Processing method and processing system

Abstract

The embodiment of the invention relates to a processing method and a processing system, and relates to the technical field of automatic control. The method is applied to a processing system, and the processing system comprises a plurality of processing devices. The plurality of processing devices are coupled with the plurality of measuring devices in a one-to-one correspondence manner; the plurality of measuring devices are used for measuring the multi-rotor motor system; the plurality of processing devices are used for coupling external equipment; the plurality of processing devices comprise a first processing device, the plurality of measuring devices comprise a first measuring device coupled with the first processing device, and the method comprises the following steps: the first processing device receives measurement data sent by the first measuring device, and the measurement data is used for indicating a mover state in the multi-mover motor system; when the rotor state indicated by the measurement data meets a preset condition, the first processing device sends a trigger signal corresponding to the first measurement device to external equipment coupled with the first processing device; the trigger signal is used for indicating the external equipment to work. Therefore, the control speed of the external equipment can be improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automation control technology, and in particular to a processing method and a processing system. Background Art

[0002] In automated logistics and industrial production lines, multi-motor systems are often used as transport systems to improve production efficiency, reduce operating costs, and ensure safe production. These systems can be equipped with measuring devices to measure the movers. Some systems also incorporate external devices to operate in conjunction with the multi-motor system. For example, the measuring device could be a sensor to measure the mover's position, while the external device could be a camera that captures the mover when it reaches a specific position.

[0003] Patent CN202411976855.8 discloses a method and device for controlling a transport system. This method visually displays stator track and mover information corresponding to a real-world scenario in real time, and receives user input of control commands on a visual interface to control the movers and external devices in the transport system. However, this method introduces some control delays in controlling external devices, resulting in low control accuracy.

[0004] Therefore, in a multi-motor system, especially a multi-motor linear motor system, it is necessary to trigger the external device with high precision and low latency. However, the control speed of the external device in the existing technology is slow. Summary of the Invention

[0005] The present application provides a processing method and a processing system, which can improve the control speed of external devices.

[0006] To achieve the above objectives, this application adopts the following technical solutions: In a first aspect, a processing method is provided, characterized in that the processing method is applied to a processing system, and the processing system includes a plurality of processing devices. The plurality of processing devices are used to couple with a plurality of measuring devices in a one-to-one correspondence. The plurality of measuring devices are all used to measure a multi-motor motor system. The plurality of processing devices are all used to couple with an external device. The plurality of processing devices include a first processing device, and the plurality of measuring devices include a first measuring device coupled to the first processing device. The processing method includes: the first processing device receives measurement data sent by the first measuring device, and the measurement data is used to indicate the state of the mover in the multi-motor motor system. When the mover state indicated by the measurement data meets a preset condition, the first processing device sends a trigger signal corresponding to the first measuring device to the external device coupled to the first processing device. The trigger signal is used to instruct the external device to work. Exemplarily, the mover state includes at least one of the following: the time when the mover is at a specified position, the serial number of the mover at the specified position, the position of the specified mover, and the speed of the specified mover.

[0007] In the above technical solution, multiple processing devices are coupled to multiple measuring devices in a one-to-one correspondence. The function of sending multiple trigger signals based on multiple measurement data is offloaded to multiple processing devices for parallel execution. This reduces or eliminates the polling delay of each processing device, thereby reducing the overall system latency. This approach does not rely on a host computer to generate trigger signals, and can improve system integration, reduce module coupling, reduce the processing pressure on the processing devices, reduce latency, improve real-time performance, and enhance the operational accuracy of external devices. This approach can support the installation of a large number of measuring devices and external devices without significantly affecting overall latency and hardware routing.

[0008] In a possible implementation of the first aspect, the measuring device coupled to each processing device is located within the processing device. In the above possible implementation, the processing device and the measuring device communicate within the device rather than between devices, which can effectively reduce communication delay.

