Conveyor control methods, linear magnetic drive equipment, systems, electronic equipment and media

Abstract

This application provides a conveying control method, a linear magnetic drive device, a system, an electronic device, and a medium, relating to the field of automated conveying. The method includes setting a first limit mark in the area where a movable second track component of the linear magnetic drive device docks with a non-movable first track component. Based on the position information of each moving component, when it is determined that a moving component has passed the first limit mark and entered the second track component, this moving component is set as a transfer object. When it is determined that the number of moving components that have passed the first limit mark reaches a 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 the first limit mark. This application can reduce the conveying risk caused by erroneous movement of moving components and improve conveying safety.

Description

Technical Field

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

[0002] In linear magnetic drive systems, movable track components reciprocate and connect with multiple fixed track components spaced apart in multiple directions, enabling spatial transfer of moving parts. For ease of description, the moving parts transferred by the movable track components can be called transfer moving parts, while those moving along the fixed track components can be called non-transfer moving parts. If control is inadequate, non-transfer moving parts may move incorrectly, interfering with the transfer process by the movable track components. This could occur if a non-transfer moving part moves onto a movable track component or collides with it, leading to transfer interruption or failure, thus affecting transport efficiency. Summary of the Invention

[0003] This 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 and the immovable track component of the linear magnetic drive device dock, this application can prevent non-transferable objects 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 the first limit mark. This not only avoids non-transferable objects interfering with the spatial transfer of the object to be transferred, but also avoids the risk of non-transferable objects falling, thus improving conveying safety.

[0004] In a first aspect, a conveying control method is provided, applied to a linear magnetic drive device. The linear magnetic drive device includes a conveying track and multiple moving parts 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 parts 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 part, when it is determined that there are moving parts among the multiple moving parts that have passed through a first limit mark and entered the second track component, setting the moving parts that have passed through the first limit mark and entered the second track component as objects to be transferred, wherein the first limit mark is set in a first area where the second track component and the first track component dock; when it is determined that the number of moving parts that have passed through the first limit mark reaches a number threshold, setting at least some of the moving parts located on the first track component as non-transferable objects and preventing the non-transferable objects from passing through the first limit mark.

[0005] Based on the above description, this application embodiment adopts a method of setting a first limiting mark in the area where the movable second track component of the linear magnetic drive device docks 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 that has passed the first limiting mark and entered the second track component, the moving component that has passed the first limiting mark and entered the second track component is set as the object to be transferred. When it is determined that the number of moving components that have passed the first limiting mark reaches a certain threshold, at least some of the moving components located on the first track component are set as non-transferable objects, and the non-transferable objects are prevented from passing the first limiting mark. The first limiting mark is used to control the movement of each moving component. After the object to be transferred passes the first limiting mark, the non-transferable objects are prevented from reaching the end of the track component where the first limiting mark is located. This avoids the non-transferable objects from interfering with the spatial transfer of the object to be transferred, and also avoids the risk of the non-transferable objects falling, thus improving the safety of transportation.

[0006] In a second aspect, a linear magnetic drive device is provided, the linear magnetic drive device comprising:

[0007] Multiple moving parts for loading objects,

[0008] 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 component passes through the first track component, the second track component, and the third track component in sequence.

[0009] A control device is configured to, based on the position information of each moving component, when determining that there is a moving component among a plurality of moving components that has passed through the first limit mark and entered the second track component, set the moving component that has passed through the first limit mark and entered the second track component as a target to be transferred; when determining that the number of moving components that have passed through the first limit mark reaches a number threshold, set at least some of the moving components located on the first track component as non-transferable targets and prevent the non-transferable targets from passing through the first limit mark, wherein the first limit mark is set in a first area where the second track component and the first track component dock.

[0010] Thirdly, an automated conveying system is provided, the automated conveying system comprising:

[0011] A linear magnetic drive device includes a conveyor track and multiple moving parts for loading objects. The conveyor track includes 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. The moving parts pass through the first track part, the second track part, and the third track part in sequence.

[0012] The display device is used to display the simulation interface, which includes a moving model, a track model, and first limit markers distributed along the track model. The moving model is used to simulate moving parts, and the track model is used to simulate the transport track.

[0013] A control device is configured to, based on the position information of each moving component, when it is determined that among a plurality of moving components there is a moving component that has passed through the first limit mark and entered the second track component, set the moving component that has passed through the first limit mark and entered the second track component as a target to be transferred; when it is determined that the number of moving components that have passed through the first limit mark reaches a number threshold, set at least some of the moving components located on the first track component as non-transferable targets and prevent the non-transferable targets from passing through the first limit mark, wherein the first limit mark is set in a first area where the second track component and the first track component dock.

[0014] Fourthly, 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, causing the electronic device to perform the transport control method in the first aspect or any possible implementation thereof.

[0015] Fifthly, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the transport control method described in the first aspect or any possible implementation thereof.

[0016] In a sixth aspect, a computer-readable storage medium is provided, which stores computer program code that, when executed on a computer, causes the computer to perform the transport control method described in the first aspect or any possible implementation thereof. Attached Figure Description

[0017] Figure 1 A schematic flowchart of a conveying control method provided in an embodiment of this application is shown;

[0018] Figure 2 An exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of this application is shown;

[0019] Figure 3 This illustration shows an assembly diagram of a single track component and a single moving component provided in an embodiment of this application;

[0020] Figure 4 Another exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of this application is shown;

[0021] Figure 5 An exemplary schematic diagram of the transport track is shown;

[0022] Figure 6 Another exemplary schematic diagram of the transport track is shown;

[0023] Figure 7 A schematic diagram of the speed adjustment control for a non-transfer object is shown;

[0024] Figure 8 This paper shows a structural block diagram of a linear magnetic drive device according to an embodiment of the present application;

[0025] Figure 9 This paper shows a structural block diagram of an automated conveying system provided in an embodiment of this application;

[0026] Figure 10 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0027] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0028] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0029] In linear magnetic drive systems, movable track components reciprocate and connect with multiple fixed track components spaced apart in multiple directions, enabling spatial transfer of moving parts. For ease of description, the moving parts transferred by the movable track components can be called transfer moving parts, while those moving along the fixed track components can be called non-transfer moving parts. If control is inadequate, non-transfer moving parts may move incorrectly, interfering with the transfer process by the movable track components. This could occur if a non-transfer moving part moves onto a movable track component or collides with it, leading to transfer interruption or failure, thus affecting transport efficiency.

[0030] Therefore, erroneous movement of moving parts increases the risk of transport failure. To address this, this application provides a transport control method, a linear magnetic drive device, a system, electronic equipment, and a medium that helps reduce the transport risk caused by erroneous movement of moving parts.

[0031] The following is a detailed description of a conveying control method provided in the embodiments of this application.

