X exceeds L2, when the clamping part exchanges objects with the first movable part, it will not touch the second movable part, thereby avoiding collision between the clamping part and the second movable part.

[0171] By setting the first limit mark and the second limit mark on the conveying track according to the maximum outer diameter of the clamping part in the open state, it can be ensured that the clamping part can accurately process the object loaded by the moving part in the area between the first limit mark and the second limit mark, avoiding the clamping part from colliding with the moving part in the area outside the area between the first limit mark and the second limit mark to affect the processing progress, which is beneficial to improving the processing efficiency.

[0172] The following is a detailed description of a linear magnetic drive device provided in an embodiment of the present application.

[0173] Fig.13 A structural block diagram of a linear magnetic drive device provided in an embodiment of the present application is shown. Figure 3 and Fig.13As shown, the linear magnetic drive device 100 includes a conveying track 110 , a moving component 120 for loading objects, and a control device 130 . There are multiple moving components. The control device 130 controls the conveying track 110 so that the conveying track 110 drives the moving component to move along the conveying track 110 . Figure 3 Some moving parts are shown, namely, moving parts 1201 to 1203, and the direction indicated by the arrow is the moving direction of the moving part.

[0174] The control device is used to obtain the position information of each moving part, and based on the position information of each moving part, when it is determined that there is a first moving part that has passed the first limit mark among the multiple moving parts, the control device prevents the second moving part from passing the first limit mark, and after determining that the first moving part has passed the second limit mark, allows the second moving part to pass the first limit mark; wherein the first limit mark is arranged along the conveying track, the second moving part is a moving part located behind the first moving part, the second limit mark is arranged along the conveying track, and there is a spacing between the first limit mark and the second limit mark.

[0175] The linear magnetic drive device provided in the embodiment of the present application belongs to the same concept as the embodiment of the above-mentioned conveying control method. Therefore, for the "limit mark setting method, specific control process based on the first limit mark and the second limit mark, interface display and other detailed descriptions" not disclosed in the embodiment of the linear magnetic drive device, reference can be made to the description of the relevant embodiments of the above-mentioned conveying control method, and no further details will be given here.

[0176] The embodiment of the present application adopts a technical solution of setting a first limit mark and a second limit mark with a spacing on the conveying track of the linear magnetic drive device. When a moving part passes through the first limit mark but does not pass through the second limit mark, other moving parts are prevented from passing through the first limit mark. When the moving part that has passed through the first limit mark passes through the second limit mark, the blocked moving part is allowed to pass through the first limit mark. By controlling the movement of each moving part through the limit mark, the movement control logic of the moving part can be simplified, the data processing amount can be reduced, the difficulty of the movement control of the moving part can be reduced, the accuracy of the movement control of the moving part can be improved, and it can be ensured that the moving part can move correctly along the conveying track in an orderly and efficient manner, thereby reducing the transportation risk.

[0177] The following is a detailed description of an automated conveying system provided in an embodiment of the present application.

[0178] Fig.14 A structural diagram of an automated conveying system provided in an embodiment of the present application is shown. Figure 3 and Fig.14As shown, the automated conveying system 600 includes a linear magnetic drive device 100, a display device 400 and a control device 500. The linear magnetic drive device 100 includes a conveying track 110 and a moving component 120 for loading objects. The moving component has multiple moving components. The control device 500 controls the conveying track 110 so that the conveying track 110 drives the moving component to move along the conveying track 110. Figure 3 Some moving parts are shown, namely, moving parts 1201 to 1203, and the direction indicated by the arrow is the moving direction of the moving part.

[0179] The display device is used to display a simulation interface, which includes a mobile model, a track model, and a first limit mark and a second limit mark distributed along the track model; wherein the mobile model is a digital reproduction and display of mobile parts in real space in the simulation interface, that is, the mobile model is used to simulate mobile parts; the track model is a digital reproduction and display of a conveying track in real space in the simulation interface, that is, the track model is used to simulate the conveying track.