[0009] In one possible implementation of the first aspect, the multiple processing devices further include a second processing device, and the multiple measuring devices further include a second measuring device coupled to the second processing device. The processing method further includes: the first processing device sends a control signal to the second processing device when the state of the mover indicated by the measurement data sent by the first measuring device meets a preset condition. The second processing device receives the measurement data sent by the second measuring device. In response to the control signal, the second processing device sends a trigger signal corresponding to the second measuring device to an external device coupled to the second processing device when the state of the mover indicated by the measurement data sent by the second measuring device meets a preset condition. In the above possible implementation, the second processing device can set multiple trigger conditions, such as requiring the mover to move to a specified position and reaching a preset speed. If the mover moving to the specified position is the measurement result of the first measuring device, the first processing device can send the judgment result to the second processing device via a control signal. The second processing device does not need to determine again whether the mover has moved to the specified position, thereby further reducing the processing delay of the second processing device.

[0010] In one possible implementation of the first aspect, the processing method further includes: a first processing device receiving working data generated by an external device coupled to the first processing device, the working data being used to indicate a state of a mover. When the state of the mover indicated by the working data satisfies a preset condition, the first processing device transmits a trigger signal corresponding to the external device to the external device coupled to the first processing device. In the above possible implementation, the working data of the external device can cyclically trigger the operation of the external device, thereby alleviating the measurement pressure of the measuring device, or the external device can assist the measuring device in performing measurements, resulting in more accurate measurement results.

[0011] In one possible implementation of the first aspect, the preset condition is one-time programming data stored by the first processing device. Alternatively, multiple processing devices are coupled to a host computer. The preset condition is a preset condition sent by the host computer. In the above possible implementation, the preset condition does not need to be updated, and the system operation is relatively simple. Alternatively, whether the measurement data meets the preset condition is determined in the processing device without the involvement of the host computer, and the host computer only needs to send the preset condition. This can reduce the processing pressure on the host computer and reduce the triggering cost and the cost of modifying the triggering condition.

[0012] In a second aspect, a processing system is provided. The processing system includes multiple processing devices, each of which is coupled to a plurality of measurement devices in a one-to-one correspondence. Each of the multiple processing devices is coupled to an external device. The processing devices in the processing system are configured to execute the processing method provided by the first aspect or any possible implementation of the first aspect.

[0013] In a possible implementation manner of the second aspect, the measuring device coupled to each processing device is located within the processing device.

[0014] In a possible implementation manner of the second aspect, the measuring device is a sensor 130 in the multi-motor system.

[0015] According to a third aspect, a processing system is provided, which includes a module for executing the processing method provided by the first aspect or any possible implementation manner of the first aspect.

[0016] In a fourth aspect, a computer-readable storage medium is provided, in which a program code is stored. The program code can be called by a processor to execute the processing method provided by the above-mentioned first aspect or any possible implementation of the first aspect.

[0017] In another aspect of the present application, a computer program product is provided. When the computer program product is run on a computer, the computer is caused to execute the processing method provided by the first aspect or any possible implementation manner of the first aspect.

[0018] It can be understood that the system, computer storage medium or computer program product of any of the processing methods provided above is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a multi-motor motor system provided in an embodiment of the present application; Figure 2 A schematic diagram of a host computer provided in an embodiment of the present application; Figure 3 A schematic diagram of a processing method provided in an embodiment of the present application Figure 1 ; Figure 4 A schematic diagram of a processing system provided in an embodiment of the present application Figure 1 ; Figure 5 A schematic diagram of a processing method provided in an embodiment of the present application Figure 2 ; Figure 6 A schematic diagram of a processing system provided in an embodiment of the present application Figure 2 ; Figure 7 A schematic diagram of a processing method provided in an embodiment of the present application Figure 3 ; Figure 8 A schematic diagram of a processing method provided in an embodiment of the present application Figure 4 ; Figure 9 A schematic diagram of a processing system provided in an embodiment of the present application Figure 5 ; Figure 10 A schematic diagram of a measuring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] It should be noted that the terms "first" and "second" in the embodiments of this application are used only to distinguish features of the same type and should not be understood as indicating relative importance, quantity, sequence, etc. The step numbers in the embodiments of this application are used only to distinguish different steps and should not be understood as indicating relative importance, quantity, sequence, etc.

