Method, apparatus and device for mover control on transmission line and medium

Abstract

The application discloses a mover control method and device for a transmission line, equipment and a medium. The method comprises the following steps: acquiring work station information and position information of a plurality of movers; the work station information comprises a number of work station points in a work station area and processing tact information; determining a target mover group according to the position information of the plurality of movers and the number of work station points in the work station area; and controlling the movement of the movers in the target mover group according to the processing tact information. The application controls the movement of the movers according to the actual processing requirements of the work stations, can reduce the complexity of the movement control of the movers, makes the movement control of the movers more convenient and efficient, and can ensure the transmission safety of the movers.

Description

Technical Field

[0001] This application relates to the field of transportation equipment technology, and in particular to a method, apparatus, device and medium for controlling a mover on a transmission line. Background Technology

[0002] In existing automated production systems, there are various transmission line systems that transport moving parts to the corresponding processing stations in an orderly manner. Generally, this is done by controlling individual moving parts. However, with the diversification of processing requirements, the complexity of motion control of moving parts also increases. When multiple moving parts are performing complex movements simultaneously, it is difficult to control each moving part stably and quickly, which can easily lead to control errors, motion collisions, lags and other problems, and even processing accidents, resulting in losses. Summary of the Invention

[0003] To address the problems in motion control of a moving part, this application proposes a method, apparatus, device, and medium for controlling a moving part on a transmission line, the technical solution of which is as follows:

[0004] On one hand, this application provides a mover control method for a transmission line, the transmission line including a stator and multiple movers, the multiple movers being driven by the stator, the stator having a workstation area for processing the workpiece carried on the movers, the workstation area having multiple workstations; the mover control method includes:

[0005] Acquire workstation information and the position information of multiple moving parts; workstation information includes the number of workstations in the workstation area and processing cycle information;

[0006] The target mover group is determined based on the location information of multiple movers and the number of work stations within the work station area;

[0007] Based on the processing cycle information, control the motion of the movers within the target mover group.

[0008] In some implementations, the processing cycle information includes synchronous processing information or asynchronous processing information; based on the processing cycle information, controlling the motion of the movers within the target mover group includes:

[0009] Based on the obtained synchronous or asynchronous processing information, the target work station is determined;

[0010] Based on the position information of multiple moving parts, determine the moving part information of the target work station;

[0011] Based on the motion information of the target work station, control the motion of the motion elements within the target motion element group.

[0012] In some embodiments, the stator further has a first buffer zone located outside the work station area and behind the work station area along the transmission direction of the transmission line;

[0013] The mover control method also includes:

[0014] When the target moving subgroup has fully entered the work station area, control the next moving subgroup to enter the first buffer zone.

[0015] In some implementations, the number of movers accommodated in the first buffer zone is less than or equal to the number of workstations within the workstation area; and / or,

[0016] The distance between the first buffer zone and the workstation area is not less than the first safety threshold, which is the distance between the first workstation and the last workstation along the transmission direction of the transmission line within the workstation area.

[0017] In some implementations, the mover information at the target work station includes the number of movers at the target work station; controlling the movement of movers within the target mover group based on the processing cycle information includes:

[0018] Based on the obtained synchronous processing information, the first work station along the transmission direction of the transmission line in the work station area is determined as the target work station.

[0019] Based on the position information of multiple movers, determine the number of movers at the target work station;

[0020] If the number of movers at the target work station is 0, then control all movers in the target mover group to enter the work station area synchronously.

[0021] In some implementations, the mover information at the target work station includes the number of movers at the target work station; controlling the movement of movers within the target mover group based on the processing cycle information includes:

[0022] Based on the acquired asynchronous processing information, the last work station in the work station area along the transmission line in the transmission direction is taken as the target work station.

[0023] Based on the position information of multiple movers, determine the number of movers at the target work station;

[0024] If the number of movers at the target work station is 0, then the first mover in the target mover group along the transmission direction of the transmission line will enter the work station area.

[0025] In some embodiments, the stator further includes a first buffer and a second buffer. The first buffer is located outside the work station area and behind the work station area along the transmission direction of the transmission line. The second buffer is located inside the work station area and behind all work stations within the work station area along the transmission direction of the transmission line.