[0032] Figure 1 A schematic flowchart of a conveying control method provided in an embodiment of this application is shown. Figure 2 This illustration shows an exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of this application. Depending on the actual situation, Figure 2 This can be a front view, top view, or side view of a linear magnetic drive device. For example... Figure 1 and Figure 2 As shown, the conveying control method provided in this embodiment is applied to a 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 moves 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 pass through the first track component 11011, the second track component 11012, and the third track component 11013 in sequence. That is, when the moving parts move along the conveying track 110, they first pass through the first track component 11011, then through the second track component 11012, and then through the third track component 11013. Figure 2 As shown, Figure 2 Parts of the moving parts are shown, namely moving parts 1201-1203. The arrows indicate the direction of movement of the moving parts. Moving parts 1201 and 1202 are located on the first track part 11011, and moving part 1203 is located on the second track part 11012.

[0033] In practical applications, one of the track component and the moving component of the conveyor track is equipped with an excitation component. When energized, the excitation component generates a variable magnetic field. The other component is equipped with a magnetic component, which interacts with the variable magnetic field generated by the energized excitation component to produce an electromagnetic force acting on the moving component, thereby driving the moving component to move along the conveyor track. The excitation component can be based on a coil, and the magnetic component can be understood as an object possessing a magnetic field, such as a permanent magnet or a magnetic conductor. The track component can also be called a stator component, winding component, etc., and the moving component can also be simply called a moving component.

[0034] The conveying control method provided in this application embodiment may include the following steps:

[0035] S110: Based on the position information of each moving component, when it is determined that there is a moving component among multiple moving components that has passed the first limit mark and entered the second track component, the moving component that has passed the first limit mark and entered the second track component is set as the object to be transferred.

[0036] S120: When it is determined that the number of moving parts that have passed the first limit mark has reached a number threshold, at least some of the moving parts located on the first track component are set as non-transfer objects, and the non-transfer objects are prevented from passing the first limit mark.

[0037] The first limiting mark is disposed in the first area where the second track component and the first track component dock. The first limiting mark can be a physical mark or a virtual mark formed by program execution. When the first limiting mark is a physical mark, it can be deployed on or around the surface of the transport track and is visible to the human eye in real space. When the first limiting mark is a virtual mark, the user configures it on or around the surface of the simulated transport track model (i.e., the track model) through configuration operations; it is not visible to the human eye in real space but can be seen in virtual space. Furthermore, for ease of observation, the first limiting mark can be represented by linear, circular, polygonal, or other shapes and patterns; this application does not impose specific limitations.

[0038] The first region may be located at the end of the second track component facing the first track component, i.e., the first limiting mark is located on the second track component; alternatively, the first region may also be located at the end of the first track component facing the second track component, i.e., the first limiting mark is located on the first track component. In an exemplary embodiment, as... Figure 2 As shown, the first region is located at the end I21 of the second track component 11012 facing the first track component 11011, that is, the first limiting mark is located on the second track component 11012. Figure 2 The circular pattern 1301 in the diagram represents the first limit mark.

[0039] The non-transferable object is the moving component located after the object to be transferred. The order of multiple moving components is determined by the direction of movement. For example, such as... Figure 2 As shown, according to the direction of movement, the moving part 1203 is in front of the moving part 1202, and the moving part 1202 is in front of the moving part 1201.

[0040] The moving parts that have passed the first limit mark and entered the second track component are set as objects to be transferred. Then, the number of moving parts that have passed the first limit mark is counted. When the number of moving parts that have passed the first limit mark reaches a threshold (the threshold value can be 1 or a positive integer greater than 1), at least some of the moving parts located in the first track component are set as non-transferable objects. That is, a portion of the moving parts located in the first track component are set as non-transferable objects, or all the moving parts located in the first track component are set as non-transferable objects. The moving parts that have passed the first limit mark may have already entered the second track component or may still be located in the first track component.

[0041] Once the second track component has docked with the other track components, the object to be transferred will be moved to the other track component that has docked with the second track component. Objects not to be transferred will remain in place and will not be moved temporarily. Figure 2 As shown, for example, moving part 1203 is the object to be transferred, and moving parts 1201 and 1202 are the objects not to be transferred. After the second track part 11012 moves and docks with the third track part 11013, moving part 1203 will leave the second track part 11012 and enter the third track part 11013, transferring moving part 1203 to the third track part 11013. At the same time, moving parts 1201 and 1202 are controlled to temporarily stay on the first track part 11011.

[0042] It should be noted that multiple moving parts can be allowed to pass through the first limit marker at a time, meaning multiple objects to be transferred can exist. The specific number of moving parts allowed to pass through the first limit marker is related to the type of transfer task to be performed after the moving parts pass through the first limit marker. For example, if the moving parts need to perform loading, unloading, or processing tasks after passing through the first limit marker, multiple moving parts can be allowed to pass through the first limit marker. After passing through the first limit marker, all moving parts are set as objects to be transferred, so that multiple objects to be transferred are transferred together, thereby improving conveying efficiency. A preset quantity threshold can be set for the first limit marker. When the number of objects to be transferred passing through the first limit marker at a time exceeds the quantity threshold, the moving parts after the last object to be transferred are set as non-transferable objects, thereby limiting the number of moving parts allowed to pass through the first limit marker at a time and preventing subsequent moving parts from passing through the first limit marker. In this embodiment, "not exceeding" can be understood as less than or less than or equal to, and "exceeding" can be understood as greater than or equal to, and this embodiment does not impose specific restrictions in this regard.

[0043] It is understandable that the starting points of each moving component may be the same or different. Taking the starting position of the moving component after power-on as the starting point, if the starting positions of each moving component after power-on are different, then the starting points of each moving component can be different; if each moving component moves sequentially to a designated position to wait for departure, then the starting points of each moving component can be the same.

[0044] While multiple moving parts are moving along the conveyor track, the position information of each moving part is acquired in real time. This position information allows for the localization of the movement of each moving part, thereby determining whether any moving parts have passed the first limit marker and entered the second track component. If, based on the position information, it is determined that a moving part has passed the first limit marker and entered the second track component, this moving part is designated as a transfer target. When the number of moving parts passing the first limit marker reaches a threshold, at least some moving parts located on the first track component are designated as non-transfer targets, and the non-transfer targets are prevented from passing the first limit marker. The transfer targets can perform tasks such as cornering, waiting for position information and identification information to be bound, spatial transfer via movable track components, and cooperating with external operating equipment after passing the first limit marker and entering the second track component and being transferred to other track components.

[0045] like Figure 2 As shown, based on the position information of moving parts 1201 to 1203, after determining that only moving part 1203 passes the first limit mark 1301 and enters the second track part 11012, moving part 1203 is set as a transfer object. The number of transfer objects is 1. For example, if the number threshold is 1, then moving parts 1201 and 1202 after moving part 1203 are set as non-transfer objects, thereby preventing non-transfer objects 1201 and 1202 from passing the first limit mark 1301.

