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, a system, electronic equipment and a medium, and relates to the field of automatic conveying. The method comprises the steps that a first limiting mark is arranged in a butt joint area of a movable second track component and an immovable first track component of the linear magnetic drive equipment; on the basis of the position information of all the moving parts, when it is determined that the moving parts which pass through the first limiting mark and enter the second track part exist in the multiple moving parts, the moving parts which pass through the first limiting mark and enter the second track part are set as objects to be transferred, and when it is determined that the number of the moving parts passing through the first limiting mark reaches a number threshold value, at least part of the moving parts located on the first rail part are set as non-transfer objects, and the non-transfer objects are prevented from passing through the first limiting mark. The conveying risk caused by wrong movement of the moving component can be reduced, and the conveying safety is 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] In a linear magnetic drive device, a reciprocating motion and connection are performed between a plurality of fixed track components arranged at intervals in multiple directions through a movable track component, so as to achieve the effect of spatially transferring a moving component. Among them, for the sake of description, the moving component transferred by the movable track component can be called a transfer moving component, and the moving component moving along the fixed track component can be called a non-transfer moving component. If the control is unreasonable, the non-transfer moving component makes a wrong move, interfering with the transfer process of the transfer moving component by the movable track component, such as the non-transfer moving component moving to the movable track component, the non-transfer moving component colliding with the movable track component, etc., resulting in the transfer being aborted or even failed, thereby affecting the conveying efficiency. Summary of the Invention

[0003] An embodiment of the present application provides a conveying control method, a linear magnetic drive device, a system, an electronic device, and a medium. By setting a first limit mark in the area where the movable track component of the linear magnetic drive device is docked with the immovable track component, the present application can prevent the non-transfer object from reaching the end of the track component where the first limit mark is located after the object to be transferred in the linear magnetic drive device passes through the first limit mark. Thus, while avoiding the non-transfer object from interfering with the spatial transfer of the object to be transferred, the risk of the non-transfer object falling can also be avoided, improving the conveying safety.

[0004] In a first aspect, a conveying control method is provided, which is applied to a linear magnetic drive device. The linear magnetic drive device includes a conveying track and a plurality of moving components for loading objects. 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. The moving components sequentially pass through the first track component, the second track component, and the third track component. The conveying control method includes: based on the position information of each moving component, when it is determined that there is a moving component among the plurality of moving components that passes through the first limit mark and enters the second track component, setting the moving component that passes through the first limit mark and enters the second track component as the object to be transferred, where the first limit mark is set in a first area where the second track component is docked with the first track component; when it is determined that the number of moving components passing through the first limit mark reaches a number threshold, setting at least part of the moving components located on the first track component as non-transfer objects, and preventing the non-transfer objects from passing through the first limit mark.

[0005] Based on the above description, in the embodiment of the present application, a first limit mark is set in the area where the movable second track component of the linear magnetic drive device is docked with the immovable first track component. Based on the position information of each moving component, when it is determined that there is a moving component among the multiple moving components that passes through the first limit mark and enters the second track component, the moving component that passes through the first limit mark and enters the second track component is set as the object to be transferred. When it is determined that the number of moving components passing through the first limit mark reaches the number threshold, at least some of the moving components located on the first track component are set as non-transfer objects, and the non-transfer objects are prevented from passing through the first limit mark. By controlling the movement of each moving component through the first limit mark, after the object to be transferred passes through the first limit mark, the non-transfer objects are prevented from reaching the end of the track component where the first limit mark is located, thereby avoiding the interference of the non-transfer objects to the spatial transfer of the object to be transferred and also avoiding the risk of the non-transfer objects falling, and improving the conveying safety.

[0006] In a second aspect, a linear magnetic drive device is provided. The linear magnetic drive device includes:

[0007] A plurality of moving components for loading objects,

[0008] A conveying track, including 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, and the moving components sequentially pass through the first track component, the second track component, and the third track component;

[0009] A control device, configured to, based on the position information of each moving component, when it is determined that there is a moving component among the multiple moving components that passes through the first limit mark and enters the second track component, set the moving component that passes through the first limit mark and enters the second track component as the object to be transferred. When it is determined that the number of moving components passing through the first limit mark reaches the number threshold, set at least some of the moving components located on the first track component as non-transfer objects, and prevent the non-transfer objects from passing through the first limit mark, where the first limit mark is set in a first area where the second track component is docked with the first track component.

[0010] In a third aspect, an automated conveying system is provided. The automated conveying system includes:

[0011] A linear magnetic drive device, including a conveying track and a plurality of moving components for loading objects. 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, and the moving components sequentially pass through the first track component, the second track component, and the third track component;

[0012] A display device is used to display a simulation interface. The simulation interface includes a moving model, an orbit model, and first limit marks distributed along the orbit model. Among them, the moving model is used to simulate moving components, and the orbit model is used to simulate a conveying orbit;

[0013] A control device is used to, based on the position information of each moving component, when it is determined that there is a moving component among multiple moving components that passes through the first limit mark and enters a second orbit component, set the moving component that passes through the first limit mark and enters the second orbit component as an object to be transferred. When it is determined that the number of moving components passing through the first limit mark reaches a quantity threshold, set at least some of the moving components located on the first orbit component as non-transfer objects, and prevent the non-transfer objects from passing through the first limit mark. Among them, the first limit mark is set in a first area where the second orbit component is docked with the first orbit component.

[0014] In a fourth aspect, an electronic device is provided, including 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 electronic device executes the conveying control method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0015] In a fifth aspect, a computer program product is provided. The computer program product includes: computer program code, when the computer program code runs on a computer, it causes the computer to execute the conveying control method in the above-mentioned first aspect or any possible implementation manner of the first aspect.

[0016] In a sixth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores computer program code, when the computer program code runs on a computer, it causes the computer to execute the conveying control method in the above-mentioned first aspect or any possible implementation manner of the first aspect. Description of the Drawings

[0017] Figure 1 It shows a schematic flowchart of a conveying control method provided by an embodiment of the present application;

[0018] Figure 2 It shows an exemplary illustration of a linear magnetic drive device provided by an embodiment of the present application;

[0019] Figure 3 It shows an assembly schematic diagram of a single orbit component and a single moving component provided by an embodiment of the present application;

[0020] Figure 4 It shows another exemplary schematic diagram of a linear magnetic drive device provided by an embodiment of the present application;

[0021] Figure 5 Shows an exemplary schematic diagram of a conveying track;

[0022] Figure 6 Shows another exemplary schematic diagram of a conveying track;

[0023] Figure 7 Shows a curve schematic diagram for speed adjustment control of non-transfer objects;

[0024] Figure 8 Shows a structural block diagram of a linear magnetic drive device provided by an embodiment of the present application;

[0025] Figure 9 Shows a structural block diagram of an automated conveying system provided by an embodiment of the present application;

[0026] Figure 10 Shows a structural schematic diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0027] Hereinafter, the technical solutions in the present application will be clearly and elaborately described in conjunction with the accompanying drawings. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B may mean A or B. The "and / or" in the text is only a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B may mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0028] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0029] In a linear magnetic drive device, by reciprocating and docking a movable track component between a plurality of fixed track components arranged at intervals in multiple directions, the effect of spatially transferring a moving component can be achieved. Among them, for the convenience of description, the moving component transferred by the movable track component can be called a transfer moving component, and the moving component moving along the fixed track component can be called a non-transfer moving component. If the control is unreasonable, the non-transfer moving component moves incorrectly, interfering with the transfer process of the movable track component to the transfer moving component, such as the non-transfer moving component moving to the movable track component, the non-transfer moving component colliding with the movable track component, etc., resulting in the transfer being aborted or even failed, thereby affecting the conveying efficiency.

[0030] Therefore, incorrect movement of the moving part will increase the conveying risk. For this reason, the present application provides a conveying control method, a linear magnetic drive device, a system, an electronic device and a medium, which are beneficial to reducing the conveying risk caused by incorrect movement of the moving part.

[0031] The following is a detailed description of a conveying control method provided by an embodiment of the present application.