[0026] The mover control method also includes:

[0027] When the target moving subgroup has fully entered the work station area, control the next moving subgroup to enter the first buffer zone;

[0028] When a mover in the target mover group leaves the work station area, the mover located in the first buffer zone is controlled to enter the second buffer zone.

[0029] In some implementations, the second buffer zone accommodates fewer moving parts than the number of workstations within the workstation area; and / or,

[0030] The distance between the second buffer zone and the last work station in the transmission direction along the transmission line within the work station area is not less than the second safety threshold, which is the distance between any two adjacent work stations in the work station area.

[0031] In some implementations, the stator also has a safety zone located outside the work station area and in front of the work station area along the transmission direction of the transmission line;

[0032] The mover control method also includes:

[0033] When a mover in the target mover group leaves the work station area and enters the safe zone, the mover in the first buffer zone is controlled to enter the second buffer zone.

[0034] In some implementations, the number of moving parts accommodated in the safety zone is less than or equal to the number of workstations within the workstation area; and / or,

[0035] The distance between the safety zone and the work station area is not less than the third safety threshold, which is the distance between the first work station and the last work station along the transmission direction of the transmission line within the work station area.

[0036] On the other hand, this application also provides a transmission line system, which includes a stator and a plurality of movers, the movers being able to move under the drive of the stator. The stator has a workstation area for processing the workpiece carried on the movers, and the workstation area has a plurality of workstations. The transmission line system also includes a control device for:

[0037] Acquire workstation information and the position information of multiple moving parts; workstation information includes the number of workstations in the workstation area and processing cycle information;

[0038] The target mover group is determined based on the location information of multiple movers and the number of work stations within the work station area;

[0039] Based on the processing cycle information, control the motion of the movers within the target mover group.

[0040] On the other hand, this application also provides a computer device, including:

[0041] The processor, memory, and communication circuitry are connected to the memory and communication circuitry, respectively.

[0042] Among them, the communication circuit is used for communication connection, the memory is used to store computer programs, and the processor is used to execute the computer programs to implement any of the above methods for controlling the actuator on the transmission line.

[0043] On the other hand, this application also provides a computer-readable storage medium storing a computer program that can be executed by a processor to implement any of the above-mentioned methods for controlling a motor on a transmission line.

[0044] The beneficial effects of this application are as follows: Based on the actual processing requirements of the workstation, this application obtains the number of workstations and processing cycle information, and can also obtain the position information of the movers in real time. Based on the above information, the target mover group is determined, thereby controlling the movement of the movers within the target mover group. This method can reduce the complexity of mover motion control, making it more convenient and efficient, and can also ensure the safety of mover transmission, avoiding transmission failures. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating an embodiment of the motor control method of this application;

[0047] Figure 2 This is a schematic diagram of a sub-process of an embodiment of the actuator control method of this application;

[0048] Figure 3 This is a schematic diagram of the motion state of an embodiment of the synchronous processing control method of this application;

[0049] Figure 4 This is a schematic diagram of the motion state of an embodiment of the asynchronous processing motion control method of this application;

[0050] Figure 5 This is a schematic diagram of the motion state of an embodiment of the mover control method of this application;

[0051] Figure 6 This is a schematic diagram of the motion state of another embodiment of the mover control method of this application;

[0052] Figure 7 This is a schematic block diagram of an embodiment of the computer device of this application;

[0053] Figure 8 This is a schematic block diagram of an embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0055] The terms "first" and "second" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0056] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] In this application, unless otherwise specified, all terms involving directional descriptions shall conform to the following definition criteria:

[0058] Front and rear orientation: Based on the transmission direction, the direction along the transmission path is "front" (i.e., the right side of the diagram), and the opposite direction is "rear" (i.e., the left side of the diagram).

[0059] Sequence description: On the transmission path, the component that is transmitted first or located at the front is called "first" (corresponding to the right side of the diagram), and the component that is transmitted last or located at the back is called "last" (corresponding to the left side of the diagram).

[0060] Orientation reference frame: All orientation descriptions are based on the observer's view facing the direction of transmission (from left to right), which is clearly indicated by the arrow "→" in the attached figures;

[0061] Note: The above definitions apply to the entire specification, claims, and drawings.