[0046] This application embodiment employs a first limiting mark set in the area where the movable second track component of the linear magnetic drive device docks with the immovable first track component. Based on the position information of each moving component, when it is determined that a moving component has passed the first limiting mark and entered the second track component, the moving component that has passed the first limiting mark and entered the second track component is set as the object to be transferred. When it is determined that the number of moving components that have passed the first limiting mark reaches a certain threshold, at least some of the moving components located on the first track component are set as non-transferable objects, and the non-transferable objects are prevented from passing the first limiting mark. The first limiting mark controls the movement of each moving component. After the object to be transferred passes the first limiting mark, the non-transferable objects are prevented from reaching the end of the track component where the first limiting mark is located. This avoids the non-transferable objects from interfering with the spatial transfer of the object to be transferred, and also avoids the risk of the non-transferable objects falling, thus improving the safety of transportation.

[0047] It is understandable that the conveyor track, in addition to the first track component, the second track component, and the third track component, may also include other track components and other parts, such as circuit boards, guide rails, and bases. The moving parts may also include other parts, such as circuit boards, guide components, and support components. For example, Figure 3 This illustration shows an assembly diagram of a single track component and a single moving component provided in an embodiment of this application. The first track component 1101 and the moving component 1201 can be assembled according to... Figure 3 Assembly is performed in the manner described above.

[0048] In one possible implementation, a second limiting mark is provided along the second region where the second track component and the third track component dock. That is, the second limiting mark is located in the second region where the second track component and the third track component dock. The second region can be located at the end of the second track component facing the third track component, i.e., the second limiting mark is located on the second track component; alternatively, the second region can also be located at the end of the third track component facing the second track component, i.e., the second limiting mark is located on the third track component. The second limiting mark can be a physical mark or a virtual mark formed by program execution. The specific setting of the second limiting mark can refer to the specific setting of the first limiting mark described above, and will not be repeated here.

[0049] In one exemplary embodiment, such as Figure 4 As shown, Figure 4 This illustration shows another exemplary schematic diagram of a linear magnetic drive device provided in an embodiment of this application. The second region is located at the end I22 of the second track component 11012 facing the third track component 11013, that is, the second limiting mark is located on the second track component 11012. Figure 4The circular pattern 1302 represents a second limiting mark. There is a gap between the first limiting mark 1301 and the second limiting mark 1302, and at least one moving part can be accommodated between them. The gap between the first and second limiting marks needs to be set based on spacing requirements, including ensuring that the non-transfer object does not interfere with the object to be transferred and the second track component; for example, ensuring that the non-transfer object does not collide with the object to be transferred and the second track component.

[0050] The following provides a detailed explanation of the setting of the first and second limit marks.

[0051] Figure 5 An exemplary schematic diagram of a conveyor track is shown, such as Figure 5 As shown in scenario W1, the conveyor track 110 ( Figure 5 (Not shown) 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 arranged alternately, 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 region is located at end I21 of the second track component 11012, and the second region is located at end I22 of the second track component 11012, that is, the first limit mark 1301 is located at end I21 of the second track component 11012, and the second limit mark 1302 is located at end I22 of the second track component 11012. Scenario W1 illustrates the process of dynamic changes in the transport track. The arrows indicate the direction of movement of the moving components. The dynamic changes in the transport track include the state at time t1 to the state at time t5, where t represents the time axis. Referring to the time axis, time t1 is earlier than time t2, time t3 is earlier than time t2, and so on.

[0052] As shown in scenario W1, at time t1, assuming that moving part 1203 is ahead of moving part 1202, other moving parts (not shown in the figure) may exist behind moving part 1202. Both moving part 1203 and moving part 1202 are located on the first track part 11011. The second track part 11012 moves closer to the first track part 11011 and docks with it.

[0053] Subsequently, after the second track component 11012 and the first track component 11011 have completed docking, at least the moving component 1203 is controlled to move toward the second track component 11012. Optionally, the moving component 1202 can also be controlled to move toward the second track component 11012.

[0054] At time t2, the second track component 11012 is docked with the first track component 11011. The moving component 1203 has entered the second track component 11012 after passing the first limit mark 1301. 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 the first limit mark 1301 is 1. That is, the number of moving components passing the first limit mark 1301 reaches the quantity threshold. The moving component 1202 is set as the non-transfer object and is prevented from passing the first limit mark 1301, thereby ensuring that the moving component 1202 is still located in the first track component 11011 and avoiding the moving component 1202 from interfering with the spatial transfer of the moving component 1203.

[0055] Subsequently, after confirming that the moving component 1203 has reached the second track component 11012, the second track component 11012 is controlled to move towards the third track component 11013. During the movement of the second track component 11012, in order to avoid transportation risks, the movement range of the moving component 1203 is restricted between the first limit mark 1301 and the second limit mark 1302 by using the first limit mark 1301 and the second limit mark 1302.

[0056] At time t3, the second track component 11012 and the third track component 11013 have completed docking. The moving component 1203 is still set as the object to be transferred, and the moving component 1202 is still set as the non-transferable object. The moving component 1202 is located at the first track component 11011, and the moving component 1203 is located at the second track component 11012.

[0057] Subsequently, the control moving part 1203 moves from the second track part 11012 to the third track part 11013, and after the moving part 1203 passes the second limit mark 1302, the moving part 1202 is allowed to pass the first limit mark 1301. However, after determining that the second track part 11012 and the first track part 11011 are not docked, the control moving part 1202 is positioned on the first track part 11011.

[0058] At time t4, the moving part 1203 has entered the third track part 11013, and the second track part 11012 is docked with the third track part 11013. After determining that the second track part 11012 is in an unloaded state (i.e. no moving part is located in the second track part 11012), the second track part 11012 moves towards the first track part 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, thereby passing through the first limit mark 1301 and entering the second track component 11012.

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

[0061] By setting a first limit mark and a 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 interference from non-transfer objects with the spatial transfer of the object to be transferred, and limiting the range of movement of the object to be transferred during the transfer process, improving the safety of the transport, and ensuring that the object to be transferred is successfully transferred.

[0062] like Figure 5 As shown in scenario W2, if the first region is located at the end I11 of the first track component 11011 and the second region is located at the end I31 of the third track component 11013, that is, the first limit mark 1301 is located at the end I11 of the first track component 11011 and the second limit mark 1302 is located at the end I31 of the third track component 11012.