[0032] Figure 1 Fig. shows a schematic flowchart of a conveying control method provided by an embodiment of the present application. Figure 2 Fig. shows an exemplary schematic diagram of a linear magnetic drive device provided by an embodiment of the present application. According to the actual situation, Figure 2 it can be a front view, a top view or a side view of the linear magnetic drive device. As Figure 1 and Figure 2 shown, the conveying control method provided by the embodiment of the present application is applied to the linear magnetic drive device 100. The linear magnetic drive device 100 includes a conveying track 110 and a plurality of moving parts for loading objects. The moving parts move along the conveying track 110. 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 is used to move between the first track component 11011 and the third track component 11013. The first track component 11011 and the third track component 11013 are fixedly arranged. The moving parts sequentially pass through the first track component 11011, the second track component 11012 and the third track component 11013. That is, when the moving parts move along the conveying track 110, they first pass through the first track component 11011, then pass through the second track component 11012, and then pass through the third track component 11013. As Figure 2 shown, Figure 2 Fig. shows some of the moving parts, that is, moving part 1201 - moving part 1203. The direction indicated by the arrow is the moving direction of the moving parts. The moving part 1201 and the moving part 1202 are located on the first track component 11011, and the moving part 1203 is located on the second track component 11012.

[0033] In practical applications, one of the track components of the conveying track and the moving parts is provided with an exciting sub-component. After the exciting sub-component is energized, a variable magnetic field is generated. The other of the conveying track and the moving parts is provided with a magnetic sub-component, which is used to interact with the variable magnetic field generated by the energization of the exciting sub-component to generate an electromagnetic force acting on the moving parts, so as to drive the moving parts to move along the conveying track. Among them, the exciting sub-component can be formed based on a coil. 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 part can also be called a moving part.

[0034] The conveying control method provided by the embodiments of the present application may include the following steps:

[0035] S110: Based on the position information of each moving part, when it is determined that there is a moving part among the multiple moving parts that passes through the first limit mark and enters the second track part, set the moving part that passes through the first limit mark and enters the second track part as the object to be transferred;

[0036] S120: When it is determined that the number of moving parts passing through the first limit mark reaches the number threshold, set at least part of the moving parts located on the first track part as non-transfer objects, and prevent the non-transfer objects from passing through the first limit mark.

[0037] The first limit mark is set in the first area where the second track part is docked with the first track part. Among them, the first limit mark can be a physical mark with an entity or a virtual mark formed by program operation. When the first limit mark is a physical mark, the first limit mark can be deployed on the surface or around the conveying track, and can be seen by the human eye in the real space; when the first limit mark is a virtual mark, the user configures the first limit mark on the surface or around the model of the simulated conveying track (i.e., the track model) through configuration operations. The human eye cannot see it in the real space, but can see it in the virtual space. In addition, for the convenience of observation, the first limit mark can be represented by shape patterns such as linear, circular, and polygonal, which are not specifically limited in this application.

[0038] The first area may be located at the end of the second track part facing the first track part, that is, the first limit mark is located on the second track part, or the first area may also be located at the end of the first track part facing the second track part, that is, the first limit mark is located on the first track part. In an exemplary embodiment, as Figure 2 shown, the first area is located at the end I21 of the second track part 11012 facing the first track part 11011, that is, the first limit mark is located on the second track part 11012, Figure 2 and the circular pattern 1301 in

[0039] represents the first limit mark.

[0039] The non-transfer object is the moving part located after the object to be transferred. The order between the multiple moving parts is determined by the moving direction. For example, as Figure 2 shown, according to the moving direction, the moving part 1203 is before the moving part 1202, and the moving part 1202 is before the moving part 1201.

[0040] The moving parts that pass through the first limit mark and enter the second track part are set as objects to be transferred. Then, the number of moving parts passing through the first limit mark is counted. When the number of moving parts passing through the first limit mark reaches the quantity threshold (the value of the quantity threshold can be 1 or a positive integer greater than 1), at least some of the moving parts located on the first track part are set as non-transfer objects, that is, a part of the moving parts located on the first track part can be set as non-transfer objects, or all the moving parts located on the first track part can be set as non-transfer objects. Among them, the moving parts passing through the first limit mark may have entered the second track part or may still be located on the first track part.

[0041] After the second track part is docked with other track parts, the objects to be transferred will be transferred to other track parts that have completed docking with the second track part, while the non-transfer objects will remain in place and will not be transferred temporarily. As Figure 2 shown, for example, the moving part 1203 is the object to be transferred, and the moving parts 1201 and 1202 are non-transfer objects. After the second track part 11012 moves and completes docking with the third track part 11013, the moving part 1203 will leave the second track part 11012 and enter the third track part 11013, transferring the moving part 1203 to the third track part 11013. At the same time, the moving parts 1201 and 1202 are controlled to stay temporarily on the first track part 11011.

[0042] It should be noted that multiple moving parts are allowed to pass through the first limit mark at a time, that is, there can be multiple objects to be transferred. The specific number of moving parts allowed to pass through the first limit mark is related to the type of transfer task that the moving parts need to perform after passing through the first limit mark. For example, when the moving parts need to perform feeding tasks, discharging tasks, or processing tasks after passing through the first limit mark, multiple moving parts are allowed to pass through the first limit mark. After multiple moving parts pass through the first limit mark, they are all set as objects to be transferred, so that multiple objects to be transferred are transferred together, thereby improving the conveying efficiency. Among them, the quantity threshold can be preset for the first limit mark. When the number of objects to be transferred passing through the first limit mark at a time exceeds the quantity threshold, a non-transfer object setting operation is performed on the moving parts after the last object to be transferred that passes through, so as to limit the number of moving parts allowed to pass through the first limit mark at a time and prevent subsequent moving parts from passing through the first limit mark. Among them, according to the actual situation, "not exceeding" in the embodiments of the present application can be understood as less than or less than or equal to, and correspondingly, "exceeding" can be understood as greater than or equal to or greater. The embodiments of the present application do not make specific restrictions on this.

[0043] It can be understood that the starting points of the moving parts may be the same or different. Taking the starting position where the moving part is located after being powered on as the starting point, if the starting positions where the moving parts are located after being powered on are different, then the starting points of the moving parts can be different; if the moving parts move to a specified position in sequence and wait to start, then the starting points of the moving parts can be the same.

[0044] During the movement of multiple moving parts along the conveying track, the position information of each moving part is obtained in real time. Through the position information, the movement of each moving part can be positioned, so as to determine whether there is a moving part among the multiple moving parts that passes through the first limit mark and enters the second track part. If it is determined according to the position information of each moving part that there is a moving part among the multiple moving parts that passes through the first limit mark and enters the second track part, the moving part that passes through the first limit mark and enters the second track part is set as the object to be transferred. When the number of moving parts passing through the first limit mark reaches the number threshold, at least part of the moving parts located on the first track part are set as non-transfer objects, and the non-transfer objects are prevented from passing through the first limit mark. Among them, the object to be transferred can perform tasks such as turning tasks, waiting for the binding of position information and identification information, spatial transfer through movable track parts, and cooperation with external operating devices after passing through the first limit mark and entering the second track part and being transferred to other track parts by the second track part.

[0045] As Figure 2 shown, according to the position information of moving part 1201 to moving part 1203, after it is determined that only moving part 1203 passes through the first limit mark 1301 and enters the second track part 11012, moving part 1203 is set as the object to be transferred, and the number of objects to be transferred is 1. For example, if the number threshold is 1, then the subsequent moving part 1201 and moving part 1202 of moving part 1203 are set as non-transfer objects, and further, the non-transfer objects 1201 and non-transfer object 1202 are prevented from passing through the first limit mark 1301.