[0062] This application provides a method for controlling a mover on a transmission line. The transmission line includes a stator and multiple movers, which can move under the drive of the stator. The stator has a workstation area for processing the workpiece carried on the movers, and the workstation area has multiple workstations.

[0063] Please see Figure 1 , Figure 1 This is a schematic flowchart of an embodiment of the mover control method for transmission lines according to this application. It should be noted that if substantially the same result is achieved, this embodiment does not necessarily reflect that outcome. Figure 1 The sequence of processes shown is limited.

[0064] In this embodiment, the mover control method for a transmission line includes the following steps:

[0065] Acquire workstation information and the location information of multiple actuators. Workstation information includes the number of workstations in the workstation area and processing cycle information.

[0066] The target mover group is determined based on the location information of multiple movers and the number of work stations within the work station area;

[0067] Based on the processing cycle information, control the motion of the movers within the target mover group.

[0068] Based on the position information of the movers and the number of workstations, at least two movers are selected to form a target mover group. As the position information of the movers changes, the target mover group also changes. The number of movers in the target mover group is less than or equal to the number of workstations in the workstation area. In some embodiments, such as... Figure 4 As shown, there are two workstations within the workstation area, and the number of target moving parts is two, namely moving part 4 and moving part 5, which is equal to the number of workstations. In some embodiments, such as Figure 5 As shown, there are three workstations within the workstation area, and the number of target moving parts is two, namely moving parts 2 and 3, which is less than the number of workstations. By controlling the movement of the moving parts within the target moving parts, the control logic of the moving parts' movement is simplified, the complexity of the moving parts' movement control is reduced, thereby improving the stability of the system and making it less prone to errors.

[0069] Please see Figure 2 , Figure 2 This is a schematic flowchart of a sub-process of an embodiment of the mover control method for a transmission line according to this application. It should be noted that if substantially the same result is achieved, this embodiment does not necessarily replace it with a similar method. Figure 2 The sequence of processes shown is limited.

[0070] In this embodiment, the processing cycle information includes synchronous processing information or asynchronous processing information; the step of controlling the motion of the movers within the target mover group according to the processing cycle information further includes the following steps:

[0071] Based on the obtained synchronous or asynchronous processing information, the target work station is determined;

[0072] Based on the position information of multiple moving parts, determine the moving part information of the target work station;

[0073] Based on the motion information of the target work station, control the motion of the motion elements within the target motion element group.

[0074] With the diversification of processing needs, various processing equipment can be set up at each workstation in the work area to process the workpieces carried on the movers. Some workpieces only require processing by one piece of equipment, such as a workpiece carried on a mover that only needs painting; while other workpieces require processing by several pieces of equipment sequentially, such as a workpiece carried on a mover that requires the addition of a component before painting. Different processing methods correspond to different processing information, which can be divided into synchronous processing information and asynchronous processing information. The processing cycle information includes only one of synchronous and asynchronous processing information. Specifically, synchronous processing information indicates that the workpiece carried on each mover in the target mover group only needs to be processed by the processing equipment at any one workstation in the work area; asynchronous processing information indicates that the workpiece carried on each mover in the target mover group needs to be processed by the processing equipment at at least two workstations in the work area. Based on the processing cycle information and the position information of the mover, the mover information of the target work station is determined. Then, the movement of the movers in the target mover group is controlled according to the mover information of the target station. This allows for more flexible control of the mover movement to meet diverse processing needs.

[0075] In some embodiments, the stator further includes a first buffer located outside the work area and behind the work area along the transmission direction. The mover control method further includes controlling the next mover group to enter the first buffer when the target mover group has completely entered the work area.

[0076] Please refer to Figure 3 In this embodiment, the target moving part group consists of moving part 3 and moving part 4. When moving part 3 and moving part 4 enter the work station area, the next moving part group, including moving part 5 and moving part 6, is controlled to enter the first buffer zone. The movement speed of the moving parts can be controlled by controlling the energization of the stator coils. After the moving parts enter the first buffer zone, their speed is reduced before entering the work station area. This improves processing efficiency and reduces the likelihood of collisions.

[0077] In some embodiments, the number of movers contained in the first buffer is less than or equal to the number of workstations within the workstation area.

[0078] In some embodiments, the distance between the first buffer and the workstation area is not less than a first security threshold, which is the distance between the first workstation and the last workstation along the transmission direction of the transmission line within the workstation area.

