Mover module control method, device, equipment, system and storage medium

Abstract

The invention provides a rotor module control method, apparatus, device and system, and a storage medium. The method comprises the steps of obtaining traffic information of each first branch path; wherein the flow information is used for representing the number of mover modules executing the interaction task in the first branch path; determining scheduling configuration information of each first branch path according to the traffic information of the plurality of first branch paths; wherein the scheduling configuration information is used for judging whether the mover module located in the main path enters the corresponding first branch path or not. Based on the scheme, the automatic production efficiency can be effectively improved, and the equipment utilization rate of the first branch path is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and more particularly, to a mover module control method, device, equipment, system and storage medium. BACKGROUND

[0002] In related technologies, a linear motor device can be applied to an automated production scene, and the linear motor device includes a mover module and a stator module. The mover module can be used to carry materials, the stator module is composed of a plurality of stator modules, and the stator module can provide a moving path for the mover module. According to the sequence of operations of a plurality of operation devices arranged around the stator module, the mover module and different operation devices are controlled to interact.

[0003] Since the number of mover modules required by different types of processes is not completely consistent, congestion of the mover modules is easily caused. To this end, the number of stator modules of the stator module can be increased to extend the moving path. However, in the manner of extending the single path, there is a problem of low physical space utilization. Based on the problems of congestion and low physical space utilization, the original single moving path is changed into a main path and a plurality of branch paths through improvement of the mechanical mechanism of the linear motor device, and the mover modules located on the main path are dispatched after the operation devices corresponding to the branch paths complete a process operation.

[0004] However, in the case where at least two branch paths are arranged around operation devices performing the same type of process operation, the plurality of branch paths have different process execution efficiencies, and the branch path with lower process execution efficiency will inevitably reduce the overall moving efficiency of the linear motor device, and further reduce the automated production efficiency. SUMMARY

[0005] The present application provides a mover module control method, device, equipment, system and storage medium, which can effectively improve the automated production efficiency and improve the device utilization rate of the first branch path.

[0006] In a first aspect, a mover module control method is provided. The mover module is arranged in a stator module, and a moving path formed by the stator module includes a main path and a plurality of branch paths connected to the main path. The plurality of branch paths includes at least two first branch paths, and the first branch path is a branch path corresponding to the same type of process. The method includes: obtaining flow information of each first branch path, wherein the flow information is used to represent the number of mover modules performing interaction tasks in the first branch path; determining dispatch configuration information of each first branch path according to the flow information of the plurality of first branch paths, wherein the dispatch configuration information is used to determine whether the mover module located on the main path enters the corresponding first branch path.

[0007] In a second aspect, a control device is provided for controlling a mover module, the mover module being arranged in a stator module, the stator module forming a movement path including a trunk path and a plurality of branch paths connected to the trunk path, the plurality of branch paths including at least two first branch paths, the first branch paths being branch paths corresponding to the same type of process; The device includes: An acquisition unit configured to acquire traffic information of each first branch path, wherein the traffic information is used to represent the number of mover modules performing interactive tasks on the first branch path; A scheduling unit configured to determine scheduling configuration information of each first branch path according to the traffic information of the plurality of first branch paths, wherein the scheduling configuration information is used to determine whether the mover module located on the trunk path enters the corresponding first branch path.

[0008] In a third aspect, a linear motor device is provided, including a mover module, a stator module, and a control device, the mover module being arranged in the stator module, the stator module forming a movement path including a trunk path and a plurality of branch paths connected to the trunk path, the plurality of branch paths including at least two first branch paths, the first branch paths being branch paths corresponding to the same type of process; The control device includes: A memory configured to store executable program code; A processor configured to call and run the executable program code from the memory, so that the electronic device executes the mover module control method of any one of the above aspects.

[0009] In a fourth aspect, an automatic production system is provided, including a mover module, a stator module, a control device, and an operating device, the mover module being arranged in the stator module, the stator module forming a movement path including a trunk path and a plurality of branch paths connected to the trunk path, the plurality of branch paths including at least two first branch paths, the first branch paths being branch paths corresponding to the same type of process, and the operating device being configured to perform at least two types of processes of feeding, discharging, and processing; The control device includes: A memory configured to store executable program code; A processor configured to call and run the executable program code from the memory, so that the electronic device executes the mover module control method of any one of the above aspects.

[0010] In a fifth aspect, a computer readable storage medium is provided, the computer readable storage medium storing a computer program, when the computer program is executed, the mover module control method of any one of the above aspects is implemented.

[0011] Based on the technical solutions provided in some embodiments of the present application, the mover module flow can reflect the actual process execution efficiency of the corresponding first branch path, and the scheduling configuration information determined by using the flow information can be used to determine whether the mover module located in the trunk path enters the corresponding first branch path, so as to realize the dynamic scheduling of the mover module located in the trunk path, and more mover modules are allocated to the first branch path with higher process execution efficiency, so as to balance the adverse effects of the process execution efficiency difference between the plurality of first branch paths on the overall moving efficiency of the linear motor equipment, and further effectively improve the automation production efficiency. In addition, by using the embodiments provided in the present application, the equipment utilization rate of the first branch path can also be improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0013] Figure 1 is a single path transportation scene schematic diagram provided by the present application; Figure 2 is a multi-path transportation scene schematic diagram provided by the present application; Figure 3 is a branch structure schematic diagram based on overall switching provided by the present application; Figure 4 is another branch structure schematic diagram based on overall switching provided by the present application; Figure 5 is a branch structure schematic diagram based on local switching provided by the present application; Figure 6 is a branch structure schematic diagram based on coil energization switching provided by the present application; Figure 7 is a flow schematic diagram of a mover module control method provided by the embodiments of the present application; Figure 8 is a scene schematic diagram of a mover module control provided by the embodiments of the present application; Figure 9 is a scene schematic diagram of a region division provided by the embodiments of the present application; Figure 10 is a flow schematic diagram of scheduling based on scheduling configuration information provided by the embodiments of the present application; Figure 11 is a scene schematic diagram of a region division provided by the embodiments of the present application; Figure 12is a scene schematic diagram for determining scheduling demand by using the quantity information of the to-be-executed action sub-modules provided by the embodiment of the present application; Figure 13 is another scene schematic diagram for determining scheduling demand by using the quantity information of the to-be-executed action sub-modules provided by the embodiment of the present application; Figure 14 is a scene schematic diagram for determining scheduling demand by using the process state information provided by the embodiment of the present application; Figure 15 is another scene schematic diagram for determining scheduling demand by using the process state information provided by the embodiment of the present application; Figure 16 is a scene schematic diagram for determining the first target path provided by the embodiment of the present application; Figure 17 is a scene schematic diagram for determining the first target module provided by the embodiment of the present application; Figure 18 is a scene schematic diagram for realizing flow recording by using the flow detection point provided by the embodiment of the present application; Figure 19 is a scene schematic diagram for region division provided by the embodiment of the present application; Figure 20 is a scene schematic diagram for setting the double flow detection points provided by the embodiment of the present application; Figure 21 is a structure schematic diagram of a control device provided by the embodiment of the present application; Figure 22 is another structure schematic diagram of a control device provided by the embodiment of the present application; Figure 23 is a structure schematic diagram of a linear motor device provided by the embodiment of the present application; Figure 24 is a structure schematic diagram of an automatic production system provided by the embodiment of the present application. DETAILED DESCRIPTION

[0014] In order to make the features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0015] The following description refers to the accompanying drawings. Unless otherwise indicated, same or similar components have the same or similar reference numbers across the different figures. The following exemplary embodiments are described with reference to the accompanying drawings. These embodiments are described in order to illustrate the present application by non-limiting examples.

[0016] Hereinafter, the terms "first", "second", etc. are used only for the purpose of description and should not be construed as implying or suggesting relative importance or implying the number of the technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features.

[0017] The following are described in detail respectively. It should be noted that the order of the following embodiment descriptions does not limit the preferred order of the embodiments.

[0018] In the related art, a linear motor device can be applied to an automated production scene, and the linear motor device includes a mover module and a stator module. The mover module can be used to carry materials, and the stator module is composed of a plurality of stator modules. The stator module can provide a moving path for the mover module. According to the process execution order of a plurality of operation devices arranged around the stator module, the mover module and different operation devices can be controlled to interact.

[0019] Please refer to Figure 1 , Figure 1 is an example schematic diagram of a single path transportation provided by an embodiment of the present application. The mover module Y is arranged in the stator module, and the moving path L formed by the stator module is a closed path without a branch structure, that is, the moving path can be regarded as a single path. The mover module Y moves along the moving path L according to the moving direction F.

[0020] The operation device C is arranged around the stator module. The operation device C can be a feeding device, a discharging device, or a processing device. When the mover module Y moves along the moving path L according to the moving direction F to the vicinity of the operation device C, the operation device C can interact with the mover module Y to complete the corresponding process.

[0021] It should be noted that Figure 1 only one mover module Y and one operation device C are shown in

[0022] Based on Figure 1The single path structure shown is prone to congestion of the mover module due to the fact that the number of mover modules required by different types of processes is not completely consistent. To this end, the number of stator modules of the stator module group can be increased to extend the moving path. However, the way of extending the single path has the problem of low physical space utilization. Based on the problems of congestion and low physical space utilization, the original single moving path is changed into a main path and multiple branch paths through improvement of the mechanical mechanism of the linear motor device, and the mover module located in the main path is dispatched after the operation device corresponding to the branch path completes a process operation.