[0021] The terms "exemplary" or "for example" in the embodiments of this application are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0022] The terms "coupling" and "connection" involved in the embodiments of this application should be understood in a broad sense. For example, they may refer to a physical direct connection, or an indirect connection achieved through electronic devices, such as a connection achieved through resistors, inductors, capacitors or other electronic devices.

[0023] First, the application scenarios of the embodiment of the present application are introduced. The embodiment of the present application can be applied to a multi-motor system, such as Figure 1As shown, the multi-motor motor system 100 includes a stator 110 and a plurality of movers 120. In some examples, the plurality of movers 120 can move on the stator 110 as a track. The stator 110 can be provided with a plurality of sensors 130 ( Figure 1 Only one is shown), the sensor 130 can be used to measure the position and other states of the mover 120. At least one camera 140 can be provided near the stator 110, and when the mover 120 moves to a specified position, the camera 140 can be used to photograph the mover 120.

[0024] In the multi-motor system 100, especially the multi-motor linear motor system, it is necessary to achieve high-precision and low-latency triggering of the camera 140. The speed of the control system of the sensor 130 and the camera 140 is particularly important.

[0025] In a possible implementation, the sensor 130 and the camera 140 may be controlled by a host computer.

[0026] In some examples, such as Figure 2 As shown, the host computer 200 is used to couple multiple sensors 130, such as a first sensor 131, a second sensor 132, and a third sensor 133. The host computer 200 is also used to couple at least one camera 140, such as a first camera 141, a second camera 142, and a third camera 143. In actual situations, there may be more or fewer sensors 130, more or fewer cameras 140, and the number of sensors 130 and the number of cameras 140 may not be equal. Figure 3 As shown, the host computer 200 can be used to perform one or more of the following steps: S110 : The host computer 200 receives a plurality of measurement data sent by a plurality of sensors 130 . For example, the host computer 200 may be configured to receive measurement data from a first sensor 131 , measurement data from a second sensor 132 , and measurement data from a third sensor 133 .

[0027] For example, the measurement data can be used to indicate the status of a mover in the multi-motor motor system 100. The mover status includes at least one of the following: the time the mover 120 is located at a specified position, the sequence number of the mover 120 located at the specified position, the position of the specified mover 120, and the speed of the specified mover 120. The mover status may also include other states of the mover 120, which are not limited in this embodiment of the present application.

[0028] S120: The host computer 200 selects measurement data that meets a preset condition from the plurality of measurement data, that is, the host computer 200 determines which measurement data indicates that the mover state meets the preset condition.

[0029] For example, the host computer 200 stores a plurality of preset conditions, and polls a plurality of measurement data and a plurality of preset conditions to find out which measurement data satisfies which preset conditions.

[0030] S130 : For the sensor 130 whose measurement data meets the preset conditions, the host computer 200 sends a corresponding trigger signal to the corresponding camera 140 .

[0031] For example, each sensor 130 may correspond to a camera 140. For example, the first sensor 131, the second sensor 132, and the third sensor 133 may correspond one-to-one with the first camera 141, the second camera 142, and the third camera 143. For another example, multiple sensors 130 may correspond to one camera 140. The specific correspondence relationship can be set according to actual circumstances and is not limited in this embodiment of the present application.

[0032] As another example, the trigger signal is used to instruct the camera 140 to operate. Different trigger signals may indicate different trigger contents, for example, the trigger content may be the frame rate of the camera 140.

[0033] For example, host computer 200 polls multiple preset conditions and finds that only the measurement data of first sensor 131 meets one of the preset conditions. Furthermore, first sensor 131 corresponds to first camera 141, and the trigger signal corresponding to first sensor 131 is used to instruct shooting at 15 frames per second. Therefore, host computer 200 sends a trigger signal to first camera 141, instructing it to shoot at 15 frames per second.