[0046] In the embodiment of the present application, a first limit mark is set in the area where the movable second track component of the linear magnetic drive device is docked with the immovable first track component. Based on the position information of each moving component, when it is determined that there is a moving component among the multiple moving components that passes through the first limit mark and enters the second track component, the moving component that passes through the first limit mark and enters the second track component is set as the object to be transferred. When it is determined that the number of moving components passing through the first limit mark reaches the quantity threshold, at least some of the moving components located on the first track component are set as non-transfer objects, and the non-transfer objects are prevented from passing through the first limit mark. By controlling the movement of each moving component through the first limit mark, after the object to be transferred passes through the first limit mark, the non-transfer objects are prevented from reaching the end of the track component where the first limit mark is located, thereby avoiding the interference of the non-transfer objects to the spatial transfer of the object to be transferred and also avoiding the risk of the non-transfer objects falling, and improving the conveying safety.

[0047] It can be understood that in addition to the first track component, the second track component and the third track component, the conveying track may also include other track components and other components, such as circuit boards, guide rails, bases, etc. The moving component may also include other components, such as circuit boards, guide members, support members, etc. For example, Figure 3 shows an assembly schematic diagram of a single track component and a single moving component provided by the embodiment of the present application. The first track component 1101 and the moving component 1201 can be assembled in the Figure 3 way.

[0048] In a possible implementation manner, a second limit mark is set in the second area where the second track component is docked with the third track component, that is, the second limit mark is set in the second area where the second track component is docked with the third track component. The second area may be located at the end of the second track component facing the third track component, that is, the second limit mark is located on the second track component, or the second area may also be located at the end of the third track component facing the second track component, that is, the second limit mark is located on the third track component. The second limit mark may be a physical mark with an entity or a virtual mark formed by program operation. The specific setting of the second limit mark may refer to the specific setting of the above first limit mark, and the present application will not elaborate.

[0049] In an exemplary embodiment, as Figure 4 shown, Figure 4 shows another exemplary schematic diagram of a linear magnetic drive device provided by the embodiment of the present application. The second area is located at the end I22 of the second track component 11012 facing the third track component 11013, that is, the second limit mark is located on the second track component 11012, Figure 4The circular pattern 1302 therein represents the second limit mark. There is a spacing between the first limit mark 1301 and the second limit mark 1302, and at least one moving component can be accommodated between the first limit mark 1301 and the second limit mark 1302. Among them, the spacing between the first limit mark and the second limit mark needs to be set based on the spacing setting requirements, and the spacing setting requirements include ensuring that non-transfer objects do not interfere with the objects to be transferred and the second track component. For example, ensuring that non-transfer objects do not collide with the objects to be transferred and the second track component.

[0050] The settings of the first limit mark and the second limit mark are described in detail below.

[0051] Figure 5 An exemplary schematic diagram of the conveying track is shown, as Figure 5 shown in the scenario W1 therein, the conveying track 110 ( Figure 5 not marked therein) includes a first track component 11011, a second track component 11012, and a third track component 11013. The first track component 11011 and the third track component 11013 are deployed staggeredly, and the second track component 11012 is used to move between the first track component 11011 and the third track component 11013. If the first area is located at the end I21 of the second track component 11012, and the second area is located at the end I22 of the second track component 11012, that is, the first limit mark 1301 is located at the end I21 of the second track component 11012, and the second limit mark 1302 is located at the end I22 of the second track component 11012. The scenario W1 shows the process of the dynamic change of the conveying track, and the direction indicated by the arrow is the moving direction of the moving component. The dynamic change state of the conveying track includes the state from the t1 moment to the t5 moment, where t represents the time axis. Referring to the time axis, the t1 moment is earlier than the t2 moment, the t3 moment is earlier than the t2 moment, and so on.

[0052] As shown in the scenario W1, at the t1 moment, assuming that the moving component 1203 is in front of the moving component 1202, other moving components (not shown in the figure) can exist behind the moving component 1202. Both the moving component 1203 and the moving component 1202 are 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.

[0053] After that, after the second track component 11012 and the first track component 11011 are docked, at least control the moving component 1203 to move towards the second track component 11012. Optionally, the moving component 1202 can also be controlled to move towards the second track component 11012.

[0054] At time t2, the second track component 11012 remains docked with the first track component 11011. The moving component 1203 has passed through the first limit mark 1301 and entered the second track component 11012. At this time, the moving component 1203 is set as the object to be transferred. If the quantity threshold is 1, the number of moving components passing through the first limit mark 1301 is 1, that is, the number of moving components passing through the first limit mark 1301 reaches the quantity threshold. The moving component 1202 is set as a non-transfer object, and the moving component 1202 is blocked from passing through the first limit mark 1301, so as to ensure that the moving component 1202 still remains in the first track component 11011 and prevent the moving component 1202 from interfering with the spatial transfer of the moving component 1203.

[0055] After that, after determining that the moving component 1203 has reached the second track component 11012, control the second track component 11012 to move towards the third track component 11013. And during the movement of the second track component 11012, in order to avoid conveying risks, the movement range of the moving component 1203 is restricted between the first limit mark 1301 and the second limit mark 1302 through the first limit mark 1301 and the second limit mark 1302.

[0056] At time t3, the second track component 11012 is docked with the third track component 11013. The moving component 1203 is still set as the object to be transferred, the moving component 1202 is still set as a non-transfer object, the moving component 1202 is located in the first track component 11011, and the moving component 1203 is located in the second track component 11012.

[0057] After that, control the moving component 1203 to move from the second track component 11012 to the third track component 11013, and after the moving component 1203 passes through the second limit mark 1302, allow the moving component 1202 to pass through the first limit mark 1301. However, after determining that the second track component 11012 is not docked with the first track component 11011, control the moving component 1202 to be located in the first track component 11011.

[0058] At time t4, the moving 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 empty state (that is, no moving component is located in the second track component 11012), the second track component 11012 moves towards the first track component 11011.

[0059] After the second track component 11012 and the first track component 11011 are docked again, the moving component 1202 can be controlled to move towards the second track component 11012, so as to enter the second track component 11012 through the first limit mark 1301.

[0060] At time t5, the moving component 1203 moves along the third track component 11013. The moving component 1202 has passed through the first limit mark 1301 and entered the second track component 11012. At this time, the moving component 1202 is set as the object to be transferred. The remaining process can be obtained by analogy with the above content and will not be elaborated again.

[0061] By setting the first limit mark and the second limit mark along the moving second track component, after the object to be transferred enters the second track component, the first limit mark can prevent non-transfer objects from entering the second track component, thereby avoiding the interference of non-transfer objects on the spatial transfer of the object to be transferred, and can limit the moving range of the object to be transferred during the transfer process, improve the conveying safety, and ensure the smooth completion of the transfer of the object to be transferred.

[0062] As Figure 5 shown in scenario W2 in

[0063] When the second track component 11012 is docked with the first track component 11011, the moving components 1203 and 1202 are located on the first track component 11011. Assuming that the moving component 1203 is in front of the moving component 1202, other moving components (not shown in the figure) may exist behind the moving component 1202. When the moving component 1203 has passed through the first limit mark 1301 and entered the second track component 11012, the moving component 1203 is set as the object to be transferred. If the quantity threshold is 1, the number of moving components passing through the first limit mark 1301 is 1, that is, the number of moving components passing through the first limit mark 1301 reaches the quantity threshold, and the moving component 1202 is set as a non-transfer object. The moving component 1202 is blocked from passing through the first limit mark 1301, so that the moving component 1202 still remains on the first track component 11011. And because the first limit mark 1301 is set on the first track component 11011, the distance between the moving component 1202 and the second track component 11012 is larger, which can better avoid the moving component 1202 interfering with the spatial transfer of the moving component 1203. Moreover, because the first limit mark 1301 is set on the first track component 11011, the distance between the moving component 1202 and the splicing part of the first track component 11011 is larger, thereby reducing the risk of the non-transfer object falling.

[0064] After the second track component 11012 is docked with the third track component 11013, the moving component 1203 leaves the second track component 11012 and enters the third track component 11013. The moving component 1203 moves along the third track component 11053 and passes through the second limit mark 1302. At this time, after it is determined that the second track component 11012 and the first track component 11011 are not docked, the moving component 1202 is controlled to be located on the first track component 11011.