[0063] When the second track component 11012 docks with the first track component 11011, the moving component 1203 and the moving component 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. Once the moving part 1203 has passed the first limit marker 1301 and entered the second track part 11012, the moving part 1203 is set as the object to be transferred. If the quantity threshold is 1, then the number of moving parts that have passed the first limit marker 1301 is 1. That is, the number of moving parts that have passed the first limit marker 1301 has reached the quantity threshold, and the moving part 1202 is set as the non-transferable object. The moving part 1202 is prevented from passing the first limit marker 1301, so that the moving part 1202 remains in the first track part 11011. Furthermore, since the first limit marker 1301 is set on the first track part 11011, the distance between the moving part 1202 and the second track part 11012 is larger, which can better prevent the moving part 1202 from interfering with the spatial transfer of the moving part 1203. In addition, since the first limit marker 1301 is set on the first track part 11011, the distance between the moving part 1202 and the first track part 11011 is larger, thereby reducing the risk of the non-transferable object falling.

[0064] After the second track component 11012 mates 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 the second limit mark 1302. At this time, after determining that the second track component 11012 and the first track component 11011 are not mates, the moving component 1202 is controlled to be positioned on the first track component 11011.

[0065] When the second track component 11012 re-engages with the first track component 11011, the control moving component 1202 passes the first limit mark 1301 and enters the second track component 11012. After entering the second track component 11012, the moving component 1202 is set as the object to be transferred. When the second track component 11012 re-engages with the third track component 11013, the moving component 1202 passes 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 the second limit mark 1302.

[0066] By setting a first limit mark along a fixed first track component and a second limit mark along a fixed third track component, after the object to be transferred passes the first limit mark, the non-transfer object can be prevented from reaching the end where the first limit mark is located. This avoids the non-transfer object from interfering with the spatial transfer of the object to be transferred, and also avoids the risk of the non-transfer object falling, thus improving the safety of the transport. The first and second limit marks remain fixed, which can effectively reduce the amount of computational data.

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

[0068] S1401: After the second track component docks with the third track component, control the moving component, which is the object to be transferred, to leave the second track component and enter the third track component.

[0069] like Figure 3 As shown, when the second track component 11012 docks with the first track component 11011, the moving component 1203 enters the second track component 11012 via the first limit mark 1301, and the moving component 1203 is set as the object to be transferred. When the second track component 11012 docks with the third track component 11013, the object to be transferred 1203 can safely leave the second track component 11012. Then, the object to be transferred 1203 is controlled to leave the second track component 11012 and enter the third track component 11013, realizing the timely and safe transfer of the moving component, which not only improves the conveying efficiency but also ensures the reliability of the conveying.

[0070] S1402: When it is determined that the moving part, which is the object to be transferred, has passed the second limit mark, the setting of the moving part as the object to be transferred is released.

[0071] like Figure 3 and Figure 4 As shown, both the first limit mark 1301 and the second limit mark 1302 are located on the second track component 11012. For example, the moving component 1203 is set as the object to be transferred, while the moving components 1201 and 1202 are set as non-transferable objects. When the second track component 11012 docks with the third track component 11013, if it is detected that the moving component 1203 has passed the second limit mark 1302, it indicates that the moving component 1203 has been successfully transferred to the third track component 11013. Then, the setting of the moving component 1203 as the object to be transferred is released. This achieves precise control of the moving component as the object to be transferred, avoiding the safety hazards caused by prematurely or delayedly releasing the setting of the moving component as the object to be transferred. This not only improves the conveying efficiency but also ensures the reliability of the conveying.

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

[0073] S1501: After determining that the setting of the moving part as the object to be transferred has been lifted and the first track part and the second track part have been docked, the moving part as the non-transfer object is allowed to enter the second track part through the first limit mark.

[0074] like Figure 4 As shown, both the first limit mark 1301 and the second limit mark 1302 are located on the second track component 11012. For example, the moving component 1203 is set as the object to be transferred, while the moving components 1201 and 1202 are set as non-transferable objects. After the moving component 1203 is deselected as the object to be transferred, the system continues to detect whether the first track component 11011 and the second track component 11012 are docked. If docking is detected, the moving components 1201 and 1202, which are non-transferable objects, are allowed to pass through the first limit mark 1301 and enter the second track component 11012 in the order of their movement. This ensures that the moving components located on the first track component are not allowed to pass through the first limit mark while the first and second track components are not docked, thus ensuring the safety of the moving components located on the first track component.

[0075] S1502: After determining that the moving part is a non-transfer object, the setting of the moving part as a non-transfer object is released, and after determining that the first track part and the second track part are docked, the moving part is controlled to enter the second track part.

[0076] During the control of both the object to be transferred and the non-transferable object, it is determined in real time whether to release the setting of the moving part that is a non-transferable object. If it is determined to release the setting of the moving part that is a non-transferable object, it means that the moving part that is a moving part to be transferred has been transferred and the next moving part that is a non-transferable object needs to be transferred. Then, the setting of the moving part that is a non-transferable object is released. In order to ensure that the moving part that is a non-transferable object is safely transferred into the second track component, after the first track component and the second track component are docked, the moving part that is a non-transferable object is controlled to enter the second track component to ensure that the next moving part that needs to be transferred is safely transferred.

[0077] like Figure 4As shown, both the first limit mark 1301 and the second limit mark 1302 are located on the second track component 11012. For example, the moving component 1203 is set as the object to be transferred, while the moving components 1201 and 1202 are set as non-transferable objects. If it is determined that the setting of the moving component 1202 as a non-transferable object is released, it indicates 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, the moving component 1202 as a non-transferable object needs to be transferred. Therefore, the setting of the moving component 1202 as a non-transferable object is released. In order to ensure that the moving component 1202 safely enters the second track component 11012, after 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 one 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, which is the object to be transferred, enters the second track component and the second track component moves, the moving component is controlled to move between the first limit mark and the second limit mark.

[0080] like Figure 4 and Figure 5 As shown in scenario W1, when both the first limit mark 1301 and the second limit mark 1302 are located on the second track component 11012, if the moving component 1203, which is the object to be transferred, enters the second track component 11012 and the second track component 11012 moves, in order to prevent the moving component 1203 from falling off the second track component 11012, the moving component 1203 is controlled to move between the first limit mark 1301 and the second limit mark 1302. That is, the moving component 1203 is not allowed to pass through the first limit mark 1301 and the second limit mark 1302 during the movement, thereby ensuring that the object to be transferred can be safely transferred to other track components.

[0081] S1602: When the first limit mark and the second limit mark are located on the second track component, a third limit mark is set in the third region of the first track component for docking with the first region, and a fourth limit mark is set in the fourth region of the third track component for docking with the second region, 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 Another exemplary schematic diagram of the conveyor track is shown, such as Figure 6As shown in scenario W3, when both the first limiting mark 1301 and the second limiting 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 limiting mark 1303 is provided in the third region of the first track component 11011 that is used to dock with the first region, that is, the third limiting mark 1303 is located at the end I11 of the first track component 11011; a fourth limiting mark 1304 is provided in the fourth region of the third track component 11013 that is used to dock with the second region, that is, the fourth limiting mark 1304 is located at the end I31 of the third track component 11013.