[0034] In this embodiment, the host computer 200 is coupled to multiple sensors 130. Therefore, the host computer 200 needs to poll the measurement data of multiple sensors 130 and poll multiple preset conditions. This polling results in significant latency. Furthermore, the multiple sensors 130 send measurement data to the host computer 200, and communication between the devices also experiences significant latency.

[0035] As can be seen, the more slave devices there are, the more trigger conditions there are, the more measurement data there is, and the greater the latency in polling and inter-device communication, which limits the real-time performance of the multi-motor motor system 100. Due to this significant latency, the state of the mover 120 may have already changed by the time the host device 200 sends the trigger signal, resulting in poor accuracy in the images captured by the camera 140. Furthermore, with multiple sensors 130 and cameras 140 all coupled to the host device 200, and the significant amount of wiring between these devices, a single module error could compromise the safety of the entire system.

[0036] In another possible implementation, a sensing device may be added to the multi-motor system 100 , and the sensing device senses information for triggering, such as a laser sensor.

[0037] In this embodiment, adding a sensing device requires additional costs, changing the preset conditions requires reinstalling the sensing device, and the installation of the sensing device requires great precision and is relatively difficult.

[0038] Based on this, the embodiment of the present application provides another possible implementation method, which can configure a processing device for each sensor 130 to avoid the delay caused by polling.

[0039] In some examples, such as Figure 4 As shown, the processing system 300 includes multiple processing devices. The processing device can be a processor, or an electronic device including a processor and a circuit board. Multiple processing devices are used to couple with multiple measuring devices in a one-to-one correspondence. Multiple measuring devices are all used to measure the multi-motor system 100. The measuring device can be the sensor 130 in the above-mentioned multi-motor system 100, so that there is no need to set up an additional sensing device, saving costs and reducing installation difficulty. The measuring device can also be other devices. Multiple processing devices are all used to couple external devices. The external device can be the above-mentioned camera 140, or it can be a robotic arm, or it can be other devices.

[0040] The multiple processing devices may include, for example, a first processing device 311, a second processing device 312, and a third processing device 313. The multiple measuring devices may include, for example, a first measuring device 321, a second measuring device 322, and a third measuring device 323. The types or functions of the multiple measuring devices may be different, for example, the first measuring device 321 is a position sensor, and the second measuring device 322 is a weight sensor. The number of external devices is at least one. The at least one external device may include, for example, a first external device 331, a second external device 332, and a third external device 333. The types or functions of the multiple external devices may be different, for example, the first external device 331 is a camera 140, and the second external device 332 is a robotic arm. The coupling relationship of each device or device can refer to Figure 4 In actual situations, there may be more or fewer processing devices, more or fewer measuring devices, more or fewer external devices, and the number of measuring devices and the number of external devices may not be equal. Figure 5 As shown, the processing device in the processing system 300 may perform one or more steps in the following processing method: S210 : The first processing device 311 receives measurement data sent by the first measurement device 321 .

[0041] Exemplarily, the measurement data is used to indicate the status of a mover in the multi-motor motor system 100. The mover status includes at least one of the following: the time the mover 120 is located at a specified position, the sequence number of the mover 120 located at the specified position, the position of the specified mover 120, and the speed of the specified mover 120. The mover status may also include other states of the mover 120, which are not limited in this embodiment of the present application.

[0042] S220: When the state of the actuator indicated by the measurement data satisfies a preset condition, the first processing device 311 transmits a trigger signal corresponding to the first measuring device 321 to an external device coupled to the first processing device 311. The trigger signal instructs the external device to operate. In this embodiment of the application, the state of the actuator indicated by the measurement data satisfies the preset condition is referred to as "the measurement data satisfies the preset condition."

[0043] Illustratively, the mover status includes at least one of the following: the time the mover 120 is located at a specified position, the sequence number of the mover 120 located at the specified position, the position of the specified mover 120, and the speed of the specified mover 120. In addition to triggering based on the mover status, embodiments of the present application can also be applied to triggering at a specified time, multi-system synchronous triggering, and any combination of trigger conditions.