[0065] After the second track component 11012 is docked with the first track component 11011 again, the moving component 1202 is controlled to pass through the first limit mark 1301 and enter the second track component 11012. After the moving component 1202 passes through the first limit mark 1301 and enters the second track component 11012, the moving component 1202 is set as the object to be transferred. When the second track component 11012 is docked with the third track component 11013 again, the moving component 1202 passes through the second limit mark 1302, leaves the second track component 11012 and enters the third track component 11013. The moving component 1202 moves along the third track component 11013 and passes through the second limit mark 1302.

[0066] By setting a first limit mark along a fixed first track member and a second limit mark along a fixed third track member, after the object to be transferred passes the first limit mark, non-transfer objects can be prevented from reaching the end where the first limit mark is located, thereby avoiding interference of non-transfer objects with the spatial transfer of the object to be transferred and also avoiding the risk of non-transfer objects falling, improving the conveying safety. The first limit mark and the second limit mark are fixed, thus effectively reducing the amount of calculation data.

[0067] In a possible implementation, the above-mentioned conveying control method includes at least one of the following steps:

[0068] S1401: After the second track member is docked with the third track member, control the moving member as the object to be transferred to leave the second track member and enter the third track member.

[0069] As Figure 3 shown, when the second track member 11012 is docked with the first track member 11011, the moving member 1203 passes through the first limit mark 1301 and enters the second track member 11012, and the moving member 1203 is set as the object to be transferred. When the second track member 11012 is docked with the third track member 11013, the object to be transferred 1203 can safely leave the second track member 11012, then control the object to be transferred 1203 to leave the second track member 11012 and enter the third track member 11013, realizing the timely and safe transfer of the moving member, not only improving the conveying efficiency but also ensuring the reliability of the conveying.

[0070] S1402: When it is determined that the moving member as the object to be transferred passes through the second limit mark, cancel the setting of the moving member as the object to be transferred.

[0071] As Figure 3 and Figure 4 shown, both the first limit mark 1301 and the second limit mark 1302 are located on the second track member 11012. For example, the moving member 1203 is set as the object to be transferred, and the moving members 1201 and 1202 are set as non-transfer objects. When the second track member 11012 is docked with the third track member 11013, if it is detected that the moving member 1203 passes through the second limit mark 1302, indicating that the moving member 1203 has been successfully transferred to the third track member 11013, then cancel the setting of the moving member 1203 as the object to be transferred. In this way, precise control of the moving member as the object to be transferred is achieved, avoiding potential safety hazards caused by canceling the setting of the moving member as the object to be transferred prematurely or laggingly, and not only improving the conveying efficiency but also ensuring the reliability of the conveying.

[0072] In a possible implementation, the above-mentioned conveying control method includes at least one of the following steps:

[0073] S1501: After determining to cancel the setting of the moving part as the object to be transferred and after the first track part and the second track part are docked, allow the moving parts that are not the objects to be transferred to pass through the first limit mark and enter the second track part.

[0074] As Figure 4 shown, both the first limit mark 1301 and the second limit mark 1302 are located on the second track part 11012. For example, the moving part 1203 is set as the object to be transferred, and the moving parts 1201 and 1202 are set as non-transfer objects. After canceling the setting of the moving part 1203 as the object to be transferred, continue to detect whether the first track part 11011 and the second track part 11012 are docked. If it is detected that the first track part 11011 and the second track part 11012 are docked, allow the moving parts 1201 and 1202 that are not the objects to be transferred to pass through the first limit mark 1301 and enter the second track part 11012 in the order of movement. It is realized that during the period when the first track part and the second track part are not docked, the moving parts that are not the objects to be transferred are not allowed to pass through the first limit mark, ensuring the safety of the moving parts located on the first track part.

[0075] S1502: After determining that the setting of the moving part that is not the object to be transferred is cancelled, cancel the setting of the moving part as a non-transfer object, and after determining that the first track part and the second track part are docked, control the moving part to enter the second track part.

[0076] During the control of the object to be transferred and the non-transfer object, continuously judge whether to cancel the setting of the moving part that is not the object to be transferred. If it is determined to cancel the setting of the moving part that is not the object to be transferred, it means that the transfer of the moving part that is the object to be transferred has been completed. Next, the moving part that is not the object to be transferred needs to be transferred, so cancel the setting of the moving part as a non-transfer object. To ensure that the moving part whose setting as a non-transfer object is cancelled enters the second track part safely, when the first track part and the second track part are docked, control the moving part whose setting as a non-transfer object is cancelled to enter the second track part, ensuring that the next moving part to be transferred is transferred safely.

[0077] As Figure 4As shown, the first limit mark 1301 and the second limit mark 1302 are both located on the second track component 11012. For example, the moving component 1203 is set as the object to be transferred, and the moving components 1201 and 1202 are set as non-transfer objects. If it is determined to cancel the setting of the moving component 1202 as a non-transfer object, it means that the moving component 1203 as the object to be transferred has been transferred, that is, the moving component 1203 has entered the third track component 11013. Next, if the moving component 1202 as a non-transfer object needs to be transferred, the setting of the moving component 1202 as a non-transfer object is cancelled. To ensure that the moving component 1202 safely enters the second track component 11012, when the first track component 11011 and the second track component 11012 are docked, the moving component 1202 is controlled to enter the second track component.

[0078] In a possible implementation, the above-mentioned conveying control method includes at least one of the following steps:

[0079] S1601: When the first limit mark and the second limit mark are located on the second track component, the moving component as the object to be transferred enters the second track component and the second track component moves, control the moving component to move between the first limit mark and the second limit mark.

[0080] As Figure 4 and Figure 5 As shown in the scenario W1 of

[0081] S1602: When the first limit mark and the second limit mark are located on the second track component, set a third limit mark in the third area where the first track component is used to dock with the first area, and set a fourth limit mark in the fourth area where the third track component is used to dock with the second area, so as to prevent the moving component from passing through the third limit mark and the fourth limit mark when the second track component moves.

[0082] Figure 6 Shows another exemplary schematic diagram of the conveying track, as Figure 6As shown in scenario W3, when both the first limit mark 1301 and the second limit mark 1302 are located on the second track component 11012, the third region is located at the end I11 of the first track component 11011 facing the second track component 11012, and the fourth region is located at the end I31 of the third track component 11013 facing the second track component 11012. A third limit mark 1303 is provided in the third region of the first track component 11011 for docking with the first region, that is, the third limit mark 1303 is located at the end I11 of the first track component 11011; a fourth limit mark 1304 is provided in the fourth region of the third track component 11013 for docking with the second region, that is, the fourth limit mark 1304 is located at the end I31 of the third track component 11013.

[0083] If the moving direction of the moving component is the direction indicated by arrow T1, the first limit mark is 1301 and the second limit mark is 1302. After the second track component 1102 and the first track component 1101 are docked, the object to be transferred (not shown in the figure) enters the second track component 1102 through the first track component 1101, and the non-transfer object is blocked from passing through the first limit mark 1301. When the object to be transferred stays on the second track component 1102, the second track component 1102 moves towards the third track component 1103, and the end I11 of the first track component 1101 facing the second track component 1102 is suspended. The third limit mark 1303 will prevent the non-transfer object (not shown in the figure) moving along the first track component 1101 from passing through the third limit mark 1303, avoiding the non-transfer object from detaching from the first track component 1101. When the second track component 1102 and the third track component 1103 are docked, the object to be transferred passes through the second limit mark 1302 and enters the third track component 1103. At this time, the non-transfer object is allowed to pass through the first limit mark 1301. However, since the second track component 1102 is still moving towards the first track component 1101 and has not been docked with the first track component 1101, the end I11 of the first track component 1101I is still suspended, and the third limit mark 1303 still prevents the non-transfer object from passing through the third limit mark 1303, avoiding the non-transfer object from detaching from the first track component 1101 until the second track component 1102 and the first track component 1101 are completely docked and the non-transfer object is allowed to pass through the third limit mark 1303.