[0180] The mobile parts in the real space correspond to the shape, quantity and other information of the mobile model in the simulation interface, and the conveying tracks in the real space correspond to the shape, quantity and other information of the mobile model in the simulation interface. Figure 3 As shown, assuming that the moving parts include three and the conveying track includes one, then the moving models include three and the track model includes one.

[0181] The first limit mark and the second limit mark distributed along the conveying track are both virtual marks, which cannot be seen by human eyes in real space, but can be seen in the simulation interface. There is a distance between the first limit mark and the second limit mark.

[0182] The control device is used to obtain the position information of each moving part, and based on the position information of each moving part, when it is determined that there is a first moving part that passes the first limit mark among the multiple moving parts, the second moving part is prevented from passing the first limit mark, and after it is determined that the first moving part passes the second limit mark, the second moving part is allowed to pass the first limit mark; wherein the second moving part is a moving part located after the first moving part.

[0183] The automated conveying system provided in the embodiment of the present application belongs to the same concept as the embodiment of the above-mentioned conveying control method. Therefore, for the "limit mark setting method, specific control process based on the first limit mark and the second limit mark, interface display and other detailed descriptions" not disclosed in the embodiment of the automated conveying system, reference can be made to the description of the relevant embodiments of the above-mentioned conveying control method, and no further details will be given here.

[0184] The embodiment of the present application adopts a technical solution in which a first limit mark and a second limit mark with a spacing are set on the conveying track of the linear magnetic drive device. When a moving part passes through the first limit mark but does not pass through the second limit mark, other moving parts are prevented from passing through the first limit mark. When the moving part that has passed through the first limit mark passes through the second limit mark, the blocked moving part is allowed to pass through the first limit mark. On the one hand, by controlling the movement of each moving part through the limit marks, the movement control logic of the moving parts can be simplified, the data processing volume can be reduced, the difficulty of movement control of the moving parts can be reduced, the accuracy of movement control of the moving parts can be improved, and it can be ensured that the moving parts can move correctly along the conveying track in an orderly and efficient manner, thereby reducing the transportation risk. On the other hand, by displaying the track model of the simulated conveyor track in the simulation interface of the display device and setting limit marks along the track model, it can be seen that the limit marks distributed on the track model are virtual marks and are not solidified on the actual conveyor track. Using the simulation interface provided by the display device, users can directly add, delete or move limit marks on the interface. This intuitive operation method makes the modification of limit marks very simple. The limit marks can be adjusted without stopping the machine, making the adjustment of limit marks more intuitive, flexible and efficient, which is conducive to improving the conveying efficiency of the automated conveying system.

[0185] In one possible implementation, the display device 400 is also used to display a configuration box for obtaining limit mark configuration information, wherein the limit mark configuration information includes position information of a first limit mark and position information of a second limit mark, the position information of the first limit mark is absolute position information or relative position information based on a preset reference mark setting, and the position information of the second limit mark is absolute position information or relative position information based on a preset reference mark setting.

[0186] Display device display configuration box, which is used to obtain detailed description of limit mark configuration information. You can refer to Fig. 9 The description of the related embodiments of the above-mentioned conveying control method will not be repeated here.

[0187] Fig.15 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown. Fig.15 As shown, the electronic device 700 includes: a memory 701 and a processor 702, wherein the memory 701 stores an executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform a conveying control method.

[0188] In this embodiment, the electronic device can be divided into functional modules according to the above method example. For example, each functional module can be corresponded to, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0189] The electronic device provided in this embodiment is used to execute the above-mentioned conveying control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0190] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a conveying control method in the above-mentioned embodiment.

[0191] This embodiment also provides a computer program product. When the computer program product runs on a computer, it enables the computer to execute the above-mentioned related steps to implement a conveying control method in the above-mentioned embodiment.

[0192] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0193] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, 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.