[0044] For another example, the first processing device 311 stores a preset condition. The first processing device 311 only needs to compare whether the measurement data meets the preset condition without polling, and the delay is short.

[0045] As another example, the first processing device 311 stores multiple preset conditions (such as multiple preset ranges). The first processing device 311 only needs to poll which of the multiple preset conditions a measurement data satisfies, without polling which of the multiple measurement data satisfies, and the polling delay is shorter.

[0046] As another example, the trigger signal corresponding to the first measurement device 321 may be a trigger signal for triggering the operation of an external device corresponding to the first measurement device 321. Each measurement device may correspond to one external device. For example, the first measurement device 321, the second measurement device 322, and the third measurement device 323 may correspond one-to-one with the first external device 331, the second external device 332, and the third external device 333. For another example, multiple measurement devices may correspond to one external device. The specific correspondence relationship can be set according to actual circumstances and is not limited in this embodiment of the present application.

[0047] As another example, different trigger signals may indicate different trigger contents. For example, the trigger contents may be the operating frequency, bandwidth, or frame rate of the external device.

[0048] For example, the first processing device 311 compares the measurement data of the first measuring device 321 to see if it meets a preset condition. First measuring device 321 corresponds to first external device 331. For example, if first external device 331 is camera 140, the trigger signal corresponding to first measuring device 321 is used to instruct it to shoot at 15 frames per second. Therefore, the first processing device 311 sends a trigger signal to first external device 331, instructing it to shoot at 15 frames per second.

[0049] In this embodiment, multiple processing devices are coupled to multiple measuring devices in a one-to-one correspondence. Figure 2 The functions of the host computer 350 are offloaded to multiple processing devices for parallel execution, reducing or eliminating the polling delay of each processing device, thereby reducing overall system latency. This approach does not rely on the host computer to generate trigger signals, which can improve system integration, reduce module coupling, reduce the processing pressure on the host computer 350, reduce latency, improve real-time performance, and enhance the operational accuracy of external devices. This approach can support the configuration of a large number of slave computers without significantly affecting overall latency and hardware routing.

[0050] In some possible implementations, the measuring device coupled to each processing device is located within the processing device. These processing devices can be referred to as slave computers, or as trigger signal processing systems.

[0051] like Figure 6 As shown, the first processing device 311 may include a first measuring device 321 and a first processor 341 . The first processor 341 is configured to receive measurement data from the first measuring device 321 and send a trigger signal to the first external device 331 when the measurement data meets a preset condition.

[0052] The second processing device 312 may include a second measuring device 322 and a second processor 342 . The second processor 342 is configured to receive measurement data from the second measuring device 322 and send a trigger signal to the second external device 332 when the measurement data meets a preset condition.

[0053] The third processing device 313 may include a third measuring device 323 and a third processor 343 . The third processor 343 is configured to receive measurement data from the third measuring device 323 and send a trigger signal to the third external device 333 when the measurement data meets a preset condition.

[0054] In this embodiment, the processing device and the measuring device communicate within the device rather than between devices, which can effectively reduce the communication delay.

[0055] In some possible implementations, such as Figure 7 As shown, the processing method may also include one or more of the following steps: S230 : When the state of the mover indicated by the measurement data sent by the first measuring device 321 meets a preset condition, the first processing device 311 sends a control signal to the second processing device 312 .

[0056] S240 : The second processing device 312 receives the measurement data sent by the second measurement device 322 .

[0057] S250 : In response to the control signal, the second processing device 312 sends a trigger signal corresponding to the second measuring device 322 to an external device coupled to the second processing device 312 when the mover state indicated by the measurement data sent by the second measuring device 322 meets a preset condition.