[0084] 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 track part 1103 and the second track part 1102 are butted, the object to be transferred (not shown in the figure) enters the second track part 1102 through the third track part 1103, and the non-transfer object is blocked from passing through the first limit mark 1302. After the object to be transferred stays in the second track part 1102, the second track part 1102 moves, and the end I31 of the third track part 1103 facing the second track part 1102 is suspended. The fourth limit mark 1304 will prevent the non-transfer object (not shown in the figure) moving along the third track part 1103 from passing through the fourth limit mark 1304, so as to prevent the non-transfer object from detaching from the third track part 1103. After the second track part 1102 and the first track part 1101 are butted, the object to be transferred passes through the second limit mark 1301 and enters the first track part 1101. At this time, the non-transfer object is allowed to pass through the first limit mark 1302. However, since the second track part 1102 is still moving towards the third track part 1103 and is not butted with the third track part 1103, the end I31 in the third track part 1103 is still suspended, and the fourth limit mark 1304 still prevents the non-transfer object from passing through the fourth limit mark 1304, so as to prevent the non-transfer object from detaching from the third track part 11013 until the second track part 1102 and the third track part 1103 are completely butted and the non-transfer object is allowed to pass through the fourth limit mark 1304.

[0085] S1603: When the first limit mark and the second limit mark are respectively located on the first track part and the third track part, a third limit mark is set in the fifth area where the second track part is used to dock with the first area, so as to prevent the moving part from passing through the third limit mark when the moving part as the object to be transferred enters the second track part and the second track part moves.

[0086] As Figure 6 shown in the scenario W4 in, when the first limit mark 1301 is located on the first track part 11011 and the second limit mark 1302 is located on the third track part 11013, the fifth area is located at the end I21 of the second track part 11012 facing the first track part 11011. A third limit mark 1303 is set in the fifth area where the second track part 11012 is used to dock with the first area, that is, the third limit mark 1303 is located at the end I21 of the second track part 11012.

[0087] As shown in scenario W4, the moving direction of the moving part is the direction indicated by the arrow. After the second track part 1102 and the first track part 1101 are docked, the object to be transferred (not shown in the figure) enters the second track part 1102 through the first limit mark 1301. When the object to be transferred stays on the second track part 1102, the second track part 1102 moves. Both the end I21 and the end I22 of the second track part 1102 facing the first track part 1101 are suspended. The third limit mark 1303 will prevent the object to be transferred from passing through the third limit mark 1303, avoiding the object to be transferred from detaching from the second track part 1102 at the end I21 of the second track part 1102.

[0088] S1604: When the first limit mark and the second limit mark are located on the first track part and the third track part respectively, a fourth limit mark is set in the sixth area where the second track part is used to dock with the second area, so as to prevent the moving part from passing through the fourth limit mark when the moving part as the object to be transferred enters the second track part and the second track part moves.

[0089] As Figure 6 shown in scenario W5, when the first limit mark 1301 is located on the first track part 11011 and the second limit mark 1302 is located on the third track part 11013, the sixth area is located at the end I22 of the second track part 11012 facing the third track part 11013. A fourth limit mark 1304 is set in the sixth area where the second track part 11012 is used to dock with the second area, that is, the fourth limit mark 1304 is located at the end I22 of the second track part 11012.

[0090] As shown in scenario W5, the moving direction of the moving part is the direction indicated by the arrow. After the second track part 1102 and the first track part 1101 are docked, the object to be transferred (not shown in the figure) enters the second track part 1102 through the first limit mark 1301. When the object to be transferred stays on the second track part 1102, the second track part 1102 moves. Both the end I21 and the end I22 of the second track part 1102 are suspended. The fourth limit mark 1304 will prevent the object to be transferred from passing through the fourth limit mark 1304, avoiding the object to be transferred from detaching from the second track part 1102 at the end I22 of the second track part 1102.

[0091] As Figure 6As shown in the scenario W6, the first limit mark 1301 is located on the first track component 11011, the second limit mark 1302 is located on the third track component 11013, the third limit mark 1303 is located at the end I21 of the second track component 11012, the fourth limit mark 1304 is located at the end I22 of the second track component 11012, and the moving direction of the moving component is the direction indicated by the arrow. After the second track component 1102 is docked with the first track component 1101, the object to be transferred (not shown in the figure) enters the second track component 1102 through the first limit mark 1301. When the object to be transferred stays on the second track component 1102, the second track component 1102 moves, and both the end I21 and the end I22 of the second track component 1102 are suspended. The third limit mark 1303 will prevent the object to be transferred from passing through the third limit mark 1303, and the fourth limit mark 1304 will prevent the object to be transferred from passing through the fourth limit mark 1304, so as to prevent the object to be transferred from detaching from the second track component 1102 at the end I21 and / or the end I22 of the second track component 1102.

[0092] In a possible implementation, setting the moving component that passes through the first limit mark and enters the second track component as the object to be transferred includes the following steps:

[0093] S1101: Set first attribute information for the moving component that passes through the first limit mark and enters the second track component, where the first attribute information is used to indicate that the moving component is the object to be transferred.

[0094] As Figure 1 shown, if the moving component 1203 passes through the first limit mark 1301 and enters the second track component 11012, then set the first attribute information for the moving component 1203. By reading the first attribute information, it can be determined that the moving component 1203 is currently set as the object to be transferred.

[0095] Setting at least part of the moving components located on the first track component as non-transfer objects includes the following steps:

[0096] S1201: Set second attribute information for at least part of the moving components located on the first track component, where the second attribute information is used to indicate that the moving component is a non-transfer object.

[0097] As Figure 1 shown, if the moving component 1203 is set with the first attribute information and it is determined that the number of moving components passing through the first limit mark 1301 reaches the quantity threshold, then set the second attribute information for the moving component 1202. By reading the second attribute information, it can be determined that the moving component 1202 is currently set as a non-transfer object.

[0098] When it is determined that there is a moving component that passes through the first limit mark and enters the second track component among the multiple moving components, first attribute information is set for the moving component that passes through the first limit mark and enters the second track component; and when it is determined that the number of moving components that pass through the first limit mark reaches a quantity threshold, second attribute information is set for at least part of the moving components located in the first track component. If it is necessary to temporarily change the identity of a certain moving component, it can be achieved by modifying its attribute information without having to reconfigure the entire system, thereby improving the flexibility of identity management of mobile components.

[0099] In a possible implementation, the above-mentioned conveying control method further includes the following steps:

[0100] S1301: Associating the first identification information of the mobile component to be transferred with the second identification information of the mobile component not to be transferred, until the mobile component to be transferred is released.

[0101] The identification information includes the unique device identification (Identifier, ID), name, serial number, etc. of the mobile component. In each transfer task, if there are mobile components set as objects to be transferred and mobile components set as non-transfer objects among multiple mobile components, the first identification information of the mobile components participating in this transfer task as objects to be transferred is associated with the second identification information of the mobile components as non-transfer objects, and then stored in the created association table. Subsequently, by reading the identification information of any mobile component in the association table, the identification information of other mobile components associated with the mobile component can be obtained, and not only the temporary identity of the mobile component in this transfer task can be obtained, but also the temporary identities of other mobile components associated with the mobile component in this transfer task can be obtained. In this way, the temporary identities of the mobile components participating in each transfer task can be obtained only by querying the association table, which is conducive to improving the precise management and control of the mobile components participating in each transfer task.

[0102] When the mobile component to be transferred is released, indicating that the transfer task is completed, the association relationship between the first identification information of the mobile component to be transferred in the transfer task and the second identification information of the mobile component as the non-transfer object is released. For example, the association relationship between the first identification information of the mobile component to be transferred in the transfer task and the second identification information of the mobile component as the non-transfer object is deleted from the association table, and wait for the association relationship between the first identification information of the mobile component to be transferred in the next transfer task and the second identification information of the mobile component as the non-transfer object to be stored in the association table.