[0194] The above contents are only specific implementation methods 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 conveying control method, characterized in that: Applied to a linear magnetic drive device, the linear magnetic drive device comprising a conveying track and a plurality of moving parts for loading objects; The conveying control method comprises: Acquiring position information of each of the moving parts; Based on the position information of each of the moving parts, when it is determined that there is a first moving part passing through a first limit mark among the plurality of moving parts, preventing the second moving part from passing through the first limit mark, wherein the first limit mark is arranged along the conveying track, and the second moving part is a moving part located behind the first moving part; After determining that the first movable part passes through a second limit mark, the second movable part is allowed to pass through the first limit mark, wherein the second limit mark is arranged along the conveying track, and there is a distance between the first limit mark and the second limit mark.

2. The conveying control method according to claim 1, characterized in that: The preventing the second movable part from passing through the first limit mark comprises at least one of the following: Based on the movement restriction time information and the speed information of the second moving part, when it is determined that the first moving part does not pass the second limit mark when the second moving part moves to the first limit mark at the current speed, speed adjustment control is performed on the second moving part, wherein the movement restriction time information is used to indicate the time required for the first moving part to move from the first limit mark to the second limit mark; When it is determined based on the movement restriction time information and the speed information of the second moving part that the first moving part has passed the second limit mark when the second moving part moves to the first limit mark at the current speed, speed limit control is performed on the second moving part.

3. The conveying control method according to claim 2, characterized in that: The speed adjustment control of the second moving component includes at least one of the following: Determine a target deceleration of the second moving part based on the speed information of the second moving part and the distance information between the second moving part and the first limit mark, and perform deceleration control on the second moving part according to the target deceleration; Based on the speed information of the second moving part, the distance information between the second moving part and the first limit mark, the movement limit time information and the target speed information corresponding to the first limit mark, motion planning is performed on the second moving part, and according to the motion planning result, speed adjustment control is performed on the second moving part.

4. The conveying control method according to claim 2, characterized in that: The speed limiting control of the second moving component includes: Determine the upper speed limit information of the second moving part based on the speed information of the second moving part, the distance information between the second moving part and the first limit mark, and the movement limit time information; The maximum speed of the second moving part before reaching the first limit mark is controlled according to the smaller value of the speed upper limit information and the target speed information corresponding to the first limit mark.

5. The conveying control method according to claim 1, characterized in that: There are multiple second limit marks, and there are intervals between the multiple second limit marks; In the case where there are a plurality of the first moving parts, after determining that the first moving part passes through the second limit mark, allowing the second moving part to pass through the first limit mark includes at least one of the following: After the last first movable part passes the last second limit mark, allowing the second movable part to pass the first limit mark; After the last first movable part passes through the designated second limit mark, the second movable part is allowed to pass through the first limit mark.

6. The conveying control method according to claim 5, characterized in that: The method further comprises at least one of the following: After the last first movable part passes through the designated second limit mark, if it is determined that there is a next designated second limit mark, preventing the second movable part from passing through the nearest second limit mark until the last first movable part passes through the next designated second limit mark; After the last first movable part passes through the designated second limit mark, if it is determined that there is a next designated second limit mark, the second limit mark passed this time is replaced with the first limit mark to prevent the second movable part from passing until the last first movable part passes through the next designated second limit mark.

7. The transport control method according to any one of claims 1 to 5, characterized in that: The delivery control method further includes: Obtaining limit mark configuration information, wherein the limit mark configuration information is used to indicate position information of the first limit mark and position information of the second limit mark, the position information of the first limit mark is absolute position information or relative position information based on a preset reference mark setting, and the position information of the second limit mark is absolute position information or relative position information based on a preset reference mark setting; Based on the limit mark configuration information, the corresponding first limit mark and second limit mark are displayed along the track model in the simulation interface.

8. The conveying control method according to claim 1, characterized in that: The conveying track comprises a first track component, a second track component and a third track component, the second track component is used to move between the first track component and the third track component, and the first track component and the third track component are fixedly arranged; The method further comprises at least one of the following: Based on the moving direction of the moving component, the first limit mark and the second limit mark are respectively set at the end of the second rail component that is connected to the first rail component and the end of the third rail component that is connected to the first rail component; Based on the moving direction of the moving component, the first limit mark and the second limit mark are respectively set at the end of the first rail component that is connected to the second rail component and the end of the third rail component that is connected to the second rail component.