[0079] In some embodiments, please refer to Figure 3 The number of movers in the first buffer zone is equal to the number of workstations in the workstation area. The first buffer zone contains two movers, namely mover 3 and mover 4, and the workstation area also contains two workstations.

[0080] In some embodiments, please refer to Figure 5 The first buffer can hold fewer moving parts than the number of workstations within the workstation area. The first buffer holds two moving parts, namely moving part 4 and moving part 5, while the workstation area contains three workstations.

[0081] In some embodiments, please refer to Figure 3 There are two work stations in the work station area. The distance between work station 1 and work station 2 is D, which means the first safety threshold is equal to D. The distance between the first buffer zone and the work station area is also equal to the first safety threshold, which is D.

[0082] The number of moving parts that the first buffer can hold is less than or equal to the number of work stations in the work station area, so that all moving parts in the first buffer can enter the work station area at once; by setting a first safety threshold, collisions between moving parts in the first buffer and the work station area are avoided, thus ensuring transportation safety.

[0083] In some embodiments, the mover information of the target work station includes the number of movers at the target work station; controlling the movement of movers within the target mover group according to the processing cycle information includes:

[0084] Based on the obtained synchronous processing information, the first work station along the transmission direction of the transmission line in the work station area is determined as the target work station.

[0085] Based on the position information of multiple movers, determine the number of movers at the target work station;

[0086] If the number of movers at the target work station is 0, then control all movers in the target mover group to enter the work station area synchronously.

[0087] In some embodiments, please refer to Figure 3The obtained processing cycle information is synchronous processing information. The first work station along the transmission direction of the transmission line in the work station area is work station 1, therefore work station 1 is the target work station. Based on the position information of movers 1 to 6, it can be determined whether the number of movers at work station 1 is 0. In this embodiment, movers 3 and 4 form the target mover group, and the number of movers at the target work station, i.e., work station 1, is 0. Therefore, movers 3 and 4 are controlled to enter the work station area synchronously, and movers 3 and 4 move to work station 1 and work station 2 respectively.

[0088] When the processing cycle information is synchronous processing information, the synchronous movement of the movers in the target mover group can be controlled by the coil elements on the stator, so that the workpieces carried on the movers in the target mover group can be processed synchronously in the workstation area. This not only improves processing efficiency, but also simplifies the control logic of the mover movement.

[0089] In some embodiments, based on the acquired asynchronous processing information, the last work station in the work station area along the transmission direction of the transmission line is taken as the target work station.

[0090] Based on the position information of multiple movers, determine the number of movers at the target work station;

[0091] If the number of movers at the target work station is 0, then the first mover in the target mover group along the transmission direction of the transmission line will enter the work station area.

[0092] In some embodiments, please refer to Figure 6 The acquired processing cycle information is asynchronous processing information. The last work station along the transmission line in the work station area is work station 3, therefore work station 3 is the target work station. At this time, mover 2 and mover 3 form the target mover group. The number of movers at work station 3 is 0. Therefore, the first mover in the target mover group, i.e., mover 2, is controlled to enter the work station area. This ensures the continuity of processing, thereby improving processing efficiency.

[0093] In some embodiments, the stator further includes a first buffer and a second buffer. The first buffer is located outside the workstation area and behind the workstation area along the transmission direction of the transmission line. The second buffer is located inside the workstation area and behind all workstations within the workstation area along the transmission direction of the transmission line.

[0094] The mover control method also includes: when the target mover group has completely entered the work station area, controlling the next mover group to enter the first buffer zone;

[0095] When a mover in the target mover group leaves the work station area, the mover located in the first buffer zone is controlled to enter the second buffer zone.

[0096] In some embodiments, the number of moving parts accommodated by the second buffer is less than the number of work stations within the work station area;

[0097] In some embodiments, the distance between the second buffer and the last work station in the transmission direction along the transmission line within the work station area is not less than a second security threshold, which is the distance between any two adjacent work stations in the work station area.