[0103] In a possible implementation manner, the above-mentioned prevention of non-transfer objects from passing through the first limit mark includes at least one of the following steps:

[0104] S12021: When it is determined, based on the movement restriction duration information and the speed information of the non-transfer object, that the transfer object has not passed through the second limit mark when the non-transfer object moves to the first limit mark at the current speed, perform speed adjustment control on the non-transfer object.

[0105] S12022: When it is determined, based on the movement restriction duration information and the speed information of the non-transfer object, that the transfer object has passed through the second limit mark when the non-transfer object moves to the first limit mark at the current speed, perform speed limit control on the non-transfer object.

[0106] The movement restriction duration information is used to indicate the duration required for the transfer object to move from the first limit mark to the second limit mark, and this duration is represented by T0. T0 is data known before the method of the embodiment of the present application is executed, and T0 can be specifically calculated in advance or obtained through experiments in advance according to the task type performed by the transfer object between the first limit mark and the second limit mark.

[0107] The method for determining whether the transfer object has not passed through the second limit mark when the non-transfer object moves to the first limit mark at the current speed based on the movement restriction duration information and the speed information of the non-transfer object is as follows:

[0108] Method a: Obtain the current speed information V1 of the non-transfer object and the distance information D1 between the non-transfer object and the first limit mark, calculate the duration T1 required for the non-transfer object to move to the first limit mark according to D1 and V1. If T1 does not exceed T0, it is determined that the transfer object has not passed through the second limit mark when the non-transfer object moves to the first limit mark at V1, and then perform speed adjustment control on the non-transfer object to prevent the non-transfer object from passing through the first limit mark before the transfer object passes through the second limit mark. If T1 exceeds T0, it is determined that the transfer object has passed through the second limit mark when the non-transfer object moves to the first limit mark at V1, and then perform speed limit control on the non-transfer object so that the non-transfer object moves under the maximum speed limit to prevent the non-transfer object from passing through the first limit mark before the transfer object passes through the second limit mark.

[0109] Method b: Assume that the non-transfer object keeps V1 unchanged, calculate the moving distance D2 of the non-transfer object through V1 and T0, and determine whether the non-transfer object has passed the first limit mark after moving D2 according to the moving distance D2 and the position information of the first limit mark. If the non-transfer object has passed the first limit mark after moving D2, it is determined that the transfer object has not passed the second limit mark when the non-transfer object moves to the first limit mark at V1, and speed adjustment control is performed on the non-transfer object to prevent the non-transfer object from passing the first limit mark before the transfer object passes the second limit mark; if the non-transfer object has not passed the first limit mark after moving D2, it is determined that the transfer object has passed the second limit mark when the non-transfer object moves to the first limit mark at V1, and speed limit control is performed on the non-transfer object to make the non-transfer object move under the maximum speed limit to prevent the non-transfer object from passing the first limit mark before the transfer object passes the second limit mark.

[0110] Method c: Calculate the upper limit speed information V2 that can be adopted before the non-transfer object passes the first limit mark through V1, D1 and T0. If it is determined that V1 exceeds V2 and it is determined that the transfer object has not passed the second limit mark when the non-transfer object moves to the first limit mark at V1, speed adjustment control is performed on the non-transfer object to prevent the non-transfer object from passing the first limit mark before the transfer object passes the second limit mark. If V1 does not exceed V2 and it is determined that the transfer object has passed the second limit mark when the non-transfer object moves to the first limit mark at V1, speed limit control is performed on the non-transfer object to make the non-transfer object move under the maximum speed limit to prevent the non-transfer object from passing the first limit mark before the transfer object passes the second limit mark.

[0111] In a possible implementation manner, the above speed adjustment control for the non-transfer object includes at least one of the following steps:

[0112] S120211: Determine the target deceleration of the non-transfer object based on the speed information of the non-transfer object and the distance information between the non-transfer object and the first limit mark, and perform deceleration control on the non-transfer object according to the target deceleration.

[0113] S120212: Perform motion planning on the non-transfer object based on the speed information of the non-transfer object, the distance information between the non-transfer object and the first limit mark, the moving limit duration information and the target speed information corresponding to the first limit mark, and perform speed adjustment control on the non-transfer object according to the motion planning result.

[0114] It can be understood that when decelerating a non-transfer object, a variable deceleration motion with a changing acceleration or a uniform deceleration motion with a constant acceleration can be performed on the non-transfer object; when performing motion planning for the non-transfer object, the non-transfer object can perform motion planning with a changing acceleration or motion planning with a constant acceleration. For the sake of convenience in description, the embodiments of the present application use a constant acceleration to describe the control of the non-transfer object, but the solution provided by the present application does not exclude the possibility of using a changing acceleration to control the non-transfer object.

[0115] For S120211, substitute T0, D1, and V1 into the uniform deceleration formula: Obtain the minimum deceleration a min , and set the target deceleration of the non-transfer object to be greater than or equal to a min , after performing deceleration control on the non-transfer object based on the target deceleration, it can be ensured that the non-transfer object stops before reaching the first limit mark or exactly when reaching the first limit mark. Among them, when the non-transfer object stops before reaching the first limit mark, a distance can be reserved for the non-transfer object to accelerate; and when the non-transfer object stops when reaching the first limit mark, the time for the non-transfer object to pass through the first limit mark can be reduced.

[0116] For S120212, the first limit mark can be pre-configured with target speed information V3. Based on the speed information V1 of the non-transfer object, the distance information D1 between the non-transfer object 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, the target deceleration period T2, the target acceleration a2, the target acceleration period T3, and the target waiting period T4 of the non-transfer object. Among them, the target acceleration a2 and the target acceleration period T3 may be zero, and the target waiting period T4 may be zero.

[0117] Specifically, the results of motion planning for the non-transfer object can include three cases, namely, the case of only deceleration, the case of having deceleration and acceleration but no waiting time, and the case of having deceleration, acceleration, and waiting time.

[0118] As Figure 7 shown, Figure 7 shows a schematic curve diagram of speed adjustment control for the non-transfer object, where the abscissa represents time and the ordinate represents speed.

[0119] For the case 1 of only deceleration: As Figure 7As shown by curve Q1 in [reference], a1 is not 0, T2 is not 0, and V3 is not 0. When controlling the non-transfer object to decelerate from V1 to V3, the transfer object passes the second limit mark and the non-transfer object reaches the first limit mark. The non-transfer object is allowed to pass the first limit mark and thus continue to move at V3, thereby reducing the speed adjustment time for the non-transfer object. Among them, the shaded area Di represents the total distance traveled by the non-transfer object during deceleration, and Di is equal to the distance between the non-transfer object when it starts to decelerate and the first limit mark.

[0120] For case 2 with deceleration and acceleration but no waiting time: As Figure 7 shown by curve Q2 in [reference], a1 is not 0, T2 is not 0, a2 is not 0, V3 is not 0, and T3 is not 0. After controlling the non-transfer object to decelerate from V1 to 0, the non-transfer object is controlled to accelerate from 0 to V3. When the non-transfer object accelerates to V3, the transfer object passes the second limit mark and the non-transfer object reaches the first limit mark. The non-transfer object is allowed to pass the first limit mark and thus continue to move at V3, thereby reducing the speed adjustment time for the non-transfer object. Among them, the shaded area Di represents the total distance traveled by the non-transfer object during deceleration, the shaded area Dj represents the total distance traveled by the non-transfer object during acceleration, and the sum of Di and Dj is equal to the distance between the non-transfer object when it starts to decelerate and the first limit mark.

[0121] For case 3 with deceleration, acceleration, and waiting time: As Figure 7 shown by curve Q3 in [reference], 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 controlling the non-transfer object to decelerate from V1 to 0, the non-transfer object stops moving. After waiting for T4, the non-transfer object is controlled to accelerate from 0 to V3. When the non-transfer object accelerates to V3, the transfer object passes the second limit mark and the non-transfer object reaches the first limit mark. The non-transfer object is allowed to pass the first limit mark and thus continue to move at V3, thereby reducing the speed adjustment time for the non-transfer object. Among them, the shaded area Di represents the total distance traveled by the non-transfer object during deceleration, the shaded area Dj represents the total distance traveled by the non-transfer object during acceleration, and the sum of Di and Dj is equal to the distance between the non-transfer object when it starts to decelerate and the first limit mark.