[0083] If the moving part moves in the direction indicated by arrow T1, the first limit mark is 1301 and the second limit mark is 1302. When the second track part 1102 and the first track part 1101 are connected, the object to be transferred (not shown in the figure) enters the second track part 1102 through the first track part 1101. The non-transferable object is prevented from passing through the first limit mark 1301. When the object to be transferred stops at the second track part 1102, the second track part 1102 moves to the third track part 1103. The end I11 of the first track part 1101 facing the second track part 1102 is suspended. The third limit mark 1303 will prevent the non-transferable object (not shown in the figure) moving along the first track part 1101 from passing through the third limit mark 1303, thus preventing the non-transferable object from leaving the first track part 1101. After the second track component 1102 and the third track component 1103 are docked, the object to be transferred enters the third track component 1103 through the second limit mark 1302. At this time, the non-transferable 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 docked with the first track component 1101, the end I11 of the first track component 1101 is still suspended. The third limit mark 1303 still prevents the non-transferable object from passing through the third limit mark 1303, thus preventing the non-transferable object from leaving the first track component 1101, until the second track component 1102 and the first track component 1101 are docked, at which point the non-transferable object is allowed to pass through the third limit mark 1303.

[0084] If the moving part moves in the direction indicated by arrow T2, the first limit mark is 1302 and the second limit mark is 1301. After the third track component 1103 and the second track component 1102 are docked, the object to be transferred (not shown in the figure) enters the second track component 1102 through the third track component 1103. The non-transferable object is prevented from passing through the first limit mark 1302. When the object to be transferred stops at the second track component 1102, the second track component 1102 moves, and the end I31 of the third track component 1103 facing the second track component 1102 is suspended. The fourth limit mark 1304 will prevent the non-transferable object (not shown in the figure) moving along the third track component 1103 from passing through the fourth limit mark 1304, thus preventing the non-transferable object from leaving the third track component 1103. After the second track component 1102 and the first track component 1101 are docked, the object to be transferred enters the first track component 1101 through the second limit mark 1301. At this time, the non-transferable object is allowed to pass through the first limit mark 1302. However, since the second track component 1102 is still moving towards the third track component 1103 and has not docked with the third track component 1103, the end I31 in the third track component 1103 is still suspended. The fourth limit mark 1304 still prevents the non-transferable object from passing through the fourth limit mark 1304, thus preventing the non-transferable object from leaving the third track component 11013, until the second track component 1102 and the third track component 1103 are docked, at which point the non-transferable object is allowed to pass through the fourth limit mark 1304.

[0085] S1603: When the first limit mark and the second limit mark are located on the first track component and the third track component respectively, a third limit mark is set in the fifth region of the second track component for docking with the first region, so as to prevent the moving component from passing through the third limit mark when the moving component, which is to be transferred, enters the second track component and the second track component moves.

[0086] like Figure 6 As shown in scenario W4, when the first limiting mark 1301 is located at the first track component 11011 and the second limiting mark 1302 is located at the third track component 11013, the fifth region is located at the end I21 of the second track component 11012 facing the first track component 11011. A third limiting mark 1303 is set in the fifth region of the second track component 11012 for docking with the first region, that is, the third limiting mark 1303 is located at the end I21 of the second track component 11012.

[0087] As shown in scenario W4, the moving component moves in the direction indicated by the arrow. 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 after passing the first limit mark 1301. After the object to be transferred stops on the second track component 1102, the second track component 1102 moves. The ends I21 and I22 of the second track component 1102 facing the first track component 1101 are both suspended. The third limit mark 1303 will prevent the object to be transferred from passing the third limit mark 1303, thus preventing the object to be transferred from leaving the second track component 1102 from the end I21.

[0088] S1604: When the first limit mark and the second limit mark are located on the first track component and the third track component respectively, a fourth limit mark is set in the sixth region of the second track component for docking with the second region, so as to prevent the moving component from passing through the fourth limit mark when the moving component, which is to be transferred, enters the second track component and the second track component moves.

[0089] like Figure 6 As shown in scenario W5, when the first limiting mark 1301 is located at the first track component 11011 and the second limiting mark 1302 is located at the third track component 11013, the sixth region is located at the end I22 of the second track component 11012 facing the third track component 11013. A fourth limiting mark 1304 is provided in the sixth region of the second track component 11012 for docking with the second region, that is, the fourth limiting mark 1304 is located at the end I22 of the second track component 11012.

[0090] As shown in scenario W5, the moving component moves in the direction indicated by the arrow. 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 after passing the first limit mark 1301. When the object to be transferred stops on the second track component 1102, the second track component 1102 moves, and both ends I21 and I22 of the second track component 1102 are suspended. The fourth limit mark 1304 will prevent the object to be transferred from passing the fourth limit mark 1304, thus preventing the object to be transferred from detaching from the second track component 1102 from end I22.

[0091] like Figure 6As shown in scenario W6, the first limit mark 1301 is located at the first track component 11011, the second limit mark 1302 is located at the third track component 11013, the third limit mark 1303 is located at the end I21 of the second track component 11012, and the fourth limit mark 1304 is located at the end I22 of the second track component 11012. The moving component moves in the direction indicated by the arrow. 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 limit mark 1301. When the object to be transferred stops in the second track component 1102, the second track component 1102 moves. Both ends I21 and 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 leaving the second track component 1102 from ends I21 and / or ends I22.

[0092] In one possible implementation, the moving component that has passed the first limit mark and entered the second track component is set as the object to be transferred, including the following steps:

[0093] S1101: Set first attribute information for the moving part that has passed the first limit mark and entered the second track component, wherein the first attribute information is used to indicate that the moving part is an object to be transferred.

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

[0095] The above-described method of setting at least a portion of the moving parts located on the first track component as non-transferable objects includes the following steps:

[0096] S1201: Set second attribute information for at least a portion of the moving parts located on the first track component, wherein the second attribute information is used to indicate that the moving parts are non-transferable objects.

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

[0098] When it is determined that among multiple moving parts there is a moving part that has passed the first limit mark and entered the second track part, first attribute information is set for the moving part that has passed the first limit mark and entered the second track part. When it is determined that the number of moving parts that have passed the first limit mark reaches a number threshold, second attribute information is set for at least some of the moving parts located on the first track part. If it is necessary to temporarily change the identity of a moving part, it can be achieved by modifying its attribute information without reconfiguring the entire system, thus improving the flexibility of identity management for moving parts.

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

[0100] S1301: Associate the first identification information of the moving part that is to be transferred with the second identification information of the moving part that is not to be transferred, until the moving part that is to be transferred is de-set.