[0098] In some embodiments, the positions of the first buffer and the second buffer are as follows: Figure 5 As shown. At this time, the acquired processing cycle information is asynchronous processing information. At this time, mover 2 and mover 3 form the target mover group. The workpiece carried on mover 2 is processed by the processing equipment of workstation 2 and workstation 1 respectively, and the workpiece carried on mover 3 is processed by the processing equipment of workstation 3 and workstation 1 respectively. When both mover 2 and mover 3 enter the workstation area, the next group of movers, including mover 4 and mover 5, is controlled to enter the first buffer zone; at the next moment, when mover 2 leaves the workstation area, mover 4 in the first buffer zone is controlled to enter the second buffer zone.

[0099] In some embodiments, such as Figure 4 As shown, the second safety threshold is the distance between workstation 1 and workstation 2, denoted as D2. A second buffer zone is set so that its distance from workstation 1 is equal to the second safety threshold, also denoted as D2. The first buffer zone contains a set of movers, including movers 4 and 5. The second buffer zone contains mover 3, which will move to workstation 2 in the next moment. Since the second buffer zone is located within the workstation area and is closer to the workstations, mover 3 in the second buffer zone can move to workstation 2 more quickly, allowing the workpiece carried by mover 3 to be processed, thus improving processing efficiency. At the same time, by setting the second safety threshold, collisions between movers in the second buffer zone and movers at the workstations can be prevented during movement, improving the safety of mover transportation.

[0100] In some embodiments, the stator further has a safety zone located outside the work station area and in front of the work station area along the transmission direction of the transmission line; the mover control method further includes: when a mover in the target mover group leaves the work station area and enters the safety zone, controlling the mover in the first buffer to enter the second buffer.

[0101] In some embodiments, such as Figure 5 As shown, the obtained processing cycle information is asynchronous processing information. At this time, mover 1, mover 2 and mover 3 form the target mover group. After mover 1 leaves the work station area and enters the safe area, mover 4 in the first buffer zone is controlled to enter the second buffer zone.

[0102] In some embodiments, the number of movers accommodated in the safe zone is less than or equal to the number of workstations within the workstation area. When a mover within the workstation area moves into the safe zone, movers outside the workstation area can then move into the workstation area, improving transmission efficiency. In some embodiments, the distance between the safe zone and the workstation area is not less than a third safety threshold, which is the distance between the first and last workstations along the transmission direction of the transmission line within the workstation area. When multiple movers move synchronously into the safe zone, collisions between movers during their movement are avoided.

[0103] In some embodiments, such as Figure 4 As shown, the safety zone can accommodate one mover, i.e., mover 1, which is less than the number of work stations.

[0104] In some embodiments, such as Figure 3 As shown, the safety zone can accommodate two movers, namely mover 1 and mover 2, the same as the number of workstations. The distance between workstation 1 and workstation 2 is the third safety threshold, denoted as D. The distance between the safety zone and the workstation area is equal to the third safety threshold, also denoted as D.

[0105] In some embodiments, such as Figure 3 As shown, the obtained processing cycle information is synchronous processing information, and the movers in the target mover group are mover 1 and mover 2. At the previous moment, the workpieces carried on mover 1 and mover 2 were processed synchronously in the workstation area. After processing is completed, mover 1 and mover 2 are controlled to leave the workstation area synchronously and enter the safe area.

[0106] By setting up a safety zone and a third safety threshold, and controlling the movement of the mover between the first and second buffer zones and between the processing zone and the safety zone, the continuity of processing is ensured, processing efficiency is improved, collisions of the mover during movement are avoided, and the safety of transmission is increased.

[0107] In this application, the workstation area, first buffer zone, second buffer zone, and safety zone are each an interval set along the stator. The start and end points of each interval can have physical locations or virtual locations set by the operation of the control program. The physical location allows the movement state of the mover to be observed manually. The virtual location allows the movement state of the mover to be simulated and monitored through a display interface.

[0108] On the other hand, this application also provides a transmission line system, which includes a stator and a plurality of movers, the movers being able to move under the drive of the stator. The stator has a workstation area for processing the workpiece carried on the movers, and the workstation area has a plurality of workstations. The transmission line system also includes a control device for:

[0109] Acquire workstation information and the position information of multiple moving parts; workstation information includes the number of workstations in the workstation area and processing cycle information;

[0110] The target mover group is determined based on the location information of multiple movers and the number of work stations within the work station area;

[0111] Based on the processing cycle information, control the motion of the movers within the target mover group.