[0023] Please refer to Figure 2 , Figure 2 is an example of a multi-path transportation provided by an embodiment of the present application. Among them, Figure 2 The multi-path structure shown is improved based on the single path structure shown in Figure 1 Unlike Figure 1 , the stator module group shown in Figure 2 forms a moving path L with a branch structure. The moving path L includes a main path L1 and a branch path L2 connected to the main path L1 and surrounding the operation device C. The mover module Y moves from the main path L1 to the branch path L2 and cooperates with the surrounding operation device C on the branch path L2 to complete the corresponding process interaction.

[0024] Regarding the specific implementation of the branch structure in Figure 2 , please refer to Figures 3-6 , Figures 3-6 The main path L1_a, the main path L1_b, the branch path L2_a, and the guide conversion module for forming the guide relationship between the main path L1_a, the main path L1_b, and the branch path L2_a are shown. It should be noted that Figures 3-6 The main path L1_a and the main path L1_b in Figure 2 are local paths of the main path L1 shown in Figures 3-6 The branch path L2_a in Figure 2 is a local path of the branch path L2 shown in

[0025] As Figure 3As shown, guide transformation module B11 and guide transformation module B12 can be used alternately. In some cases, guide transformation module B11 can be used to connect the main path local L1_a and the main path local L1_b, so that the moving sub-module can enter guide transformation module B11 from the main path local L1_a according to the first movement direction F1, and then enter the main path local L1_b from guide transformation module B11. In some cases, guide transformation module B12 can be used to connect the main path local L1_a and the branch path local L2_a, so that the moving sub-module can enter guide transformation module B11 from the main path local L1_a according to the second movement direction F2, and then enter the branch path local L2_a from guide transformation module B11.

[0026] like Figure 4 As shown, the guide transformation module B21 and the connecting component B22 can be used together, specifically, the guide transformation module B21 moves along the connecting component B22. In some cases, the guide transformation module B21 moves along the connecting component B22 to a certain position to connect the main path local L1_a and the main path local L1_b through the guide transformation module B21, so that the moving submodule can enter the guide transformation module B21 from the main path local L1_a according to the first movement direction F1, and enter the main path local L1_b from the guide transformation module B21. In some cases, the guide transformation module B21 moves along the connecting component B22 to a certain position to connect the main path local L1_a and the main path local L1_b through the guide transformation module B21, so that the moving sub-module can enter the guide transformation module B21 from the main path local L1_a according to the second movement direction F2; then, the guide transformation module B21 moves along the connecting component B22 to another position to connect the branch path local L2_a through the guide transformation module B21, so that the moving sub-module can enter the branch path local L2_a from the guide transformation module B21.

[0027] like Figure 5 As shown, the guide transformation module B31 can switch its guide state through its internal guide components. In some cases, the guide transformation module B31 can be controlled to switch to a certain guide state to connect the main path local L1_a and the main path local L1_b through the guide transformation module B31, so that the moving sub-module can enter the guide transformation module B31 from the main path local L1_a according to the first movement direction F1, and then enter the main path local L1_b from the guide transformation module B31. In some cases, the guide transformation module B31 can be controlled to switch to another guide state to connect the main path local L1_a and the branch path local L2_a through the guide transformation module B31, so that the moving sub-module can enter the guide transformation module B31 from the main path local L1_a according to the second movement direction F2, and then enter the branch path local L2_a from the guide transformation module B31.

[0028] As shown in Figure 6 some cases, the guide conversion module B41 can be controlled to switch to a certain guide state to connect the trunk path portion L1_a and the trunk path portion L1_b through the guide conversion module B41, so that the mover module can enter the guide conversion module B41 from the trunk path portion L1_a and enter the trunk path portion L1_b from the guide conversion module B41 according to the first moving direction F1. In some cases, the guide conversion module B41 can be controlled to switch to another guide state to connect the trunk path portion L1_a and the branch path portion L2_a through the guide conversion module B41, so that the mover module can enter the guide conversion module B41 from the trunk path portion L1_a and enter the branch path portion L2_a from the guide conversion module B41 according to the second moving direction F2.

[0029] It should be noted that, Figures 3-6 only the implementation mode of the mover module entering the branch path from the trunk path is shown, and based on the same principle, the implementation mode of the mover module entering the trunk path from the branch path can be derived, which will not be described here.

[0030] It should be noted that, Figure 2 only one branch path L2 is shown in the above embodiment, but in fact, the number of branch paths L2 is at least one. There are differences in process execution efficiency among multiple branch paths L2, for example, the process execution efficiency of some branch paths L2 is relatively high, while the process execution efficiency of some other branch paths L2 is relatively low. The branch path L2 with relatively low process execution efficiency will reduce the overall moving efficiency of the linear motor device, and further reduce the automation production efficiency.

[0031] To solve the above problems, the scheme provided by the embodiments of the present application mainly includes: for the first branch path corresponding to the same type of process, first, the flow information of each first branch path is acquired, the flow information is used to represent the number of mobile sub-modules executing interactive tasks in the first branch path; then, according to the flow information of the plurality of first branch paths, the scheduling configuration information of each first branch path is determined, the scheduling configuration information is used to determine whether the mobile sub-module located in the main path enters the corresponding first branch path. Wherein, the mobile sub-module flow can reflect the actual process execution efficiency of the corresponding first branch path, and the scheduling configuration information determined by using the flow information can be used to determine whether the mobile sub-module located in the main path enters the corresponding first branch path, thereby realizing the dynamic scheduling of the mobile sub-module located in the main path, allocating more mobile sub-modules to the first branch path with higher process execution efficiency, to balance the adverse effects of the process execution efficiency difference between the plurality of first branch paths on the overall moving efficiency of the linear motor device, and further effectively improve the automation production efficiency. In addition, using the embodiments provided by the present application can also improve the equipment utilization rate of the first branch path.

[0032] The mobile sub-module control method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0033] Please refer to Figure 7 , Figure 7 The flowchart of a mobile sub-module control method provided by the embodiments of the present application is shown in the figure. Wherein, the mobile sub-module is arranged in the stator module, the moving path formed by the stator module includes a main path and a plurality of branch paths connected to the main path, the plurality of branch paths includes at least two first branch paths, and the first branch path is a branch path corresponding to the same type of process. As Figure 7 shown, the method of the embodiments of the present application can include the following steps S101-S102.

[0034] S101, acquiring the flow information of each first branch path; wherein, the flow information is used to represent the number of mobile sub-modules executing interactive tasks in the first branch path.

[0035] Specifically, the moving path referred to by the embodiments of the present application refers to the path formed by the stator module for the mobile sub-module to move; the main path refers to the main path connecting the plurality of branch paths in the moving path; the branch path refers to the path branched from the main path for executing a specific process or for the mobile sub-module to bypass. Wherein, the number of branch paths is multiple, the plurality of branch paths includes at least two first branch paths, and the first branch path is a branch path corresponding to the same type of process. It should be noted that the same type of process refers to the process with the same process characteristics executed by the same type of operation equipment.

[0036] Exemplarily, the process types corresponding to the at least two first branch paths are all of feeding, discharging or processing, where the feeding process refers to a process of placing unprocessed materials to the mover module, the discharging process refers to a process of taking the processed materials from the mover module, and the processing process refers to a process of processing the materials carried by the mover module.

[0037] In order to determine the process execution efficiency of each first branch path, the flow information of each first branch path needs to be obtained, where the flow information is used to represent the number of mover modules performing interactive tasks in the first branch path. It should be noted that the interactive task refers to the material transfer or processing operation between the mover module and the operation device, and the flow information can reflect the load condition of the mover module currently accommodated in the first branch path, so that the process execution efficiency corresponding to the first branch path can be inferred through the flow information.

[0038] Regarding the above steps, in some possible implementation manners, the position measurement information of the plurality of mover modules can be obtained, and the number of mover modules entering the first branch path is counted according to the position measurement information of the plurality of mover modules to obtain the corresponding flow information. In some possible implementation manners, a related sensor can be arranged, and when the mover module enters the first branch path and passes through the trigger sensor, corresponding sensing data is generated, and the number of mover modules entering the first branch path is counted by using the sensing data to obtain the corresponding flow information. In addition, there are various possible implementation manners for obtaining the flow information of each first branch path, which will not be listed one by one here.

[0039] S102, according to the flow information of the plurality of first branch paths, determine the scheduling configuration information of each first branch path; wherein the scheduling configuration information is used to determine whether the mover module located in the main path enters the corresponding first branch path.

[0040] Specifically, in order to realize the reasonable scheduling of the mover module, the scheduling configuration information of each first branch path can be further determined according to the flow information of the plurality of first branch paths.

[0041] Wherein, the scheduling configuration information refers to a set of configuration parameters used to guide the scheduling decision of the mover module, and through the scheduling configuration information, it can be determined whether the mover module located in the main path can enter the first branch path and which first branch path can be entered.

[0042] Exemplarily, the scheduling configuration information of the first branch path can include at least one of capacity configuration information of the first branch path and priority configuration information of the first branch path. The capacity configuration information is used to represent the number of mover modules allowed to enter the first branch path to wait for interaction, and the priority configuration information is used to represent the priority of the first branch path in the scheduling process of the mover module.

[0043] It should be noted that the above steps determine the scheduling configuration information for each first branch path. Among multiple first branch paths, there can be different scheduling configurations (e.g., different capacity and / or priority configurations), or all can be identical. This allows for the development of differentiated scheduling strategies based on the actual traffic conditions of different first branch paths. Subsequently, the scheduling configuration information, especially the capacity and / or priority configuration information for each first branch path, can be used to determine a suitable target path among the multiple first branch paths, and control the active submodule to enter that target path to execute interactive tasks, thereby achieving balanced allocation and efficient scheduling of the active submodule.