[0101] The identification information includes the unique device identifier (ID), name, and serial number of the moving parts. In each transfer task, if there are moving parts designated as objects to be transferred and those designated as non-transfer objects, the first identification information of the moving parts designated as objects to be transferred and the second identification information of the moving parts designated as non-transfer objects are associated and stored in a created association table. Subsequently, by reading the identification information of any moving part in the association table, the identification information of other moving parts associated with that moving part can be obtained. This not only provides the temporary identity of the moving part in the current transfer task but also the temporary identities of other moving parts associated with it. Thus, by simply querying the association table, the temporary identities of the moving parts participating in each transfer task can be obtained, which is beneficial for improving the accurate management and control of the moving parts participating in each transfer task.

[0102] Once the movable component that is to be transferred is de-set, it indicates that the current transfer task is complete. Then, the association between the first identifier information of the movable component that is to be transferred and the second identifier information of the movable component that is not to be transferred in the current transfer task is released. For example, the association between the first identifier information of the movable component that is to be transferred and the second identifier information of the movable component that is not to be transferred in the current transfer task is deleted from the association table, and the association between the first identifier information of the movable component that is to be transferred and the second identifier information of the movable component that is not to be transferred in the next transfer task is stored in the association table.

[0103] In one possible implementation, preventing the non-transfer object from passing the first limit marker includes at least one of the following steps:

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

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

[0106] The movement restriction duration information is used to indicate the time required for the object to be moved from the first limit marker to the second limit marker, and this duration is represented by T0. T0 is data known before executing the method of the embodiments of this application. Specifically, T0 can be calculated in advance or obtained through experiments based on the type of task performed by the object to be moved between the first limit marker and the second limit marker.

[0107] Based on the movement restriction duration information and the speed information of the non-transferable object, the method for determining whether the object to be transferred has not passed the second limit marker when the non-transferable object moves to the first limit marker at the current speed 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 time T1 required for the non-transfer object to move to the first limit mark based on D1 and V1. If T1 does not exceed T0, it is determined that the object to be transferred has not passed the second limit mark when the non-transfer object moves to the first limit mark according to V1. Then, speed adjustment control is applied to the non-transfer object to prevent it from passing the first limit mark before the object to be transferred passes the second limit mark. If T1 exceeds T0, it is determined that the object to be transferred has already passed the second limit mark when the non-transfer object moves to the first limit mark according to V1. Then, speed limit control is applied to the non-transfer object to ensure that it moves within the maximum speed limit, thus preventing it from passing the first limit mark before the object to be transferred passes the second limit mark.

[0109] Method b: Assuming the non-transfer object remains constant at V1, calculate the movement distance D2 of the non-transfer object using V1 and T0. Based on the movement distance D2 and the position information of the first limit marker, determine whether the non-transfer object has passed the first limit marker after moving D2. If the non-transfer object has passed the first limit marker after moving D2, it is determined that the object to be transferred has not passed the second limit marker when the non-transfer object moves to the first limit marker according to V1. Speed ​​adjustment control is applied to the non-transfer object to prevent it from passing the first limit marker before the object to be transferred passes the second limit marker. If the non-transfer object has not passed the first limit marker after moving D2, it is determined that the object to be transferred has passed the second limit marker when the non-transfer object moves to the first limit marker according to V1. Speed ​​limit control is applied to the non-transfer object to ensure it moves within the maximum speed limit, preventing it from passing the first limit marker before the object to be transferred passes the second limit marker.

[0110] Method c: Calculate the maximum speed limit information V2 allowed for the non-transfer object before it passes the first limit marker using V1, D1, and T0. If it is determined that V1 exceeds V2, and the non-transfer object moves to the first limit marker according to V1 before the object to be transferred passes the second limit marker, then speed adjustment control is applied to the non-transfer object to prevent it from passing the first limit marker before the object to be transferred passes the second limit marker. If V1 does not exceed V2, and the non-transfer object moves to the first limit marker according to V1 after the object to be transferred has passed the second limit marker, then speed limit control is applied to the non-transfer object to ensure it moves within the maximum speed limit, thus preventing it from passing the first limit marker before the object to be transferred passes the second limit marker.

[0111] In one possible implementation, the above-mentioned speed adjustment control of non-transfer objects includes at least one of the following steps:

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

[0113] S120212: Based on the speed information of the non-transfer object, the distance information between the non-transfer object and the first limit mark, the movement restriction duration information, and the target speed information corresponding to the first limit mark, motion planning is performed on the non-transfer object, and speed adjustment control is performed on the non-transfer object according to the motion planning results.

[0114] It is understood that when decelerating a non-transferring object, it can undergo variable deceleration motion with varying acceleration or uniform deceleration motion with constant acceleration; when planning motion for a non-transferring object, it can undergo motion planning with varying acceleration or motion planning with constant acceleration. For ease of description, the embodiments of this application use constant acceleration to describe the control of the non-transferring object, but the solution provided in this application does not exclude the possibility of using varying acceleration to control the non-transferring object.

[0115] For S120211, substituting T0, D1, and V1 into the uniform deceleration formula: To obtain the minimum deceleration a min Set the target deceleration of the non-transfer object to be greater than or equal to a. min By controlling the deceleration of the non-transferring object based on the target deceleration, it can be ensured that the non-transferring object stops before reaching the first limit marker or exactly when it reaches the first limit marker. Stopping the non-transferring object before reaching the first limit marker allows for additional acceleration distance; stopping it upon reaching the first limit marker reduces the time it takes for the non-transferring object to pass the first limit marker.

[0116] For S120212, the first limit marker may be pre-configured with target velocity information V3. Based on the velocity information V1 of the non-transferring object, the distance information D1 between the non-transferring object and the first limit marker, the movement restriction duration information T0, and the target velocity information V3 corresponding to the first limit marker, motion planning is performed to determine the target deceleration a1, target deceleration period T2, target acceleration a2, target acceleration period T3, and target waiting period T4 of the non-transferring object. Among these, 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 non-transfer objects can include three cases: only deceleration, deceleration and acceleration but no waiting time, and deceleration, acceleration and waiting time.

[0118] like Figure 7 As shown, Figure 7 The diagram shows a curve for speed adjustment control of a non-transferring object, with the horizontal axis representing time and the vertical axis representing speed.

[0119] For case 1 where only deceleration occurs: (e.g.) Figure 7As shown by curve Q1, a1 is not 0, T2 is not 0, and V3 is not 0. When the non-transfer object decelerates from V1 to V3, the object to be transferred passes the second limit marker and the non-transfer object reaches the first limit marker. The non-transfer object is then allowed to pass the first limit marker and continue moving at V3, thereby reducing the speed adjustment time for the non-transfer object. The shaded area Di represents the total distance moved by the non-transfer object during deceleration, and Di is equal to the distance between the non-transfer object at the start of deceleration and the first limit marker.