[0058] Exemplarily, the external devices corresponding to multiple measuring devices can be triggered in a coordinated manner. For example, a first measuring device 321 is used to measure the position of the mover 120, and the first external device 331 corresponding to the first measuring device 321 is a camera 140. A second measuring device 322 is used to measure the speed of the mover 120, and the second external device 332 corresponding to the second measuring device 322 is a robotic arm. When the first processing device 311 receives measurement data from the first measuring device 321 indicating that the mover 120 has moved to a specified position (or a specified position range), the first processing device 311 sends a trigger signal to the camera 140 to trigger the camera 140 to capture the mover 120. The first processing device 311 also sends a control signal to the second processing device 312. Based on the control signal, the second processing device 312 detects that the mover 120 has reached the specified position. When the measurement data from the second measuring device 322 received by the second processing device 312 indicates that the speed of the mover 120 has reached a preset value, the second processing device 312 sends a trigger signal to the robotic arm to trigger the robotic arm to place an object on the mover 120. In this way, the mover 120 at the designated position can be photographed, and if the mover 120 at the designated position reaches a preset speed, an object can be placed on the mover 120 .

[0059] In this embodiment, the second processing device 312 can be configured with various trigger conditions, such as requiring the mover 120 to reach a specified position and reaching a preset speed. If the mover 120 reaching the specified position is a measurement result of the first measuring device 321, the first processing device 311 can transmit this determination result to the second processing device 312 via a control signal. This eliminates the need for the second processing device 312 to re-determine whether the mover 120 has reached the specified position, further reducing processing latency for the second processing device 312.

[0060] In some possible implementations, such as Figure 8 As shown, the processing method may also include one or more of the following steps: S260: The first processing device 311 receives working data generated by an external device coupled to the first processing device 311, where the working data is used to indicate a state of the mover.

[0061] S270 : When the mover state indicated by the working data meets a preset condition, the first processing device 311 sends a trigger signal corresponding to the external device to the external device coupled to the first processing device 311 .

[0062] For example, the first processing device 311 can cyclically trigger the operation of an external device based on the operating results of the external device. For example, the first measuring device 321 is used to measure the speed of the mover 120, and the external device coupled to the first processing device 311 is a camera 140. The first processing device 311 receives measurement data from the first measuring device 321, which indicates that the speed of the mover 120 has reached a preset value. The first processing device 311 sends a trigger signal to the camera 140 to trigger the camera 140 to continuously photograph the mover 120. The operating data is the photos continuously taken by the camera 140 and the shooting time. The camera 140 sends the operating data to the first processing device 311. The first processing device 311 calculates the speed of the mover 120 based on the photos and shooting time. If the speed of the mover 120 reaches the preset value, the first processing device 311 sends a trigger signal to the camera 140 again to trigger the camera 140 to continuously photograph the mover 120. If the speed of the mover 120 indicated by the operating data does not reach the preset value, the cyclic triggering of the camera 140 ends. Next time, the first processing device 311 triggers the camera 140 to take pictures continuously according to the measurement data of the first measuring device 321 .

[0063] In this embodiment, the working data of the external device can cyclically trigger the external device to work, thereby alleviating the measurement pressure of the measuring device, or the external device can assist the measuring device in measuring, so that the measurement result is more accurate.

[0064] In some possible implementations, the processing devices are configured with preset conditions before shipment, and the preset conditions are fixed and cannot be updated. That is, the preset conditions are one-time programming data stored in each processing device (including the first processing device 311).

[0065] In this embodiment, the preset conditions do not need to be updated, and the system operation mode is relatively simple.

[0066] In some other possible implementations, the processing device may update the preset conditions.

[0067] In some examples, such as Figure 9As shown, the multiple processing devices in the processing system 300 are all used to couple with the host computer 350. The host computer 350 can communicate with the multiple processing devices via wired or wireless communication. Each processing device can communicate with the corresponding external device via wired or wireless communication. Next, a method of wired communication is introduced. Each of the multiple processing devices may include an interface. For example, the first processing device is coupled to the first external device 331 via the first interface 361, the second processing device 312 is coupled to the second external device 332 via the second interface 362, and the third processing device 313 is coupled to the third external device 333 via the third interface 363. The processor of each processing device can communicate with the corresponding external device via the interface.