[0044] In this embodiment, the flow rate of the moving submodule reflects the actual process execution efficiency of the corresponding first branch path. The scheduling configuration information determined by the flow rate information can be used to determine whether a moving submodule located on the main path enters the corresponding first branch path. This enables dynamic scheduling of moving submodules on the main path, allocating more moving submodules to the first branch path with higher process execution efficiency. This balances the adverse effects of differences in process execution efficiency among multiple first branch paths on the overall movement efficiency of the linear motor equipment, thereby effectively improving automated production efficiency. Furthermore, it can also improve the equipment utilization rate of the first branch path.

[0045] Understandably, in some possible cases, multiple branch paths may also include at least one second branch path. The second branch path corresponds to a different type of operation than the first branch path, and the second branch path is used to set up independent type operations. Furthermore, when there are multiple second branch paths, each of these second branch paths sets up a different type of operation. For example, assuming the operation type corresponding to the first branch path is loading, then among some second branch paths, one could have an operation type corresponding to unloading, and another could have an operation type corresponding to processing.

[0046] In some possible cases, multiple branch paths may also include at least one third branch path. No operating equipment is located around the third branch path, meaning it is not used for process interaction. The purpose of the third branch path is to provide alternative paths for the movement of the moving submodule. When certain parts of the movement path are congested or impassable, the third branch path can be used to allow the moving submodule to detour or avoid obstacles.

[0047] In some alternative embodiments, such as Figure 8As shown, the mover module Y is arranged in the moving path formed by the stator module, which includes a trunk path L1 and a plurality of branch paths connected to the trunk path L1. The plurality of branch paths include a first branch path L211, a first branch path L212, a first branch path L213, a second branch path L221, and a second branch path L222. The first branch path L211, the first branch path L212, and the first branch path L213 correspond to the machining process type, and are respectively surrounded by the operation equipment C2, the operation equipment C3, and the operation equipment C4; the second branch path L221 corresponds to the feeding process type, and is surrounded by the operation equipment C1; and the second branch path L222 corresponds to the discharging process type, and is surrounded by the operation equipment C5. The mover module Y moves in the moving path along the moving direction F.

[0048] First, the traffic information of the first branch path L211, the traffic information of the first branch path L212, and the traffic information of the first branch path L213 are acquired, which respectively represent the number of mover modules performing machining process interaction tasks in the first branch path L211, the first branch path L212, and the first branch path L213. Then, the scheduling configuration information of the first branch path L211, the scheduling configuration information of the first branch path L212, and the scheduling configuration information of the first branch path L213 are respectively determined according to the traffic information of the first branch path L211, the traffic information of the first branch path L212, and the traffic information of the first branch path L213, which include capacity configuration information and priority configuration information.

[0049] In actual application, when the mover module Y travels to the branch path intersection of the trunk path L1, it is determined which first branch path the mover module Y should enter to perform the machining process based on the scheduling configuration information of the first branch path L211, the scheduling configuration information of the first branch path L212, and the scheduling configuration information of the first branch path L213. For example, if the first branch path L211 is the more suitable branch path, the mover module Y is preferentially scheduled to the first branch path L211. Similarly, if the first branch path L212 or the first branch path L213 is the more suitable branch path, the mover module Y can also be preferentially scheduled to the first branch path L212 or the first branch path L213. In this way, the adverse effects of the efficiency difference of the machining processes between the first branch path L211, the first branch path L212, and the first branch path L213 on the overall moving efficiency of the linear motor equipment can be balanced, thereby effectively improving the automation production efficiency and improving the utilization rate of the operation equipment C2, the operation equipment C3, and the operation equipment C4.

[0050] It should be understood that the above-mentioned figures are only used to exemplarily describe the scheme concept of the embodiments of the present application, for the convenience of understanding and description, the multiple first branch paths shown in the figures of the embodiments of the present application are all connected with the straight line sections of the trunk path and are distributed in the same direction, but in actual application, the first branch paths can be connected with the non-straight line sections of the trunk path, and the embodiments of the present application do not make specific limitation on this. In addition, the multiple first branch paths can be distributed in different directions, and the embodiments of the present application also do not make specific limitation on this.

[0051] In some embodiments of the present application, the step of "obtaining the traffic information of each first branch path" is further refined, and specifically can include the following steps: Based on a preset traffic acquisition period, the number of dynamic sub-modules of each first branch path performing interactive tasks obtained by statistics in a specified time period is obtained to determine the traffic information of each first branch path; wherein the specified time period is determined according to a single traffic acquisition period, multiple traffic acquisition periods or a preset time length parameter.

[0052] Specifically, in order to accurately reflect the actual load situation of each first branch path, the embodiments of the present application propose to obtain the number of dynamic sub-modules of each first branch path performing interactive tasks obtained by statistics in a specified time period according to a traffic acquisition period, to determine the traffic information of each first branch path. Wherein the traffic acquisition period refers to the time interval of periodically triggering traffic information acquisition; the specified time period can be the time length corresponding to a single traffic acquisition period, the cumulative time length corresponding to multiple traffic acquisition periods or the fixed time length determined according to the preset time length parameter.

[0053] In some possible implementations, each first branch path corresponds to a first storage unit preset, and the first storage unit corresponding to each first branch path can record the number of dynamic sub-modules that execute the interactive task in each first branch path in an accumulated manner to obtain first quantity record information. According to a flow acquisition period, each time the first quantity record information in the first storage unit corresponding to each first branch path is triggered to be read, and after being read, a zero operation is performed on the first storage unit, that is, the first storage unit starts to record the number of dynamic sub-modules that execute the interactive task in the corresponding first branch path from zero. The specified time period in this implementation refers to the time period between the last time the first quantity record information is cleared and the current time the first quantity record information is triggered to be read, and therefore, the specified time period is determined according to a single flow acquisition period, and each time the first quantity record information obtained represents the number of dynamic sub-modules recorded in a single flow acquisition period. For example, if the flow acquisition period is set to T1, according to T1, each time the first quantity record information N1 is triggered to be read and N1 in the first storage unit is cleared after N1 is read. Wherein, T1 represents the length of time, and the time unit of T1 can be microsecond, millisecond, second or minute, etc.; N1 read represents the number of dynamic sub-modules that execute the interactive task in the first branch path in the past T1.

[0054] In some possible implementations, each first branch path corresponds to a preset second storage unit and a third storage unit. The second storage unit corresponding to each first branch path can record the number of dynamic sub-modules that execute the interactive task of each first branch path in an accumulative manner to obtain second quantity record information. The third storage unit corresponding to each first branch path can store the second quantity record information that the corresponding second storage unit was read last time, as third quantity record information of the third storage unit. The second quantity record information in the second storage unit and the third quantity record information in the third storage unit are continuously updated but not cleared. According to a flow acquisition period, the second quantity record information in the second storage unit corresponding to each first branch path and the third quantity record information in the corresponding third storage unit are read each time. Then, the second quantity record information of each first branch path that is read is subtracted by the third quantity record information, to obtain first quantity information of each first branch path. The specified time period in this implementation refers to a time period from the last time the second quantity record information and the third quantity record information are read to the current time when the second quantity record information and the third quantity record information trigger reading, and therefore, the specified time period is determined according to a single flow acquisition period. The first quantity information obtained according to the second quantity record information and the third quantity record information that are read each time represents the number of dynamic sub-modules recorded in a single flow acquisition period. For example, if the flow acquisition period is set to T2, according to T2, the second quantity record information N2 in the second storage unit corresponding to each first branch path and the third quantity record information N3 in the corresponding third storage unit are read each time. Then, N2 of each first branch path that is read is subtracted by N3, to obtain first quantity information Nx of each first branch path. Wherein, T2 represents a time length, and the time unit of T2 can be microsecond, millisecond, second, or minute, etc.; Nx represents the number of dynamic sub-modules that execute the interactive task of the first branch path in the past T2.

[0055] In some possible implementation manners, each first branch path corresponds to a fourth storage unit, and the fourth storage unit corresponding to each first branch path can record the number of dynamic sub-modules that execute the interactive task of each first branch path in an accumulated manner to obtain fourth number record information. According to a flow acquisition period, the fourth number record information in the fourth storage unit corresponding to each first branch path is read each time the flow acquisition period is triggered, and the fourth number record information read is processed by mean value operation according to the flow acquisition period to obtain second number information. The fourth number record information in the fourth storage unit is continuously updated but not cleared. The specified time period in this implementation manner refers to the time period between the initialization time of the fourth storage unit and the triggering time of the flow acquisition period this time, which is equivalent to that the specified time period is determined according to a single or multiple flow acquisition periods, and the specified time period and the flow acquisition period are in a multiple relationship. Therefore, the specified time period is determined according to a single flow acquisition period, and the second number information obtained each time represents the average number of dynamic sub-modules recorded in a single flow acquisition period. Exemplarily, if the flow acquisition period is set as T31 and the specified time period is T32, the fourth number record information N4 is read each time according to T31 to trigger, and the second number information Ny is obtained by calculating N4 / (T32 / T31). Wherein, T32 is an integer multiple of T31, and T31 and T32 respectively represent time lengths, and the time units of T31 and T32 can be microseconds, milliseconds, seconds or minutes, etc.; Ny represents the average value of the number of dynamic sub-modules that execute the interactive task of each first branch path in each T31 in the past T32.