[0120] For scenario 2, which involves deceleration and acceleration but has no waiting time: Figure 7 As shown in curve Q2, 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, it is then controlled to accelerate from 0 to V3. When the non-transfer object accelerates to V3, the object to be transferred passes the second limit marker and the non-transfer object reaches the first limit marker. The non-transfer object is then allowed to pass the first limit marker and continue moving at V3, thereby reducing the speed adjustment time for the non-transfer object. Here, the shaded area Di represents the total distance moved by the non-transfer object during deceleration, and the shaded area Dj represents the total distance moved by the non-transfer object during acceleration. The sum of Di and Dj is equal to the distance between the non-transfer object at the start of deceleration and the first limit marker.

[0121] For situations involving deceleration, acceleration, and waiting time: 3. Figure 7 As shown in curve Q3, a1 is not 0, T2 is not 0, a2 is not 0, V3 is not 0, T3 is not 0, and T4 is not 0. After the non-transfer object decelerates from V1 to 0, it stops moving and waits for T4. Then, it accelerates from 0 to V3. When the non-transfer object accelerates to V3, the object to be transferred passes the second limit marker and the non-transfer object reaches the first limit marker. The non-transfer object is then allowed to pass the first limit marker and continue moving at V3, thereby reducing the speed adjustment time for the non-transfer object. The shaded area Di represents the total distance the non-transfer object moves during deceleration, and the shaded area Dj represents the total distance the non-transfer object moves during acceleration. The sum of Di and Dj is equal to the distance between the non-transfer object when it begins to decelerate and the first limit marker.

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

[0123] In one possible implementation, the above-mentioned rate limiting control for non-transfer objects includes at least one of the following steps:

[0124] S120221: Determine the upper speed limit information of 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, and the movement restriction duration information;

[0125] S120222: Based on the smaller value between the speed limit information and the target speed information corresponding to the first limit marker, control the maximum speed of the non-transfer object before reaching the first limit marker.

[0126] After calculating the upper speed limit information V2 of the non-transfer object using 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 reaching the first limit mark. This restricts the speed of the non-transfer object before reaching the first limit mark from exceeding the maximum speed Vmax, thereby achieving speed limit control for 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 is a detailed description of a linear magnetic drive device provided in the embodiments of this application.

[0128] Figure 8 This application provides a structural block diagram of a linear magnetic drive device according to an embodiment of the present application. Figure 1 and Figure 8 As shown, the linear magnetic drive device 100 includes a conveyor track 110, a moving component 120 for loading objects, and a control device 130. The moving component 120 comprises multiple components and moves along the conveyor track 110. The conveyor track 110 includes a first track component 11011, a second track component 11012, and a third track component 11013. The second track component 11012 moves 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 component sequentially passes through the first track component 11011, the second track component 11012, and the third track component 11013; that is, when the moving component moves along the conveyor track 110, it first passes through the first track component 11011, then the second track component 11012, and then the third track component 11013. Figure 2 As shown, Figure 2 Parts of the moving parts are shown, namely moving parts 1201-1203. The arrows indicate the direction of movement of the moving parts. Moving parts 1201 and 1202 are located on the first track part 11011, and moving part 1203 is located on the second track part 11012.

[0129] The 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 a plurality of 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 a transfer object, and when it is determined that the number of moving components that have passed the first limit mark reaches a 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 the first limit mark, wherein the first limit mark is set in the first area where the second track component and the first track component dock.

[0130] The linear magnetic drive device provided in this application embodiment and the above-described conveying control method embodiment belong to the same concept. Therefore, for details not disclosed in the embodiment of the linear magnetic drive device, please refer to the description of the relevant embodiment of the above-described conveying control method, and will not be repeated here.

[0131] This application embodiment employs a first limiting mark set in the area where the movable second track component of the linear magnetic drive device docks with the immovable first track component. Based on the position information of each moving component, when it is determined that a moving component has passed the first limiting mark and entered the second track component, the moving component that has passed the first limiting mark and entered the second track component is set as the object to be transferred. When it is determined that the number of moving components that have passed the first limiting mark reaches a certain threshold, at least some of the moving components located on the first track component are set as non-transferable objects, and the non-transferable objects are prevented from passing the first limiting mark. The first limiting mark controls the movement of each moving component. After the object to be transferred passes the first limiting mark, the non-transferable objects are prevented from reaching the end of the track component where the first limiting mark is located. This avoids the non-transferable objects from interfering with the spatial transfer of the object to be transferred, and also avoids the risk of the non-transferable objects falling, thus improving the safety of transportation.

[0132] Figure 9 This application provides a structural block diagram of an automated conveying system according to an embodiment of the present application. 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. Multiple moving components 120 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 moves 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 component passes through the first track component 11011, the second track component 11012, and the third track component 11013 sequentially. That is, when the moving component moves along the conveying track 110, it first passes the first track component 11011, then the second track component 11012, and then the third track component 11013. Figure 2 As shown, Figure 2 Parts of the moving parts are shown, namely moving parts 1201-1203. The arrows indicate the direction of movement of the moving parts. Moving parts 1201 and 1202 are located on the first track part 11011, and moving part 1203 is located on the second track part 11012.

[0133] The display device is used to display the simulation interface, which includes a moving model, a track model, and first limit markers distributed along the track model. The moving model is used to simulate moving parts, and the track model is used to simulate the transport track. 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 and quantity of moving parts in the real space correspond to the shape and quantity of the moving part models in the simulation interface, and the shape and quantity of the transport tracks in the real space correspond to the shape and quantity of the track models in the simulation interface. For example... Figure 2 As shown, assuming there are two moving parts and one conveying track, and the conveying track includes a first track component, a second track component, and a third track component, then the moving part model includes three parts, the track model includes one track model, and the track model includes a first sub-model, a second sub-model, and a third sub-model. The limit markers distributed along the conveying track are virtual markers, which cannot be seen by the human eye in real space, but can be seen in the simulation interface.

[0135] The 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 a plurality of 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 a target to be transferred; when it is determined that the number of moving components that have passed the first limit mark reaches a number threshold, set at least some of the moving components located on the first track component as non-transferable targets and prevent the non-transferable targets from passing the first limit mark, wherein the first limit mark is set in the first area where the second track component docks with the first track component.

[0136] The automated conveying system provided in this application is based on the same concept as the conveying control method described above. Therefore, for details not disclosed in the embodiments of the automated conveying system, please refer to the description of the relevant embodiments of the conveying control method described above, and will not be repeated here.