[0122] It should be noted that for the convenience of description and understanding, the embodiments of the present application all assume that the moving component adopts uniform variable speed, that is, the acceleration and deceleration both remain unchanged. However, in actual implementation, the moving component can adopt non-uniform variable speed, that is, the acceleration and / or deceleration can change. The embodiments of the present application do not make specific limitations on this.

[0123] In a possible implementation manner, the above speed limit control for the non-transfer object includes at least one of the following steps:

[0124] S120221: Determine the speed limit information of the non-transfer object based on the speed information of the non-transfer object, the spacing information between the non-transfer object and the first limit mark, and the movement restriction duration information.

[0125] S120222: Control the maximum speed of the non-transfer object before it reaches the first limit mark according to the smaller value between the speed limit information and the target speed information corresponding to the first limit mark.

[0126] After calculating the speed limit information V2 of the non-transfer object through V1, D1, and T0, the smaller value between V2 and the target speed information V3 corresponding to the first limit mark is used as the maximum speed Vmax of the non-transfer object before it reaches the first limit mark, thereby restricting the speed of the non-transfer object before it reaches the first limit mark not to exceed the maximum speed Vmax, realizing the speed limit control of the non-transfer object, and ensuring that the object to be transferred has passed the second limit mark when the non-transfer object moves to the first limit mark.

[0127] The following provides a detailed description of a linear magnetic drive device provided by an embodiment of the present application.

[0128] Figure 8 The structural block diagram of a linear magnetic drive device provided by an embodiment of the present application is shown, as Figure 1 and Figure 8 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 120, and the moving components move along the conveying track 110. 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 is used to move between the first track component 11011 and the third track component 11013. The first track component 11011 and the third track component 11013 are fixedly arranged. The moving components sequentially pass through the first track component 11011, the second track component 11012, and the third track component 11013. That is, when the moving components move along the conveying track 110, they first pass through the first track component 11011, then pass through the second track component 11012, and then pass through the third track component 11013. As Figure 2 shown, Figure 2 part of the moving components is shown, that is, moving component 1201 - moving component 1203. The direction indicated by the arrow is the moving direction of the moving components. The moving component 1201 and the moving component 1202 are located on the first track component 11011, and the moving component 1203 is located on the second track component 11012.

[0129] The control device is configured to, based on the position information of each moving component, when it is determined that there is a moving component among the multiple moving components that has passed the first limit mark and entered the second track component, set the moving component that has passed the first limit mark and entered the second track component as the object to be transferred. When it is determined that the number of moving components passing the first limit mark reaches the quantity threshold, set at least some of the moving components located on the first track component as non-transfer objects and prevent the non-transfer objects from passing the first limit mark. The first limit mark is set in a first area where the second track component and the first track component are docked.

[0130] The linear magnetic drive device provided in the embodiment of the present application belongs to the same concept as the above-described conveying control method embodiment. Therefore, for the details not disclosed in the embodiment of the linear magnetic drive device, reference may be made to the description of the relevant embodiment of the above-described conveying control method, which will not be elaborated herein.

[0131] The embodiment of the present application adopts the technical solution of setting a first limit mark in the area where the movable second track component and the immovable first track component of the linear magnetic drive device are docked. Based on the position information of each moving component, when it is determined that there is a moving component among the multiple moving components that has passed the first limit mark and entered the second track component, set the moving component that has passed the first limit mark and entered the second track component as the object to be transferred. When it is determined that the number of moving components passing the first limit mark reaches the quantity threshold, set at least some of the moving components located on the first track component as non-transfer objects and prevent the non-transfer objects from passing the first limit mark. By controlling the movement of each moving component through the first limit mark, after the object to be transferred passes the first limit mark, prevent the non-transfer objects from reaching the end of the track component where the first limit mark is located, thereby avoiding the interference of the non-transfer objects to the spatial transfer of the object to be transferred and also avoiding the risk of the non-transfer objects falling, and improving the conveying safety.

[0132] Figure 9 The structural block diagram of an automated conveying system provided by the embodiment of the present application is shown, as Figure 1 and Figure 9As 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, a moving component 120 for loading objects, and a control device 130. There are multiple moving components 120, and the moving components move along the conveying track 110. 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 is used to move between the first track component 11011 and the third track component 11013. The first track component 11011 and the third track component 11013 are fixedly arranged. The moving components sequentially pass through the first track component 11011, the second track component 11012, and the third track component 11013. That is, when the moving components move along the conveying track 110, they first pass through the first track component 11011, then pass through the second track component 11012, and then pass through the third track component 11013. As Figure 2 shown, Figure 2 Part of the moving components are shown, that is, moving component 1201 - moving component 1203. The direction indicated by the arrow is the moving direction of the moving components. Moving component 1201 and moving component 1202 are located on the first track component 11011, and moving component 1203 is located on the second track component 11012.

[0133] The display device is used to display a simulation interface. The simulation interface includes a moving model, a track model, and first limit marks distributed along the track model. Among them, the moving model is used to simulate the moving components, the track model is used to simulate the conveying track, and the track model includes first to third sub-models. The first sub-model is used to simulate the first track component, the second sub-model is used to simulate the second track component, and the third sub-model is used to simulate the third track component.

[0134] The shape, quantity, and other information of the moving components in the real space correspond to those of the moving component models in the simulation interface. The shape, quantity, and other information of the conveying track in the real space correspond to those of the track model in the simulation interface. As Figure 2 shown, assuming there are two moving components and one conveying track, and the conveying track includes a first track component, a second track component, and a third track component, then there are three moving component models, one track model, and the track model includes a first sub-model, a second sub-model, and a third sub-model. The limit marks distributed along the conveying track are virtual marks that cannot be seen by the human eye in the real space but can be seen in the simulation interface.

[0135] The control device is configured to, based on the position information of each moving component, when it is determined that there is a moving component among the multiple moving components that passes through the first limit mark and enters the second track component, set the moving component that passes through the first limit mark and enters the second track component as the object to be transferred. When it is determined that the number of moving components passing through the first limit mark reaches the quantity threshold, set at least some of the moving components located on the first track component as non-transfer objects, and prevent the non-transfer objects from passing through the first limit mark. The first limit mark is set in a first area where the second track component and the first track component are docked.

[0136] The automated conveying system provided by the embodiments of the present application belongs to the same concept as the above-described conveying control method embodiments. Therefore, for the details not disclosed in the embodiments of the automated conveying system, reference may be made to the descriptions of the relevant embodiments of the above-described conveying control method, which will not be elaborated here.

[0137] In the embodiments of the present application, a first limit mark is set in the area where the movable second track component of the linear magnetic drive device is docked with the immovable first track component. Based on the position information of each moving component, when it is determined that there is a moving component among the multiple moving components that passes through the first limit mark and enters the second track component, set the moving component that passes through the first limit mark and enters the second track component as the object to be transferred. When it is determined that the number of moving components passing through the first limit mark reaches the quantity threshold, set at least some of the moving components located on the first track component as non-transfer objects, and prevent the non-transfer objects from passing through the first limit mark. On the one hand, through the first limit mark, the movement of each moving component is controlled. After the object to be transferred passes through the first limit mark, the non-transfer objects are prevented from reaching the end of the track component where the first limit mark is located, thereby avoiding the interference of the non-transfer objects to the spatial transfer of the object to be transferred and also avoiding the risk of the non-transfer objects falling, improving the conveying safety. On the other hand, by displaying the track model of the simulated conveying track in the simulation interface of the display device and setting the limit mark 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 conveying track. Using the simulation interface provided by the display device, the user can directly perform operations such as adding, deleting, or moving the limit mark on the interface. This intuitive operation method makes the modification of the limit mark very simple, and the limit mark can be adjusted without stopping the machine, making the adjustment of the limit mark more intuitive, flexible, and efficient, which is beneficial to improving the conveying efficiency of the automated conveying system.