[0056] In some possible implementation manners, each first branch path corresponds to a fifth storage unit, and the fifth storage unit corresponding to each first branch path can record a timestamp of a dynamic submodule performing an interactive task on the corresponding first branch path to obtain time record information. The time record information in the fifth storage unit is continuously updated but not cleared. The specified time period refers to a custom duration determined by a preset duration parameter. According to a flow acquisition period, time record information meeting the specified time period in the fifth storage unit corresponding to each first branch path is triggered to be read each time, and third quantity information of each first branch path is obtained based on the time record information, where the third quantity information represents a quantity of dynamic submodules performing an interactive task on the corresponding first branch path within the specified time period. For example, if the flow acquisition period is set as T41 and the specified time period is T42, time record information TS1 meeting T42 is triggered to be read each time according to T41, and each timestamp in the time record information TS1 is within T42. Then, a quantity of timestamps in the time record information TS1 is counted, and the third quantity information Nz is obtained. Wherein, T41 and T42 respectively represent time lengths, and the time units of T41 and T42 can be microseconds, milliseconds, seconds or minutes, and the like; and Nz represents a quantity of dynamic submodules performing an interactive task on the first branch path within the past T42.

[0057] In the embodiments of the present application, firstly, regular statistics of the quantity of dynamic submodules of the first branch path are realized through a preset flow acquisition period, and secondly, the real-time flow condition of the first branch path can be accurately reflected through data statistics within the specified time period, thereby ensuring the accuracy of the flow information and providing a reliable data basis for subsequent determination of the scheduling configuration information.

[0058] In some embodiments of the present application, the step of "determining the scheduling configuration information of each first branch path according to the flow information of the plurality of first branch paths" is further refined, and can specifically include at least one of the following steps: determining capacity configuration information of the first branch path in combination with the flow information of each first branch path and the dynamic submodule capacity upper limit information corresponding to each first branch path; comparing the flow information of the plurality of first branch paths to determine priority configuration information of each first branch path.

[0059] The dynamic submodule capacity upper limit information corresponding to the first branch path represents the maximum quantity of dynamic submodules allowed to enter the first branch path, in other words, the dynamic submodule capacity upper limit information corresponding to the first branch path represents the maximum carrying capacity of the first branch path for dynamic submodules. Optionally, the dynamic submodule capacity upper limit information corresponding to the first branch path is represented by a preconfigured fixed parameter.

[0060] In some embodiments, the first branch path includes an interaction area for performing an interaction task, and one or more workstations are arranged in the interaction area. When setting the upper limit information of the capacity of the mover module corresponding to the first branch path, it is necessary to discuss separately according to whether the corresponding mover module is allocated to the workstation first after starting operation.

[0061] For specific arrangement of the interaction area of the first branch path, please refer to Figure 9 . The trunk path L1 is connected with the first branch path L21, and the position M1, the position M3, the position M4 and the position M5 are sequentially distributed in the exit end direction from the entrance end of the first branch path L21. The position M1 is arranged at the entrance end of the first branch path L21, and the position M5 is arranged at the exit end of the first branch path L21. Based on the above position distribution, the interval formed by the position M3 and the position M4 can be determined as the interaction area, or the interval formed by the position M1 and the position M3 can be determined as the interaction area, or the interval formed by the position M1 and the position M4 can be determined as the interaction area, or the interval formed by the position M3 and the position M5 can be determined as the interaction area, or the interval formed by the position M4 and the position M5 can be determined as the interaction area. It can be understood that one or more workstations can be arranged in the interaction area.

[0062] If the corresponding mover module is allocated to the workstation first after starting operation, the upper limit information of the capacity of the mover module corresponding to the first branch path further indicates the maximum number of mover modules allowed to enter the first branch path to wait for task execution, and the upper limit information of the capacity of the mover module corresponding to the first branch path is determined by the length of the first branch path segment between the entrance end of the first branch path and the boundary close to the entrance end in the interaction area, the size information of the mover module in the moving direction, and the safety interval parameter between adjacent mover modules. The entrance end is the end of the first branch path provided for the mover module to enter.

[0063] If the corresponding mover module is not allocated to the workstation first after starting operation, the upper limit information of the capacity of the mover module corresponding to the first branch path further indicates the maximum number of mover modules allowed to enter the first branch path to wait for task execution and perform task execution, and the upper limit information of the capacity of the mover module corresponding to the first branch path is determined by the length of the first branch path segment, the size information of the mover module in the moving direction, the safety interval parameter between adjacent mover modules, and the number of workstations.

[0064] As mentioned above, the scheduling configuration information of the first branch path involved in the embodiments of the present application can include at least one of the capacity configuration information of the first branch path and the priority configuration information of the first branch path.

[0065] In a case that the scheduling configuration information of the first branch path includes the capacity configuration information corresponding to the first branch path, the capacity configuration information of the first branch path can be determined in combination with the traffic information of each first branch path and the upper limit information of the capacity of the sub-module corresponding to each first branch path. In some possible implementation manners, the traffic information of the first branch path can be compared with the upper limit information of the capacity of the sub-module, and the capacity configuration information can be determined according to a comparison result.

[0066] In a case that the scheduling configuration information of the first branch path includes the priority configuration information of the first branch path, the priority configuration information of each first branch path can be determined by comparing the traffic information of the plurality of first branch paths. In some possible implementation manners, the traffic information of the plurality of first branch paths can be sorted, and the priority configuration information of each first branch path can be obtained according to a sorting result. For example, the first branch path with the largest traffic information is assigned the highest priority level, and the other first branch paths are sequentially assigned lower priority levels until the first branch path with the smallest traffic information is assigned the lowest priority level, thereby obtaining the priority configuration information of each first branch path. For another example, a plurality of traffic intervals and corresponding priority levels can be set, and the priority level corresponding to each first branch path can be determined according to a traffic interval in which the traffic information of each first branch path is located, thereby obtaining the priority configuration information of each first branch path.

[0067] Optionally, in specific implementation, the capacity configuration information of the first branch path can be represented by a capacity configuration parameter of the first branch path, and the capacity configuration information of the first branch path can be changed by adjusting or updating the capacity configuration parameter of the first branch path. The priority configuration information of the first branch path can be represented by a priority configuration parameter of the first branch path, and the priority configuration information of the first branch path can be changed by adjusting or updating the priority configuration parameter of the first branch path.

[0068] In the embodiments of the present application, the current traffic condition of the first branch path and the maximum carrying capacity of the first branch path can be determined by combining the traffic information of each first branch path and the upper limit information of the capacity of the sub-module corresponding to each first branch path, thereby ensuring the rationality of the capacity configuration information of the first branch path. The relative traffic conditions among the plurality of first branch paths can be determined by comparing the traffic information of the plurality of first branch paths, thereby ensuring the rationality of the priority configuration information of each first branch path. Therefore, at least one of the capacity configuration information and the priority configuration information can be used to implement the sub-module scheduling in the future, so as to balance the allocation of the sub-module among the first branch paths and effectively improve the overall transportation efficiency.

[0069] In some embodiments of the present application, the step of "determining the capacity configuration information of the first branch path based on the traffic information of the first branch path and the upper limit information of the capacity of the corresponding dynamic submodule" can be further refined, and can specifically include the following steps: If the traffic information of the first branch path does not exceed the upper limit information of the capacity of the dynamic submodule, the traffic information is set as the capacity configuration information. If the traffic information of the first branch path exceeds the upper limit information of the capacity of the dynamic submodule, the upper limit information of the capacity of the dynamic submodule is set as the capacity configuration information.

[0070] Specifically, considering the adaptive relationship between the actual dynamic submodule traffic of the first branch path and the maximum carrying capacity of the dynamic submodule for the first branch path, the traffic information of each first branch path can be compared with the corresponding upper limit information of the capacity of the dynamic submodule.

[0071] If the traffic information of the first branch path does not exceed the upper limit information of the capacity of the dynamic submodule, it indicates that the number of dynamic submodules currently performing interactive tasks in the first branch path has not reached the maximum carrying capacity of the dynamic submodule for the first branch path. At this time, the traffic information can be set as the capacity configuration information. It can be understood that the capacity configuration information configured this time can be increased, kept or decreased compared with the capacity configuration information configured last time.

[0072] If the traffic information of the first branch path exceeds the upper limit information of the capacity of the dynamic submodule, it indicates that the number of dynamic submodules currently performing interactive tasks in the first branch path has exceeded the maximum carrying capacity of the dynamic submodule for the first branch path. At this time, the upper limit information of the capacity of the dynamic submodule can be set as the capacity configuration information to ensure that the number of dynamic submodules of the first branch path does not exceed its physical carrying limit. It can be understood that the capacity configuration information configured this time can be increased or kept compared with the capacity configuration information configured last time.

[0073] Exemplarily, please refer to Figure 8, the first branch path L211, the first branch path L212 and the first branch path L213 correspond to the machining process type. Assuming that the mover module capacity upper limit information corresponding to the first branch path L211, the first branch path L212 and the first branch path L213 is 3 mover modules. When the flow information of the first branch path L211 indicates 2 mover modules, since the flow information of the first branch path L211 does not exceed the mover module capacity upper limit information of the first branch path L211, the capacity configuration information of the first branch path L211 is set to 2; when the flow information of the first branch path L212 indicates 3 mover modules, since the flow information of the first branch path L212 does not exceed the mover module capacity upper limit information of the first branch path L212, the capacity configuration information of the first branch path L212 can be set to 3; when the flow information of the first branch path L213 indicates 4 mover modules, since the flow information of the first branch path L213 exceeds the mover module capacity upper limit information of the first branch path L213, the capacity configuration information of the first branch path L213 can be set to 3.