[0137] This application embodiment employs a first limiting mark set in the area where the movable second track component of the linear magnetic drive device docks with the immovable first track component. Based on the position information of each movable component, when it is determined that a movable component has passed the first limiting mark and entered the second track component, the movable component that has passed the first limiting mark and entered the second track component is set as a transfer object. When it is determined that the number of movable components that have passed the first limiting mark reaches a certain threshold, at least some of the movable components located on the first track component are set as non-transfer objects, and the non-transfer objects are prevented from passing the first limiting mark. On the one hand, the movement of each movable component is controlled by the first limiting mark, and after the transfer object passes the first limiting mark, the non-transfer objects are prevented from reaching the first limiting mark. The ends of the track components are positioned to prevent non-transferable objects from interfering with the spatial transfer of the object to be transferred, while also avoiding the risk of non-transferable objects falling, thus improving transport safety. On the other hand, by displaying a simulated transport track model in the simulation interface of the display device and setting limit marks along the track model, it can be seen that the limit marks distributed on the track model are virtual marks and are not fixed on the actual transport track. Using the simulation interface provided by the display device, users can directly add, delete, or move the limit marks on the interface. This intuitive operation method makes the modification of the limit marks very simple, and the limit marks can be adjusted without stopping the machine, making the adjustment of the limit marks more intuitive, flexible, and efficient, which is conducive to improving the transport efficiency of the automated transport system.

[0138] Figure 10 This application provides a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 10As shown, the electronic device 700 includes a memory 701 and a processor 702. The memory 701 stores executable program code 7011, and the processor 702 is used to call and execute the executable program code 7011 to perform a transport control method.

[0139] This embodiment can divide the electronic device into functional modules according to the above method example. For example, each module can correspond to a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0140] The electronic device provided in this embodiment is used to execute the above-described conveying control method, and therefore can achieve the same effect as the above-described implementation method.

[0141] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the aforementioned method steps to implement a conveying control method as described in the above embodiment.

[0142] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a conveying control method as described in the above embodiment.

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

[0144] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0145] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A conveying control method, characterized in that, The invention relates to a linear magnetic drive device, which includes a transport track and multiple moving parts for loading objects. The transport track includes 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. The moving parts pass through the first track part, the second track part, and the third track part in sequence. The conveying control method includes: After the second track component and the first track component are docked, based on the position information of each of the moving components, when it is determined that there is a moving component among the plurality of moving components that has passed through the first limit mark and entered the second track component, the moving component that has passed through the first limit mark and entered the second track component is set as the object to be transferred. The first limit mark is set in the first area where the second track component and the first track component dock. The first area is located at the end of the second track component facing the first track component, so that the first limit mark is located on the second track component. Alternatively, the first area is located at the end of the first track component facing the second track component, so that the first limit mark is located on the first track component. When it is determined that the number of moving parts passing through the first limit mark reaches a certain threshold, at least some of the moving parts 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.

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

3. The conveying control method according to claim 2, characterized in that, The conveying control method further includes any one of the following: After determining that the setting of the moving part as the object to be transferred has been lifted and the first track part and the second track part have been docked, the moving part as the non-transfer object is allowed to enter the second track part through the first limit mark; After determining that the moving part is a non-transferable object, the setting of the moving part as a non-transferable object is released, and after determining that the first track part and the second track part are docked, the moving part is controlled to enter the second track part.

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

5. The conveying control method according to claim 1, characterized in that, Setting the moving component that has passed the first limiting mark and entered the second track component as the object to be transferred includes: A first attribute information is set for the moving component that passes 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; Setting at least a portion of the moving parts located on the first track component as non-transferable objects includes: A second attribute information is set for at least a portion of the moving parts located on the first track component, wherein the second attribute information is used to indicate that the moving parts are non-transferable objects.

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 that is to be transferred is associated with the second identification information of the moving part that is not to be transferred, until the moving part that is to be transferred is de-assigned.

7. The conveying control method according to claim 2, characterized in that, Preventing the non-transfer object from passing through the first limiting mark includes at least one of the following: Based on the movement restriction duration information and the speed information of the non-transferable object, if it is determined that the object to be transferred has not passed the second limit mark when the non-transferable object moves to the first limit mark at the current speed, speed adjustment control is performed on the non-transferable object, wherein the movement restriction duration information is used to indicate the duration required for the object to be transferred to move from the first limit mark to the second limit mark; Based on the movement restriction duration information and the speed information of the non-transfer object, if it is determined that the object to be transferred has already passed the second limit mark when the non-transfer object moves to the first limit mark at the current speed, speed limit control is applied to the non-transfer 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: Based on the speed information of the non-transfer object and the distance information between the non-transfer object and the first limit mark, the target deceleration of the non-transfer object is determined, and the non-transfer object is decelerated according to the target deceleration. Based on the speed information of the non-transfer object, the distance information between the non-transfer object and the first limit mark, the movement restriction duration information, and the target speed information corresponding to the first limit mark, motion planning is performed on the non-transfer object, and speed adjustment control is performed on the non-transfer object according to the motion planning results.

9. The conveying control method according to claim 7, characterized in that, The speed limiting control for the non-transfer object includes: Based on the speed information of the non-transfer object, the distance information between the non-transfer object and the first limit mark, and the movement restriction duration information, the speed limit information of the non-transfer object is determined; Based on the smaller value between the speed limit information and the target speed information corresponding to the first limit mark, the maximum speed of the non-transfer object before reaching the first limit mark is controlled.

10. A linear magnetic drive device, characterized in that, The linear magnetic drive device includes: Multiple moving parts 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 component passes through the first track component, the second track component, and the third track component in sequence. A control device is configured to, after the second track component and the first track component have docked, based on the position information of each of the moving components, when it is determined that among the plurality of moving components there is a moving component that has passed through the first limit mark and entered the second track component, set the moving component that has passed through the first limit mark and entered the second track component as a transfer object; when it is determined that the number of moving components that have passed through the first limit mark reaches a number threshold, set at least a portion 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, wherein the first limit mark is disposed in a first area where the second track component and the first track component dock, the first area being located at the end of the second track component facing the first track component, such that the first limit mark is located on the second track component, or the first area being located at the end of the first track component facing the second track component, such that the first limit mark is located on the first track component.

11. An automated conveying system, characterized in that, The automated conveying system includes: A linear magnetic drive device includes a conveyor track and multiple moving parts for loading objects. The conveyor track includes 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. The moving parts pass through the first track part, the second track part, and the third track part in sequence. A display device is used to display a simulation interface, the simulation interface including a moving model, a track model, and first limit markers distributed along the track model, wherein the moving model is used to simulate the moving component, and the track model is used to simulate the conveying track; A control device is configured to, after the second track component and the first track component have docked, based on the position information of each of the moving components, when it is determined that among the plurality of moving components there is a moving component that has passed through the first limit mark and entered the second track component, set the moving component that has passed through the first limit mark and entered the second track component as a transfer object; when it is determined that the number of moving components that have passed through the first limit mark reaches a number threshold, set at least a portion 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, wherein the first limit mark is disposed in a first area where the second track component and the first track component dock, the first area being located at the end of the second track component facing the first track component, such that the first limit mark is located on the second track component, or the first area being located at the end of the first track component facing the second track component, such that the first limit mark is located on the first track component.

12. An electronic device, characterized in that, The electronic device includes: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the electronic device to perform 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 that, when executed, implements the transport control method as described in any one of claims 1 to 9.

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