[0068] Exemplarily, the preset condition is a preset condition sent by the host computer 350. For example, the processing method can be executed in the following manner: The host computer 350 sends information such as preset conditions, trigger signal format, trigger times, etc. to each processing device. The content of the preset conditions received by different processing devices may be different.

[0069] The first measuring device 321 measures the status of the mover 120 in real time, such as the number of the mover 120 , the position of the mover 120 , the speed of the mover 120 , etc.

[0070] The first processing device 311 compares the measurement data with the preset conditions. If the match is successful, the first processing device 311 generates a trigger signal according to the trigger signal format.

[0071] During the entire system operation, the host computer 350 may send updated preset conditions.

[0072] In this example, the processing device determines whether the measured data meets the preset conditions, without requiring the involvement of the host computer 350. The host computer 350 only needs to send the preset conditions. This reduces the processing pressure on the host computer 350, lowering the cost of triggering and modifying trigger conditions. It also allows for a unified module interface, improving compatibility.

[0073] Next, the solution of the embodiment of the present application is introduced based on a specific application scenario.

[0074] like Figure 10As shown, the zero point of stator 110 is denoted as 0 cm. A first measuring device 321 is installed between 0 cm and 20 cm of stator 110, a second measuring device 322 is installed between 20 cm and 40 cm of stator 110, and a third measuring device 323 is installed between 40 cm and 60 cm of stator 110. A first external device 331 is installed on a line perpendicular to stator 110 at a distance of 5 cm, a second external device 332 is installed on a line perpendicular to stator 110 at a distance of 25 cm, and a third external device 333 is installed on a line perpendicular to stator 110 at a distance of 45 cm. The mover 120 moves in a direction from 0 cm to 60 cm.

[0075] It is understood that, in practice, the measuring device is not necessarily provided on the stator 110, and the external device is not necessarily provided outside the stator 110. The measuring device can be provided inside the processing device, that is, the entire processing device is provided on the stator 110, or the measuring device can be provided separately from the processing device. The embodiments of the present application do not limit the specific arrangement of these devices.

[0076] Exemplarily, the first external device 331, the second external device 332, and the third external device 333 can all be cameras 140, each used to photograph items on the mover 120. The host computer 350 sends preset conditions, triggering methods, and trigger counts to each processing device. The trigger signal can be one or more rising edges, and the trigger count can be one, multiple, or permanent (recording). When the first measuring device 321 measures that the mover 120 has moved to a position of 5 cm, the first processing device 311 triggers the first external device 331 to photograph the mover 120. When the second measuring device 322 measures that the mover 120 has moved to a position of 25 cm, the second processing device 312 triggers the second external device 332 to photograph the mover 120. When the third measuring device 323 measures that the mover 120 has moved to a position of 45 cm, the third processing device 313 triggers the third external device 333 to photograph the mover 120. If the location of the external device is changed, the host computer 350 controls (eg, sends an instruction) the corresponding processing device to delete the previous preset conditions, and sends the new preset conditions, trigger mode, and location to the corresponding processing device.

[0077] Embodiments of the present application also provide a processing system that may include multiple receiving modules and multiple triggering modules. The multiple measuring devices correspond one-to-one with the multiple receiving modules, and the multiple receiving modules correspond one-to-one with the multiple triggering modules. Each of the multiple triggering modules is configured to trigger an external device. The multiple receiving modules include a first receiving module, and the multiple triggering modules include a first triggering module.

[0078] The first receiving module is configured to receive measurement data sent by the first measuring device 321 , where the measurement data is used to indicate the status of the movers in the multi-motor motor system 100 .

[0079] The first trigger module is used to send a trigger signal corresponding to the first measuring device 321 to the external device coupled to the first processing device 311 when the mover state indicated by the measurement data meets a preset condition; the trigger signal is used to instruct the external device to work.

[0080] The processing system may further include a plurality of processing modules corresponding one-to-one to the plurality of receiving modules, wherein the plurality of processing modules include a first processing module.