[0074] It should be understood that "exceeds" in the embodiments of the present application can be understood as greater than, and "does not exceed" can be understood as less than or equal to. In combination with the actual scene, "exceeds" in the embodiments of the present application can also be understood as greater than or equal to, and "does not exceed" can also be understood as less than.

[0075] In the embodiments of the present application, first, the flow information of each first branch path is compared with the corresponding mover module capacity upper limit information: when the flow information of each first branch path does not exceed the mover module capacity upper limit information, the flow information is set as the capacity configuration information; when the flow information of each first branch path exceeds the mover module capacity upper limit information, the mover module capacity upper limit information is set as the capacity configuration information. In this way, the capacity configuration information can be determined in combination with the actual flow condition when the flow information does not exceed the mover module capacity upper limit information, and the first branch path is ensured not to be overloaded when the flow information exceeds the mover module capacity upper limit information, thereby realizing dynamic control of the capacity of the mover module of the first branch path, improving the mover module scheduling efficiency and avoiding safety hazards.

[0076] In some embodiments of the present application, the step of "comparing the flow information of a plurality of first branch paths to determine the priority configuration information of each first branch path" is further refined, and can specifically include the following steps: comparing the sizes of the flow information of a plurality of first branch paths to obtain relative sequence information of each first branch path, the relative sequence information being used to represent the order of the corresponding first branch path in the plurality of first branch paths; According to the relative sequence information of each first branch path, priority configuration information matched with each first branch path is determined.

[0077] Specifically, in order to determine the priority configuration information matched with each first branch path, the embodiment of the application proposes a scheme of comparing traffic information to determine the priority configuration information.

[0078] Firstly, the sizes of the traffic information of the plurality of first branch paths are compared, and according to the comparison result of the traffic information of the plurality of first branch paths and a specified sorting rule, each first branch path is sorted to obtain the relative sequence information of each first branch path, so that the relative sequence information of the first branch path can represent the order of the first branch path in the plurality of first branch paths. The relative sequence information can be represented by a symbolic form of a sorting sequence number, and further, the symbol can include at least one of a number and a letter. The specified sorting rule can be ascending sorting or descending sorting. In addition, the same sorting sequence number can be set for the first branch paths within a certain sorting range, so as to facilitate subsequent allocation of the same priority level.

[0079] In some possible implementation manners, according to the comparison result of the traffic information of the plurality of first branch paths, the plurality of first branch paths can be arranged in descending order, the relative sequence information of the first branch path with the largest traffic information is set to 1, the relative sequence information of the first branch path with the second largest traffic information is set to 2, and so on. In some possible implementation manners, according to the comparison result of the traffic information of the plurality of first branch paths, the traffic information of the plurality of first branch paths can be arranged in ascending order, the relative sequence information of the first branch path with the smallest traffic information is set to 1, the relative sequence information of the first branch path with the second smallest traffic information is set to 2, and so on.

[0080] Further, in some possible implementation manners, the plurality of sorted first branch paths can be divided into a plurality of path groups, the same sorting sequence number is allocated to the first branch paths in each path group, and different sorting sequence numbers are allocated according to the sorting order of the plurality of path groups.

[0081] Secondly, after obtaining the relative sequence information of the plurality of first branch paths, the first branch paths can be classified into levels to obtain the priority configuration information of each first branch path.

[0082] In some possible implementation manners, the priority configuration information corresponding to the first branch path can be determined according to the sorting manner of the plurality of first branch paths and the relative sequence information of each first branch path. For example, when the plurality of first branch paths are sorted in descending order, the priority configuration information of the first branch path with the relative sequence information of 1 is set as the highest priority, the priority configuration information of the first branch path with the relative sequence information of 2 is set as the second highest priority, and so on, and details are not repeated herein.

[0083] In some possible implementation manners, the priority configuration information corresponding to the first branch path matched with the relative sequence information can be assigned based on the sorting manner of the plurality of first branch paths and the priority division rule. For example, the preset priority division rule indicates that there are low priority, medium priority and high priority, when there are 9 first branch paths and the first branch paths are sorted in ascending order, the priority configuration information of the first branch path with the relative sequence information in the range of 1-3 is set as the low priority, the priority configuration information of the first branch path with the relative sequence information in the range of 4-6 is set as the medium priority, and the priority configuration information of the first branch path with the relative sequence information in the range of 7-9 is set as the high priority.

[0084] Optionally, the number of priorities is determined according to whether the number of first branch paths reaches a preset path threshold. For example, when the number of first branch paths does not reach the preset path threshold 1, the number of priorities is determined as 1; when the number of first branch paths reaches the preset path threshold 1 and does not reach the preset path threshold 2, the number of priorities is determined as 2, and so on, and details are not repeated herein. It should be noted that the minimum division unit of the priority configuration information can be the same as or different from the relative sequence information. In the case that the minimum division unit of the priority configuration information is different from the relative sequence information, the division granularity of the priority configuration information can be coarser than the relative sequence information. For example, the relative sequence information divides the plurality of first branch paths into 5 levels, and the priority configuration information can divide the plurality of first branch paths into 3 levels.

[0085] In the embodiments of the present application, firstly, the relative sequence information of each first branch path is obtained by comparing the sizes of the flow information of the plurality of first branch paths, and the relative sequence information can reflect the mover module flow situation of each first branch path; then, the priority configuration information matched with the relative sequence information of each first branch path is determined, so that the priority configuration information can be dynamically adjusted based on the actual mover module flow situation. Subsequently, the mover module is scheduled by using the priority configuration information, which can effectively improve the automation production efficiency and the equipment utilization rate of the first branch path.

[0086] Please refer to Figure 10A flowchart of a scheduling process based on scheduling configuration information is provided for the embodiments of the present application, as shown in Figure 10 The method of the embodiments of the present application can include the following steps S201-S203, which can be executed after determining the scheduling configuration information of the plurality of first branch paths (as shown in Figure 7 the embodiments of the present application).

[0087] S201, in response to a first scheduling trigger instruction, determining a first target path from the plurality of first branch paths according to the scheduling configuration information of the plurality of first branch paths; S202, determining a first actor module from the actor modules that are not located in the first target path according to the process type corresponding to the first target path; S203, controlling the first actor module to enter the first target path, so that the first actor module performs the interactive task in the first target path.

[0088] It can be understood that the role of the scheduling configuration information is to guide the scheduling process of the actor module, so as to reduce the negative impact of the difference in process execution efficiency of each first branch path. Therefore, the embodiments of the present application propose to use the scheduling configuration information to schedule the actor module, so that the actor module is preferentially allocated to the first branch path with higher process execution efficiency, thereby improving the overall efficiency of the automated production.

[0089] First, in response to a first scheduling trigger instruction, a first target path is determined from the plurality of first branch paths according to the scheduling configuration information of the plurality of first branch paths. Wherein, the first scheduling trigger instruction refers to an instruction signal for starting the actor module scheduling process; the first target path refers to the branch path selected from the plurality of first branch paths according to the scheduling configuration information, which is currently most suitable for receiving the actor module. Regarding this step, in some possible implementation manners, the first target path can be determined from the plurality of first branch paths according to the capacity configuration information in the scheduling configuration information of the plurality of first branch paths; in some possible implementation manners, the first target path can be determined from the plurality of first branch paths according to the priority configuration information in the scheduling configuration information of the plurality of first branch paths; in some possible implementation manners, the first target path can be determined from the plurality of first branch paths according to the capacity configuration information and the priority configuration information in the scheduling configuration information of the plurality of first branch paths.

[0090] Further, the first mover module is determined from the mover modules not located in the first branch path according to the process type corresponding to the first target path. The process type corresponding to the first target path refers to the process type performed by the operation device deployed around the first branch path, such as feeding, discharging or processing. The mover modules not located in the first branch path refer to the mover modules currently located in the trunk path or other branch paths (such as the second branch path or the third branch path). The first mover module refers to the mover module selected from the candidate mover modules according to the process type matching condition and suitable for entering the first target path to perform the interaction task. Regarding this step, in some possible implementation manners, the working history information of the mover modules not located in the first branch path can be acquired, and the first mover module is determined by using the working history information of the mover modules not located in the first branch path.

[0091] Further, the first mover module is controlled to enter the first target path, so that the first mover module performs the interaction task in the first target path. The first target path is provided with at least one work station, and the interaction task refers to the task of the interaction operation, such as feeding, discharging or processing, between the mover module and the operation device at the work station. In some possible implementation manners, the first mover module can be controlled to enter the waiting area of the first target path, stay in the waiting area of the first target path for a while, and then go to the corresponding work station in the first target path to perform the interaction task at the corresponding work station. In some possible implementation manners, the first mover module can be controlled to move to the corresponding work station in the first target path, and perform the interaction task after reaching the corresponding work station.

[0092] Regarding the specific arrangement of the interaction area of the first branch path, please refer to Figure 11 . The position M1, the position M2 and the position M5 are sequentially distributed in the outlet end direction from the inlet end of the first branch path L21. The position M1 is arranged at the inlet end of the first branch path L21, and the position M5 is arranged at the outlet end of the first branch path L21. Based on the above position distribution, the interval formed by the position M1 and the position M2 can be determined as the waiting area, and the interval formed by the position M2 and the position M5 can be provided with one or more work stations.