[0138] Figure 10 shows a schematic structural diagram of an electronic device provided by the embodiments of the present application, as Figure 10As shown, the electronic device 700 includes: a memory 701 and a processor 702. Among them, an executable program code 7011 is stored in the memory 701, and the processor 702 is configured to call and execute the executable program code 7011 to perform a conveying control method.

[0139] In this embodiment, the electronic device can be divided into functional modules according to the above method examples. For example, each functional module can be corresponding, 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 illustrative, only a logical function division, and there can be other division methods in actual implementation.

[0140] The electronic device provided in this embodiment is used to execute the above-mentioned conveying control method, so the same effects as the above implementation method can be achieved.

[0141] This embodiment also provides a computer-readable storage medium. Computer program code is stored in the computer-readable storage medium. When the computer program code runs on a computer, the computer is caused to execute the above-related method steps to implement a conveying control method in the above embodiment.

[0142] This embodiment also provides a computer program product. When the computer program product runs on a computer, the computer is caused to execute the above-related steps to implement a conveying control method in the above embodiment.

[0143] Through the description of the above embodiments, those skilled in the art can understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0144] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of modules or units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0145] The above content is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to 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 comprises a conveying track and a plurality of moving parts for loading objects, the conveying track comprises a first track part, a second track part and a third track part, the second track part is used to move between the first track part and the third track part, the first track part and the third track part are fixedly arranged, and the moving part passes through the first track part, the second track part and the third track part in sequence; The conveying control method comprises: Based on the position information of each of the moving parts, when it is determined that there is a moving part that passes through the first limit mark and enters the second track part among the multiple moving parts, the moving part that passes through the first limit mark and enters the second track part is set as an object to be transferred, wherein the first limit mark is set at a first area where the second track part and the first track part are docked; When it is determined that the number of moving parts passing the first limit mark reaches a number threshold, at least part of the moving parts located on the first track member are set as non-transfer objects, and the non-transfer objects are prevented from passing the first limit mark.

2. The conveying control method according to claim 1, characterized in that: The delivery control method further includes at least one of the following: After the second track component is docked with the third track component, controlling the moving component to be transferred to leave the second track component and enter the third track component; When it is determined that the moving component as the object to be transferred passes through the second limit mark, the setting of the moving component as the object to be transferred is released, wherein the second limit mark is set in the second area where the second rail component and the third rail component are docked.

3. The conveying control method according to claim 2, characterized in that: The conveying control method further includes any one of the following: After it is determined that the setting of the movable component as the object to be transferred is released and the first track component and the second track component are docked, allowing the movable component as a non-transfer object to pass through the first limit mark and enter the second track component; After determining that the movable component as a non-transfer object is to be released, releasing the setting of the movable component as a non-transfer object, and after determining that the first track component and the second track component are docked, controlling the movable component to enter the second track component.

4. The conveying control method according to claim 2, characterized in that: The delivery control method further includes at least one of the following: When the first limit mark and the second limit mark are located at the second track component, a moving component as an object to be transferred enters the second track component and the second track component moves, controlling the moving component to move between the first limit mark and the second limit mark; In the case where the first limit mark and the second limit mark are located on the second rail component, a third limit mark is set in a third area of ​​the first rail component used for docking with the first area, and a fourth limit mark is set in a fourth area of ​​the third rail component used for docking with the second area, so as to prevent the moving component from passing through the third limit mark and the fourth limit mark when the second rail component moves; In the case where the first limit mark and the second limit mark are located on the first rail component and the third rail component respectively, the third limit mark is set in the fifth area of ​​the second rail component for docking with the first area, so as to prevent the moving part from passing through the third limit mark when the moving part as the object to be transferred enters the second rail component and the second rail component moves; When the first limit mark and the second limit mark are respectively located at the first rail component and the third rail component, the fourth limit mark is set in the sixth area of ​​the second rail component for docking with the second area to prevent the moving component from passing through the fourth limit mark when the moving component to be transferred enters the second rail component and the second rail component moves.

5. The conveying control method according to claim 1, characterized in that: The step of setting the moving component that passes through the first limit mark and enters the second track component as the object to be transferred comprises: Setting first attribute information for the moving component that passes through the first limit mark and enters the second track component, wherein the first attribute information is used to indicate that the moving component is an object to be transferred; The step of setting at least part of the moving parts located on the first track part as non-transfer objects comprises: Second attribute information is set for at least part of the moving component located on the first track component, wherein the second attribute information is used to indicate that the moving component is a non-transfer object.

6. The conveying control method according to claim 2, characterized in that: The conveying control method further includes: The first identification information of the moving part as the object to be transferred is associated with the second identification information of the moving part as the non-transfer object until the moving part as the object to be transferred is released.

7. The conveying control method according to claim 2, characterized in that: The preventing the non-transferred object from passing through the first limit mark includes at least one of the following: Based on the movement restriction time information and the speed information of the non-transferring object, when it is determined that the object to be transferred does not pass through the second limit mark when the non-transferring object moves to the first limit mark at the current speed, speed adjustment control is performed on the non-transferring object, wherein the movement restriction time information is used to indicate the time required for the object to be transferred 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 non-transferring object that the object to be transferred has passed the second limit mark when the non-transferring object moves to the first limit mark at the current speed, speed limit control is performed on the non-transferring object.

8. The conveying control method according to claim 7, characterized in that: The speed adjustment control of the non-transfer object includes at least one of the following: Determine a target deceleration of the non-transferring object based on the speed information of the non-transferring object and the distance information between the non-transferring object and the first limit mark, and perform deceleration control on the non-transferring object according to the target deceleration; Based on the speed information of the non-transferring object, the distance information between the non-transferring object 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 non-transferring object, and according to the motion planning result, speed adjustment control is performed on the non-transferring object.

9. The conveying control method according to claim 7, characterized in that: The performing speed limit control on the non-transfer object includes: Determining the upper speed limit information of the non-transferring object based on the speed information of the non-transferring object, the distance information between the non-transferring object and the first limit mark, and the movement restriction time information; The maximum speed of the non-transferred object 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.

10. A linear magnetic drive device, characterized in that: The linear magnetic drive device comprises: Multiple moving parts for loading objects, A conveying track, comprising a first track component, a second track component and a third track component, wherein 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, and the moving component passes through the first track component, the second track component and the third track component in sequence; A control device, for setting the moving parts that pass through the first limit mark and enter the second track component as objects to be transferred based on the position information of each moving part, when it is determined that there is a moving part that passes through the first limit mark and enters the second track component among the multiple moving parts, and for setting at least part of the moving parts located in the first track component as non-transfer objects and preventing the non-transfer objects from passing through the first limit mark when it is determined that the number of moving parts that pass through the first limit mark reaches a quantity threshold, wherein the first limit mark is set in the first area where the second track component and the first track component are docked.

11. An automated conveying system, characterized in that: The automated conveying system comprises: A linear magnetic drive device, comprising a conveying track and a plurality of moving parts for loading objects, wherein the conveying track comprises a first track part, a second track part and a third track part, wherein the second track part is used to move between the first track part and the third track part, wherein the first track part and the third track part are fixedly arranged, and the moving part passes through the first track part, the second track part and the third track part in sequence; A display device, used for displaying a simulation interface, wherein the simulation interface includes a mobile model, a track model, and a first limit mark distributed along the track model, wherein the mobile model is used to simulate the mobile component, and the track model is used to simulate the conveying track; A control device, for setting the moving parts that pass through the first limit mark and enter the second track component as objects to be transferred based on the position information of each moving part, when it is determined that there is a moving part that passes through the first limit mark and enters the second track component among the multiple moving parts, and for setting at least part of the moving parts located in the first track component as non-transfer objects and preventing the non-transfer objects from passing through the first limit mark when it is determined that the number of moving parts that pass through the first limit mark reaches a quantity threshold, wherein the first limit mark is set in the first area where the second track component and the first track component are docked.

12. 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 electronic device executes the transport control method as described in any one of claims 1 to 9.

13. 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 9 is implemented.

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