9. The conveying control method according to claim 8, characterized in that: The delivery control method further includes at least one of the following: In the case where the first limit mark and the second limit mark are respectively provided at the ends of the second track component, a third limit mark is provided at the first end of the target track component to prevent the second movable component from passing through when the second track component moves; wherein the first end of the target track component is an end of the first track component and the third track component for allowing the first movable component to enter the second track component; In the case where the first limit mark and the second limit mark are respectively provided on the first rail component and the third rail component, a fourth limit mark is provided on the first end of the second rail component to prevent the first movable component from passing after the first movable component enters the second rail component and before it leaves the second rail component; wherein the first end of the second rail component is an end of the second rail component for allowing the first movable component to enter; When the first limit mark and the second limit mark are respectively set on the first rail component and the third rail component, a fifth limit mark is set on the second end of the second rail component to prevent the first movable component from passing through before the first movable component leaves the second rail component; wherein the second end of the second rail component is an end of the second rail component used to make the first movable component leave.

10. The conveying control method according to claim 1, characterized in that: The delivery control method further includes at least one of the following: The first limit mark and the second limit mark are set along the arc-shaped track component based on the size information of the first moving component, the size information of the second moving component and the radius information of the arc-shaped track component; wherein the size information of the first moving component is used to indicate the edge length and edge width along the moving direction of the moving component that enters the arc-shaped track component earlier and is close to the rear moving component of the two adjacent moving components, and the size information of the second moving component is used to indicate the edge length and edge width along the moving direction of the moving component that enters the arc-shaped track component later and is close to the front moving component of the two adjacent second moving components; The first limit mark and the second limit mark are set according to the scanning range of the scanning device; wherein the scanning device is used to obtain the device identification of the moving part; The first limit mark and the second limit mark are set according to the maximum outer diameter of the clamping component in the open state; wherein the clamping component is arranged around the conveying track.

11. A linear magnetic drive device, characterized in that: The linear magnetic drive device comprises: a control device, a conveying track and a plurality of moving parts for loading objects; The control device is used to obtain the position information of each of the moving parts, and based on the position information of each of the moving parts, when it is determined that there is a first moving part passing through the first limit mark among the plurality of moving parts, prevent the second moving part from passing through the first limit mark, and after determining that the first moving part passes through the second limit mark, allow the second moving part to pass through the first limit mark; The first limit mark is arranged along the conveying track, the second movable part is a movable part located behind the first movable part, the second limit mark is arranged along the conveying track, and there is a distance between the first limit mark and the second limit mark.

12. An automated conveying system, characterized in that: The automated conveying system comprises: A linear magnetic drive device including a conveyor track and a plurality of moving parts for loading objects; A display device, used for displaying a simulation interface, wherein the simulation interface includes a moving model, a track model, and a first limit mark and a second limit mark distributed along the track model; wherein the moving model is used to simulate the moving part, the track model is used to simulate the conveying track, and there is a spacing between the first limit mark and the second limit mark; A control device is used to obtain the position information of each of the moving parts, and based on the position information of each of the moving parts, when it is determined that there is a first moving part that has passed the first limit mark among the multiple moving parts, prevent the second moving part from passing the first limit mark, and after determining that the first moving part has passed the second limit mark, allow the second moving part to pass the first limit mark; wherein the second moving part is a moving part located after the first moving part.

13. The automated conveying system according to claim 12, characterized in that: The display device is also used to display a configuration box for obtaining limit mark configuration information, wherein the limit mark configuration information includes position information of the first limit mark and position information of the second limit mark, the position information of the first limit mark is absolute position information or relative position information based on a preset reference mark setting, and the position information of the second limit mark is absolute position information or relative position information based on a preset reference mark setting.

14. An electronic device, characterized in that: The electronic device comprises: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory, so that the automated conveying system executes the conveying control method as described in any one of claims 1 to 10.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the transport control method according to any one of claims 1 to 10 is implemented.

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