[0093] In the embodiments of the present application, first, in response to the first scheduling trigger instruction, a first target path is determined in the plurality of first branch paths according to the scheduling configuration information of the plurality of first branch paths; then, a first mobile sub-module is determined in the mobile sub-modules not located in the first branch path according to the process type corresponding to the first target path, so as to ensure that the mobile sub-module matches the process type; finally, the first mobile sub-module is controlled to enter the first target path to perform an interactive task, and the scheduling is completed. In this way, by dynamically determining the first target path based on the scheduling configuration information, the reasonable allocation of the mobile sub-module can be realized according to the actual flow situation of each first branch path, the problem of efficiency reduction caused by the difference in process execution efficiency between the plurality of branch paths is effectively solved, and the overall operation efficiency of the automatic production is improved.

[0094] In an embodiment, before responding to the scheduling trigger instruction, the following at least one step is further included: generating the first scheduling trigger instruction when it is identified that at least one first branch path has a scheduling demand according to the position measurement information of the plurality of mobile sub-modules; receiving the first scheduling trigger instruction, wherein the scheduling trigger instruction is generated by an external device when it is identified that at least one first branch path has a scheduling demand according to the position measurement information of the plurality of mobile sub-modules.

[0095] Specifically, the present application provides a plurality of generation modes of the first scheduling trigger instruction.

[0096] In a possible implementation manner, first, the position measurement information of the plurality of mobile sub-modules is acquired. The position measurement information of the mobile sub-module refers to the data collected by the position sensor to represent the real-time position of the mobile sub-module in the moving path. As to the acquisition mode of the position measurement information of the mobile sub-module, the trigger signal generated when the mobile sub-module passes through a specific detection point can be detected by the photoelectric sensor arranged on the stator module; the position coordinates of the mobile sub-module can also be acquired through the communication between the RFID tag installed on the mobile sub-module and the RFID reader on the stator module; the position of the mobile sub-module in the stator module can also be acquired through image recognition by the visual recognition system. In addition, there are a plurality of possible acquisition modes, which are not listed one by one here.

[0097] Further, whether the branch path has a scheduling demand is identified according to the position measurement information of the plurality of mobile sub-modules. The scheduling demand refers to the demand for scheduling the mobile sub-module of the branch path, which is determined based on the distribution state or the running state of the mobile sub-module in the branch path. When it is identified that at least one first branch path has a scheduling demand, the first scheduling trigger instruction is triggered to be generated.

[0098] In a possible implementation, the first scheduling trigger instruction is not internally generated, but is sent by some external device. Exemplarily, the external device can be an external host system, a separate scheduling server, or other control equipment with data processing capability. The scheduling trigger instruction is generated by the external device when it identifies that there is a scheduling demand for at least one first branch path according to the position measurement information of the plurality of mobile sub-modules. This means that the external device obtains the position measurement information of the plurality of mobile sub-modules by itself, or receives the position measurement information of the plurality of mobile sub-modules through wired or wireless communication, and then identifies whether there is a scheduling demand for the branch path according to the position measurement information of the plurality of mobile sub-modules. When the scheduling demand is identified, the first scheduling trigger instruction is generated and sent.

[0099] After the external device sends the first scheduling trigger instruction, the first scheduling trigger instruction is received accordingly. The receiving process can be implemented through a wired communication interface, such as an Ethernet interface or an RS485 interface, or through a wireless communication protocol, such as Wi-Fi, Bluetooth, or Zigbee. The received first scheduling trigger instruction will be used to trigger the subsequent mobile sub-module scheduling process.

[0100] In the embodiments of the present application, two ways of generating the first scheduling trigger instruction are provided: one is an internal autonomous generation method, which automatically identifies the scheduling demand and generates the instruction by obtaining and analyzing the position measurement information of the mobile sub-modules; the other is an external triggering method, which receives the scheduling instruction generated by the external device based on the same principle. The two methods can be used alone or in combination, providing a flexible scheduling trigger mechanism and providing reliable trigger basis for the subsequent mobile sub-module scheduling.

[0101] In some embodiments of the present application, the step of "identifying that there is a scheduling demand for at least one first branch path according to the position measurement information of the plurality of mobile sub-modules" is further refined, and can specifically include at least one of the following steps: obtaining the number information of the mobile sub-modules to be executed of the first branch path according to the position measurement information of the plurality of mobile sub-modules, and determining that the first branch path has a scheduling demand when the number information of the mobile sub-modules to be executed is less than the corresponding capacity configuration information; obtaining the process state information of the first branch path according to the position measurement information of the plurality of mobile sub-modules, and determining that the first branch path has a scheduling demand when the process state information indicates that the process is idle.

[0102] Specifically, the present application makes a detailed description of whether the branch path has a scheduling demand. The scheduling demand is determined to exist in two cases, which are the case that the number information of the mobile sub-modules to be executed is less than the capacity configuration information and the case that the process state information indicates that the process is idle.

[0103] In some possible implementations, the quantity information of the to-be-executed mobile agent modules of the first branch path is acquired according to the position measurement information of the plurality of mobile agent modules. This step specifically represents that the quantity of the mobile agent modules currently located in the first branch path and in the to-be-executed state is counted by analyzing the real-time position distribution of the plurality of mobile agent modules in the moving path. The mobile agent module in the to-be-executed state refers to the mobile agent module that has entered the first branch path but has not yet reached the work site to perform the interactive task. For example, it can be the mobile agent module located in the waiting area formed between the position M1 and the position M2. Figure 11

[0104] Further, for each first branch path, the quantity information of the to-be-executed mobile agent modules is compared with the corresponding capacity configuration information. The capacity configuration information, as described in the above embodiment, is determined based on the traffic information of the first branch path and the upper limit information of the mobile agent module capacity.

[0105] If the quantity information of the to-be-executed mobile agent modules of any first branch path is less than the corresponding capacity configuration information, it indicates that the first branch path can currently accommodate more mobile agent modules to enter to perform the interactive task, and at this time, it can be determined that the first branch path has a scheduling demand.

[0106] Regarding the above implementation, exemplarily, please combine Figure 12 and Figure 13 . Figure 12 and Figure 13 show the trunk path L1 and the first branch path L21. The position M1, the position M2, and the position M5 are sequentially distributed in the exit end direction from the entrance end of the first branch path L21. The position M1 is arranged at the entrance end of the first branch path L21, and the position M5 is arranged at the exit end of the first branch path L21. The interval formed by the position M1 and the position M2 is a waiting area, and the interval formed by the position M2 and the position M5 is provided with a work site Gz. The mobile agent module Y1 is located at the work site Gz, the mobile agent module Y2 is located in the waiting area, and the mobile agent module Y3 is located in the trunk path L1 and has not yet reached the position M1. It is assumed that the capacity configuration information of the first branch path L21 is 2 mobile agent modules, and in Figure 12 , the quantity information of the to-be-executed mobile agent modules of the first branch path L21 is currently acquired as 1 mobile agent module through the position measurement information. Since 1 is less than 2, it can be determined that the first branch path L21 has a scheduling demand, and the mobile agent module Y3 needs to be scheduled from the trunk path L1 to enter the first branch path L21. Further, Figure 13 shows that the mobile agent module Y3 is scheduled to the first branch path L21.

[0107] ​In some possible implementation manners, the process state information of the first branch path is acquired according to the position measurement information of the plurality of mover modules. The process state information refers to information reflecting a current process execution state of the first branch path. The process state information can indicate that the process is idle or that the process is not idle. The process being idle means that there is a work site in an idle state in the first branch path. The process not being idle means that there is no work site in an idle state in the first branch path.

[0108] Further, if the process state information of any first branch path indicates that the process is idle, it indicates that the operating device corresponding to the first branch path can currently receive the mover module to perform the interactive task. At this time, it can be determined that the first branch path has a scheduling requirement.

[0109] Regarding the above implementation manners, exemplarily, please combine Figure 14 and Figure 15 . Figure 14 and Figure 15 The main path L1 and the first branch path L21 are shown. The positions M1, M2, and M5 are sequentially distributed in the outlet end direction from the inlet end of the first branch path L21. The position M1 is arranged at the inlet end of the first branch path L21, and the position M5 is arranged at the outlet end of the first branch path L21. The interval formed by the position M1 and the position M2 is a waiting area, and the interval formed by the position M2 and the position M5 is provided with a work site Gz. The mover module Y2 and the mover module Y3 are located in the waiting area, and the mover module Y4 is located in the main path L1 and has not reached the position M1.

[0110] In Figure 14 , the mover module Y1 is located in the work site Gz, and the operating device corresponding to the work site Gz is currently performing the interactive task about the mover module Y1. At this time, the process state information of the first branch path L21 indicates that the process is not idle, and the first branch path L21 does not have a scheduling requirement.

[0111] In Figure 15 , the mover module Y1 has moved away from the work site Gz to the position M5, that is, the operating device corresponding to the work site Gz has completed the interactive task about the mover module Y1. At this time, the process state information of the first branch path L21 indicates that the process is idle, and the first branch path L21 has a scheduling requirement, and the mover module Y4 can be scheduled to the first branch path L21.