[0112] On the other hand, this application also provides a computer device, including:

[0113] The processor, memory, and communication circuitry are connected to the memory and communication circuitry, respectively.

[0114] Among them, the communication circuit is used for communication connection, the memory is used to store computer programs, and the processor is used to execute the computer programs to implement any of the above methods for controlling the actuator on the transmission line.

[0115] On the other hand, this application also provides a computer-readable storage medium storing a computer program that can be executed by a processor to implement any of the above-mentioned methods for controlling a motor on a transmission line.

[0116] Specifically, please refer to Figure 7 The electronic device described in this application embodiment may specifically include a processor 210 and a memory 220. The memory 220 is coupled to the processor 210.

[0117] Processor 210 is used to control the operation of electronic devices. Processor 210 can also be referred to as a CPU (Central Processing Unit). Processor 210 may be an integrated circuit chip with signal processing capabilities. Processor 210 can also be a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or processor 210 can be any conventional processor.

[0118] The memory 220 is used to store computer programs and may be RAM, ROM, or other types of storage devices. Specifically, the memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory is used to store at least one line of program code.

[0119] The processor 210 is used to execute computer programs stored in the memory 220 to implement the methods described in the various method embodiments of this application.

[0120] For a detailed description of the functions and execution processes of each functional module or component in the computer device embodiments of this application, please refer to the descriptions in the above-described method embodiments of this application, which will not be repeated here.

[0121] In the embodiments provided in this application, it should be understood that the disclosed intelligent control platform device and method can be implemented in other ways. For example, the embodiments of the intelligent control platform device 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 system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0122] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0123] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0124] In another aspect, this application provides a computer-readable storage medium storing a computer program that can be executed by a processor to implement any of the methods described above.

[0125] Please see Figure 8If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in computer-readable storage medium 300. Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a storage medium and includes several instructions / computer programs to cause an intelligent control platform device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, as well as electronic devices such as computers, mobile phones, laptops, tablets, and cameras that have the aforementioned storage media.

[0126] The description of the execution process of program data in a computer-readable storage medium can be found in the above-described method embodiments of this application, and will not be repeated here.

[0127] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

[0128] Those skilled in the art will understand that, in the above-described method of the specific implementation, the order in which each step is written does not imply a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0129] In summary, this application has the following beneficial effects: Based on the actual processing requirements of the workstation, this application obtains the number of workstations and processing cycle information, and can also obtain the position information of the movers in real time. Based on the above information, the target mover group is determined, thereby controlling the movement of the movers within the target mover group. This method can reduce the complexity of mover motion control, making it more convenient and efficient, and can ensure the safety of mover transmission, avoiding transmission failures.

[0130] Furthermore, the processing cycle information includes synchronous processing information or asynchronous processing information. Based on each type of processing cycle information, the target work station is determined, thereby realizing the control logic for the motion of the movers within the target mover group. Based on the processing cycle information, the motion of the movers can be controlled more flexibly to meet diverse processing needs.

[0131] Furthermore, by setting up a first buffer zone, a second buffer zone, and a safety zone, processing continuity can be ensured while improving processing efficiency and guaranteeing the safety of moving parts transmission.

Claims

1. A method for mover control on a transport line, said transport line comprising a stator and a plurality of movers, said plurality of movers being movable under actuation of said stator, said stator having a work station area for processing a workpiece carried on said movers, said work station area having a plurality of work station sites, characterized by, The mover control method includes: Acquire workstation information and the position information of the multiple moving parts; the workstation information includes the number of workstations and processing cycle information within the workstation area; The target mover group is determined based on the location information of the multiple movers and the number of work stations in the work station area; Based on the processing cycle information, control the movement of the movers within the target mover group; The processing cycle information includes synchronous processing information or asynchronous processing information; the stator has a first buffer zone, which is located outside the workstation area and behind the workstation area along the transmission direction of the transmission line; the mover control method further includes: When the target moving subgroup has completely entered the work station area, control the next moving subgroup to enter the first buffer zone; If the processing cycle information includes asynchronous processing information, the stator further has a second buffer, which is located within the workstation area and behind all the workstations within the workstation area along the transmission direction of the transmission line; and the mover control method further includes: When a mover in the target mover group leaves the work station area, the mover located in the first buffer is controlled to enter the second buffer.