[0081] The first processing module is configured to determine whether the state of the mover indicated by the measurement data satisfies a preset condition. The first processing module is further configured to send a trigger generation command and a trigger format to the first trigger module when the state of the mover indicated by the measurement data satisfies the preset condition. The first trigger module is specifically configured to send a trigger signal corresponding to the first measuring device 321 based on the trigger generation command and the trigger format.

[0082] The above-mentioned receiving module and triggering module can be understood as software or hardware. Whether they are implemented in software or hardware should be determined according to the specific situation.

[0083] It can be understood that the above-mentioned processing system is applied to the system in the aforementioned method embodiment, and its functions and effects can refer to the functions and effects of the aforementioned method embodiment, and the embodiments of this application will not be repeated here.

[0084] An embodiment of the present application also provides a computer-readable storage medium, which stores program code. When the computer-readable storage medium is run on a device (for example, the device can be a single-chip microcomputer, chip, computer or processor, etc.), the program code therein can be called by the processor to execute one or more steps in the above method embodiment.

[0085] Based on this understanding, the embodiments of the present application also provide a computer program product containing instructions. The technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or the processor therein to execute all or part of the steps of the method described in each embodiment of the present application.

[0086] Finally, it should be noted that the above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A processing method, characterized in that: The processing method is applied to a processing system, the processing system comprising a plurality of processing devices; the plurality of processing devices are used to couple with a plurality of measuring devices in a one-to-one correspondence; the plurality of measuring devices are all used to measure a multi-motor system; the plurality of processing devices are all used to couple with an external device; The plurality of processing devices include a first processing device, the plurality of measuring devices include a first measuring device coupled to the first processing device, and the processing method includes: The first processing device receives measurement data sent by the first measuring device, wherein the measurement data is used to indicate a state of a mover in the multi-motor motor system; When the mover state indicated by the measurement data meets a preset condition, the first processing device sends a trigger signal corresponding to the first measuring device to the external device coupled to the first processing device; the trigger signal is used to instruct the external device to work.

2. The processing method according to claim 1, characterized in that The measuring device coupled to each processing device is located within the processing device.

3. The processing method according to claim 1, characterized in that The plurality of processing devices further include a second processing device, and the plurality of measuring devices further include a second measuring device coupled to the second processing device; the processing method further includes: The first processing device sends a control signal to the second processing device when the state of the mover indicated by the measurement data sent by the first measuring device meets the preset condition; The second processing device receives the measurement data sent by the second measuring device; The second processing device responds to the control signal and sends the trigger signal corresponding to the second measuring device to the external device coupled to the second processing device when the mover state indicated by the measurement data sent by the second measuring device meets the preset condition.

4. The processing method according to claim 1, characterized in that The processing method further comprises: The first processing device receives working data generated by an external device coupled to the first processing device, wherein the working data is used to indicate the state of the mover; When the mover state indicated by the working data meets the preset condition, the first processing device sends the trigger signal corresponding to the external device to the external device coupled to the first processing device.

5. The processing method according to any one of claims 1 to 4, characterized in that: The preset condition is one-time programming data stored in the first processing device; or, The multiple processing devices are all used to couple with a host computer; the preset conditions are preset conditions sent by the host computer.

6. The processing method according to any one of claims 1 to 4, characterized in that: The mover state includes at least one of the following: the time when the mover is located at the specified position, the sequence number of the mover located at the specified position, the position of the specified mover, and the speed of the specified mover.

7. A processing system, characterized in that The processing system includes multiple processing devices, which are used to couple with multiple measuring devices in a one-to-one correspondence, and the multiple processing devices are all used to couple with external devices; the processing devices in the processing system are used to execute the processing method according to any one of claims 1-6.

8. The processing system according to claim 7, characterized in that The measuring device coupled to each processing device is located within the processing device.

9. The processing system according to claim 7 or 8, characterized in that The measuring device is the sensor 130 in the multi-motor system.

10. A processing system, characterized in that The processing system comprises modules for executing the method of any one of claims 1-6.

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