[0112] In the embodiments of the present application, on the one hand, the quantity information of the to-be-executed mover modules of the first branch path can be determined by acquiring the position measurement information of the plurality of mover modules, and the to-be-executed mover module quantity information is compared with the pre-determined capacity configuration information. When the to-be-executed mover module quantity information is less than the capacity configuration information, it indicates that the first branch path can accommodate more mover modules at present, so that it is determined that there is a scheduling demand. On the other hand, the process state information of the first branch path can be obtained by acquiring the position measurement information of the plurality of mover modules. When the process state information indicates that the process is idle, it indicates that the corresponding operating device is in a state of receiving the mover module, so that it is determined that there is a scheduling demand. In this way, the accurate identification of the scheduling demand can be realized, which not only improves the scheduling efficiency of the mover modules, but also ensures the stable operation of the automatic production process.

[0113] In some embodiments of the present application, the step of "determining a first target path in the plurality of first branch paths according to the scheduling configuration information of the plurality of first branch paths" is further refined, which can specifically include at least one of the following steps: obtaining the capacity configuration information in the scheduling configuration information of the first branch path with scheduling demand, and determining the mover module surplus information of the first branch path with scheduling demand according to the capacity configuration information of the first branch path with scheduling demand and the to-be-executed mover module quantity information, and determining the first target path in the first branch path with scheduling demand according to the mover module surplus information of the first branch path with scheduling demand; obtaining the priority configuration information in the scheduling configuration information of the first branch path with scheduling demand, and determining the first target path in the first branch path with scheduling demand according to the priority configuration information of the first branch path with scheduling demand; obtaining the capacity configuration information and the priority configuration information in the scheduling configuration information of the first branch path with scheduling demand, and determining the mover module surplus information of the first branch path with scheduling demand according to the capacity configuration information of the first branch path with scheduling demand and the to-be-executed mover module quantity information, and determining the first target path in the first branch path with scheduling demand according to the mover module surplus information of the first branch path with scheduling demand and the priority configuration information.

[0114] Specifically, the scheduling configuration information of the first branch path can include at least one of the capacity configuration information of the first branch path and the priority configuration information of the first branch path. Therefore, there are actually three possible forms of scheduling configuration information, which are: only including capacity configuration information, only including priority configuration information, and including capacity configuration information and priority configuration information at the same time. The following will introduce how to determine the first target path for the three possible forms of scheduling configuration information.

[0115] In a possible implementation, the scheduling configuration information of the first branch path includes capacity configuration information. Specifically, the capacity configuration information in the scheduling configuration information of the first branch path with scheduling demand is acquired, and the capacity configuration information of the first branch path with scheduling demand and the to-be-executed action submodule quantity information are used to determine the action submodule margin information of the first branch path with scheduling demand. This step specifically represents that the capacity configuration information of the first branch path with scheduling demand is subtracted by the corresponding to-be-executed action submodule quantity information, to obtain the action submodule margin information of the first branch path. The action submodule margin information represents the number of additional action submodules that can be accommodated by the first branch path at present.

[0116] Further, the first target path is determined in the first branch path with scheduling demand according to the action submodule margin information of the first branch path with scheduling demand. This step specifically represents that the action submodule margin information of each first branch path with scheduling demand is compared, and the first branch path with the maximum action submodule margin information is determined as the first target path. If there are multiple first branch paths with the same maximum action submodule margin information, one of the first branch paths may be selected as the first target path according to a preset other auxiliary decision rule.

[0117] Regarding the above implementation, exemplarily, please combine Figure 8 , it is assumed that the first branch path with scheduling demand includes the first branch path L211 and the first branch path L212, where the capacity configuration information of the first branch path L211 is 3 action submodules, the to-be-executed action submodule quantity information is 1 action submodule, the capacity configuration information of the first branch path L212 is 4 action submodules, and the to-be-executed action submodule quantity information is 3 action submodules. The action submodule margin information of the first branch path L211 is 2 action submodules, and the action submodule margin information of the first branch path L212 is 1 action submodule. Therefore, the first branch path L211 with larger action submodule margin information is determined as the first target path.

[0118] In a possible implementation, the scheduling configuration information of the first branch path includes priority configuration information. Specifically, the priority configuration information in the scheduling configuration information of the first branch path with scheduling demand is acquired, and the first target path is determined in the first branch path with scheduling demand according to the priority configuration information of the first branch path with scheduling demand. This step specifically represents that the priority configuration information of each first branch path with scheduling demand is compared, and the first branch path with the highest priority configuration information is determined as the first target path. If there are multiple first branch paths with the same highest priority configuration information, one of the first branch paths may be selected as the first target path according to a preset other auxiliary decision rule.

[0119] With reference to the above implementation manner, exemplarily, please combine Figure 8 , it is assumed that the first branch paths with scheduling demand include the first branch path L211 and the first branch path L212, wherein the priority configuration information of the first branch path L211 is "high priority", and the priority configuration information of the first branch path L212 is "medium priority". Therefore, the first branch path L211 with higher priority configuration information is determined as the first target path.

[0120] In a possible implementation manner, the scheduling configuration information of the first branch path includes capacity configuration information and priority configuration information. Specifically, the capacity configuration information and the priority configuration information in the scheduling configuration information of the first branch path with scheduling demand are acquired, and the dynamic sub-module margin information of the first branch path with scheduling demand is determined according to the capacity configuration information of the first branch path with scheduling demand and the to-be-executed dynamic sub-module quantity information. This step is specifically represented as: the capacity configuration information of the first branch path with scheduling demand is subtracted by the corresponding to-be-executed dynamic sub-module quantity information, to obtain the dynamic sub-module margin information of the first branch path.

[0121] Further, the first target path is determined in the first branch paths with scheduling demand according to the dynamic sub-module margin information and the priority configuration information of the first branch paths with scheduling demand. This step is specifically represented as: first, the dynamic sub-module margin information of each first branch path with scheduling demand is compared, and the first branch path with the largest dynamic sub-module margin information is determined as the first target path; if there are multiple first branch paths with the same maximum dynamic sub-module margin information, the priority configuration information of these first branch paths is further compared, and the first branch path with the highest priority configuration information is determined as the first target path; if there are still multiple first branch paths with the same highest priority configuration information, it is possible to select one from these first branch paths as the first target path according to a preset other auxiliary decision rule.

[0122] With reference to the above implementation manner, exemplarily, please combine Figure 8 , it is assumed that the first branch paths with scheduling demand include the first branch path L211 and the first branch path L212, wherein the capacity configuration information of the first branch path L211 is 3 dynamic sub-modules, the to-be-executed dynamic sub-module quantity information is 1 dynamic sub-module, and the priority configuration information is "high priority"; the capacity configuration information of the first branch path L212 is 3 dynamic sub-modules, the to-be-executed dynamic sub-module quantity information is 1 dynamic sub-module, and the priority configuration information is "medium priority". The dynamic sub-module margin information of the two branch paths is 2 dynamic sub-modules, and therefore the priority configuration information is further compared, and the first branch path L211 with higher priority configuration information is determined as the first target path.

[0123] In the embodiments of the present application, three specific implementation manners of determining the first target path based on the scheduling configuration information are provided: the first specific implementation manner is to obtain the capacity configuration information in the scheduling configuration information of the first branch path with scheduling demand, calculate the dynamic submodule margin information in combination with the to-be-executed dynamic submodule quantity information, and then determine the first target path according to the dynamic submodule margin information; the second specific implementation manner is to directly determine the first target path by obtaining the priority configuration information in the scheduling configuration information of the first branch path with scheduling demand; and the third specific implementation manner is to comprehensively consider the capacity configuration information and the priority configuration information, calculate the dynamic submodule margin information first, and then determine the first target path in combination with the priority configuration information. The above three implementation manners evaluate and select the first branch path through scheduling configuration information (capacity configuration information, priority configuration information or a combination of the two) in different dimensions, can flexibly select a suitable scheduling strategy according to the needs of the actual application scene, ensure that the dynamic submodule can be reasonably allocated to the appropriate first branch path, consider both the actual carrying capacity of the first branch path and the scheduling priority, and thus effectively improve the scheduling efficiency and rationality of the dynamic submodule.

[0124] In some embodiments of the present application, the step of "determining the first target path in the first branch path with scheduling demand according to the dynamic submodule margin information of the first branch path with scheduling demand" is further refined, and specifically can include at least one of the following steps: If the plurality of first branch paths with scheduling demand have the maximum dynamic submodule margin information, the distance information between the first branch path corresponding to the maximum dynamic submodule margin information and the preset reference point in the backbone path is obtained, and the first branch path with the minimum or maximum distance information is determined as the first target path. If the first branch path with scheduling demand has the maximum dynamic submodule margin information, the first branch path with the maximum dynamic submodule margin information is determined as the first target path.

[0125] Specifically, if only the capacity configuration information is considered in the scheduling configuration information of the first branch path, it can be further judged whether the plurality of first branch paths with scheduling demand have the maximum dynamic submodule margin information.

[0126] If the plurality of first branch paths with scheduling demand do not have the maximum dynamic submodule margin information, it indicates that the dynamic submodule margin information of the plurality of first branch paths with scheduling demand is equal, and at this time, one of the first branch paths can be selected as the first target path according to the preset other auxiliary decision rule. For example, the other auxiliary decision rule can be random selection, selection according to the number order of the first branch path, etc.

[0127] In an implementation, distance information between the first branch path corresponding to the maximum mover module surplus information and a preset reference point in the trunk path is obtained, and the first branch path with the minimum or maximum distance information is determined as the first target path. Specifically, the physical distance or logical distance between each first branch path with the maximum mover module surplus information and the preset reference point in the trunk path is calculated, the distance information of each first branch path is compared, and the first branch path with the minimum or maximum distance information is selected as the first target path. The preset reference point can be the starting point, the ending point or any designated position of the trunk path, and the distance information can be the actual physical distance or other quantifiable distance indicators.