2. The mover control method for a transmission line according to claim 1, characterized in that, The step of controlling the movement of the movers within the target mover group based on the processing cycle information includes: Based on the obtained synchronous or asynchronous processing information, the target work station is determined; Based on the position information of the plurality of moving parts, determine the moving part information of the target work station; Based on the motion information of the target work station, control the movement of the motion elements within the target motion element group.

3. The mover control method for a transmission line according to claim 2, characterized in that, The number of moving parts accommodated in the first buffer is less than or equal to the number of workstations within the workstation area; and / or, The distance between the first buffer and the workstation area is not less than a first security threshold, which is the distance from the first workstation to the last workstation along the transmission direction of the transmission line within the workstation area.

4. The mover control method for a transmission line according to claim 2, characterized in that, The mover information of the target work station includes the number of movers at the target work station; The step of controlling the movement of the movers within the target mover group based on the processing cycle information includes: Based on the obtained synchronous processing information, the first work station in the work station area along the transmission direction of the transmission line is determined as the target work station. Based on the position information of the multiple moving parts, determine the number of moving parts at the target work station; If the number of movers at the target work station is 0, then all movers in the target mover group are controlled to enter the work station area synchronously.

5. The mover control method for a transmission line according to claim 2, characterized in that, The mover information of the target work station includes the number of movers at the target work station; The step of controlling the movement of the movers within the target mover group based on the processing cycle information includes: Based on the obtained asynchronous processing information, the last work station in the work station area along the transmission direction of the transmission line is taken as the target work station. Based on the position information of the plurality of movers, determine the number of movers at the target work station; If the number of movers at the target work station is 0, then the first mover in the target mover group along the transmission direction of the transmission line is controlled to enter the work station area.

6. The mover control method for a transmission line according to claim 5, characterized in that, The second buffer can hold fewer moving parts than the number of workstations within the workstation area; and / or, The distance between the second buffer and the last work station in the transmission direction along the transmission line within the work station area is not less than a second safety threshold, which is the distance between any two adjacent work stations in the work station area.

7. The mover control method for a transmission line according to claim 5, characterized in that, The stator also has a safety zone located outside the workstation area and in front of the workstation area along the transmission direction of the transmission line; The mover control method further includes: When a mover in the target mover group leaves the work station area and enters the safety zone, the mover in the first buffer zone is controlled to enter the second buffer zone.

8. The method for controlling a mover on a transmission line according to claim 7, characterized in that, The number of moving parts accommodated in the safety zone is less than or equal to the number of workstations within the workstation area; and / or, The distance between the safety zone and the workstation area is not less than a third safety threshold, which is the distance between the first workstation and the last workstation within the workstation area along the transmission direction of the transmission line.

9. A transmission line system, characterized in that, The transmission line system includes a stator and multiple movers, which can move under the drive of the stator. The stator has a workstation area for processing the workpiece carried on the movers, and the workstation area has multiple work points. The transmission line system also includes a control device, which is used for: Acquire workstation information and the position information of the multiple moving parts; the workstation information includes the number of workstations and processing cycle information within the workstation area; The target mover group is determined based on the location information of the multiple movers and the number of work stations in the work station area; Based on the processing cycle information, control the movement of the movers within the target mover group; The processing cycle information includes synchronous processing information or asynchronous processing information; The stator has a first buffer zone, which is located outside the work station area and behind the work station area along the transmission direction of the transmission line. The mover control method further includes: When the target moving subgroup has completely entered the work station area, control the next moving subgroup to enter the first buffer zone; If the processing cycle information includes asynchronous processing information, the stator also has a second buffer, which is located within the work station area and is located behind all the work stations within the work station area along the transmission direction of the transmission line; Furthermore, the mover control method also includes: When a mover in the target mover group leaves the work station area, the mover located in the first buffer is controlled to enter the second buffer.

10. A computer device, characterized in that, include: The processor, memory, and communication circuitry are connected to the memory and communication circuitry, respectively. The communication circuit is used for communication connection, the memory is used to store computer programs, and the processor is used to execute the computer programs to implement the mover control method for transmission lines as described in any one of claims 1-8.

11. A computer-readable storage medium, characterized in that, It stores a computer program that can be executed by a processor to implement the mover control method for a transmission line as claimed in any one of claims 1-8.

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