[0128] Regarding the above implementation, exemplarily, please refer to Figure 16 , it is assumed that the first branch paths with scheduling requirements include the first branch path L211, the first branch path L212 and the first branch path L213, wherein the mover module surplus information of the first branch path L211 is 3 mover modules, the mover module surplus information of the first branch path L212 is 3 mover modules, and the mover module surplus information of the first branch path L213 is 2 mover modules. Then, the first branch path L211 and the first branch path L212 have the maximum mover module surplus information. Further, the distance information between the first branch path L211 and the preset reference point K in the trunk path L1 is D1, the distance information between the first branch path L212 and the preset reference point K is D2, and the distance information between the first branch path L213 and the preset reference point K is D3. Wherein, D3>D2>D1, D1, D2 and D3 all represent length, and the unit can be millimeter, centimeter, meter, etc. If the first branch path with the minimum distance information is selected as the first target path from the first branch paths with the maximum mover module surplus information, the first branch path L211 is determined as the first target path. If the first branch path with the maximum distance information is selected as the first target path from the first branch paths with the maximum mover module surplus information, the first branch path L212 is determined as the first target path.

[0129] In an implementation, the first branch path with the maximum mover module surplus information is determined as the first target path. Specifically, when there are multiple first branch paths with the same maximum mover module surplus information, one of the first branch paths can be selected as the first target path according to a preset default rule. For example, the default rule can be to select the first branch path with the minimum number, to select the first branch path that has been used most recently, or to randomly select a first branch path, etc.

[0130] Regarding the above implementation, exemplarily, please refer to Figure 16, the first branch path L211, the first branch path L212 and the first branch path L213. Among them, the mover module margin information of the first branch path L211 is 4 mover modules, numbered 1; the mover module margin information of the first branch path L212 is 4 mover modules, numbered 2; and the mover module margin information of the first branch path L213 is 3 mover modules, numbered 3. Then, the first branch path L211 and the first branch path L212 have the largest mover module margin information. If, in the first branch path with the largest mover module margin information, the smallest number is determined as the default rule, the first branch path L211 is determined as the first target path; if, in the first branch path with the largest mover module margin information, the most recently used is determined as the default rule, and the first branch path L212 is most recently used, the first branch path L212 is determined as the first target path.

[0131] In the embodiments of the present application, two specific processing methods are provided when multiple first branch paths have the same maximum mover module margin information: the first method is to introduce distance information as an auxiliary decision basis, and the first branch path closest to or farthest from the preset reference point can be selected as the first target path; the second method is to select one of the first branch paths as the first target path according to the default rule. The above two methods can effectively solve the path selection problem when multiple first branch paths have the same maximum mover module margin information, which not only considers the spatial position relationship between the first branch path and the trunk path, but also ensures the executability of the scheduling decision, so as to realize the reasonable scheduling of the mover module, ensure that the first branch path with high process execution efficiency can obtain more mover module resources, and further improve the overall efficiency of the automatic production.

[0132] In some embodiments of the present application, the step of "determining the first target path in the first branch path with scheduling demand according to the priority configuration information of the first branch path with scheduling demand" is further refined, which can specifically include at least one of the following steps: If multiple first branch paths with scheduling demand have the highest priority configuration information, the distance information between the first branch path corresponding to the highest priority configuration information and the preset reference point in the trunk path is obtained, and the first branch path with the minimum or maximum distance information is determined as the first target path; If one first branch path with scheduling demand has the highest priority configuration information, the first branch path with the highest priority configuration information is determined as the first target path.

[0133] Specifically, if only the case that the scheduling configuration information of the first branch path includes the priority configuration information is considered, it can be further determined whether the multiple first branch paths with scheduling demand have the highest priority configuration information.

[0134] If the multiple first branch paths with scheduling demand do not have the highest priority configuration information, it indicates that the priority configuration information of the multiple first branch paths with scheduling demand is equal, and at this time, one of the first branch paths can be selected as the first target path according to a preset other auxiliary decision rule. For example, the other auxiliary decision rule can be selection according to the number order of the first branch paths, selection according to the historical scheduling frequency of the first branch paths, or random selection, etc.

[0135] In an implementation manner, distance information between the first branch path corresponding to the highest priority configuration information and a preset reference point in the trunk path is obtained, and the first branch path with the minimum or maximum distance information is determined as the first target path. Specifically, the physical distance or logical distance between each first branch path with the highest priority configuration information and the preset reference point in the trunk path is calculated, the distance information of each first branch path is compared, and the first branch path with the minimum or maximum distance information is selected as the first target path. The preset reference point can be the starting point, the ending point or any designated position of the trunk path, and the distance information can be the actual physical distance or other quantifiable distance indicators.

[0136] Regarding the above implementation manner, exemplarily, please combine Figure 16 , it is assumed that the first branch paths with scheduling demand include the first branch path L211, the first branch path L212 and the first branch path L213, wherein the priority configuration information of the first branch path L211 is “high priority”, the priority configuration information of the first branch path L212 is “high priority”, and the priority configuration information of the first branch path L213 is “medium priority”. The first branch path L211 and the first branch path L212 have the highest priority configuration information. Further, the distance information between the first branch path L211 and the preset reference point K in the trunk path L1 is D1, the distance information between the first branch path L212 and the preset reference point K is D2, and the distance information between the first branch path L213 and the preset reference point K is D3. Wherein, D3>D2>D1, D1, D2 and D3 all represent length, and the unit can be millimeter, centimeter, meter, etc. If the first branch path with the minimum distance information is selected as the first target path from the first branch paths with the highest priority configuration information, the first branch path L211 is determined as the first target path; if the first branch path with the maximum distance information is selected as the first target path from the first branch paths with the highest priority configuration information, the first branch path L212 is determined as the first target path.

[0137] In an implementation manner, a first branch path with the highest priority configuration information is determined as the first target path. Specifically, when there are multiple first branch paths with the same highest priority configuration information, one of the first branch paths can be selected as the first target path according to a preset default rule. For example, the default rule can be to select the first branch path with the smallest number, to select the first branch path that has been used most recently, or to randomly select one of the first branch paths.

[0138] Regarding the above implementation manner, exemplarily, please combine Figure 16 , it is assumed that the first branch paths with scheduling requirements include the first branch path L211, the first branch path L212, and the first branch path L213. Among them, the priority configuration information of the first branch path L211 is “high priority”, and the number is 1; the priority configuration information of the first branch path L212 is “high priority”, and the number is 2; the priority configuration information of the first branch path L213 is “medium priority”, and the number is 3. Then the first branch path L211 and the first branch path L212 have the highest priority configuration information. If the first branch path L211 is determined as the first target path according to the default rule of the smallest number in the first branch paths with the highest priority configuration information, if the first branch path L212 is determined as the first target path according to the default rule of the most recently used in the first branch paths with the highest priority configuration information, and the first branch path L212 has been used most recently, or if the first branch path L211 or the first branch path L212 is randomly selected as the first target path according to the default rule of random selection.

[0139] In the embodiments of the present application, two specific processing methods are provided when multiple first branch paths have the same highest priority configuration information: the first method is to introduce distance information as an auxiliary decision basis, and the first branch path closest to or farthest from a preset reference point can be selected as the first target path; the second method is to select one of the first branch paths as the first target path according to a default rule. The above two methods can effectively solve the path selection problem when multiple first branch paths have the same highest priority configuration information, which not only considers the spatial position relationship between the first branch path and the trunk path, but also ensures the executability of the scheduling decision, so as to realize the reasonable scheduling of the mover module, ensure that the first branch path with high process execution efficiency can obtain more mover module resources, and further improve the overall efficiency of the automatic production.

[0140] In some embodiments of the present application, the step of "determining a first target path in the first branch path with scheduling demand according to the mover module margin information and the priority configuration information of the first branch path with scheduling demand" is further refined, and can specifically include the following steps: If the plurality of first branch paths with scheduling demand have the maximum mover module margin information, the first branch path with the highest priority configuration information is determined as the first target path. If the plurality of first branch paths with scheduling demand have the highest priority configuration information, the first branch path with the maximum mover module margin information is determined as the first target path. If the plurality of first branch paths with scheduling demand have the maximum mover module margin information, and the plurality of first branch paths with scheduling demand have the highest priority configuration information, the distance information between the corresponding first branch path and the preset reference point in the trunk path is obtained, and the first branch path with the minimum or maximum distance information is determined as the first target path. If the different first branch paths with scheduling demand have the maximum mover module margin information and the highest priority configuration information respectively, the first branch path with the highest priority configuration information is determined as the first target path, or the first branch path with the maximum mover module margin information is determined as the first target path, or the first branch path with the minimum or maximum distance information between the corresponding first branch path and the preset reference point in the trunk path is determined as the first target path.

[0141] Specifically, if the scheduling configuration information of the first branch path includes the capacity configuration information and the priority configuration information, it can be further determined whether the plurality of first branch paths with scheduling demand have the maximum capacity configuration information or the highest priority configuration information.

[0142] If the plurality of first branch paths with scheduling demand have the maximum capacity configuration information, it indicates that the capacity configuration information of the plurality of first branch paths with scheduling demand is not equal, and at this time the first branch path with the maximum capacity configuration information can be determined as the first target path.

[0143] For example, please refer to Figure 16, assume that the first branch paths with scheduling demand include the first branch path L211, the first branch path L212 and the first branch path L213. The capacity configuration information of the first branch path L211 is 4 mover modules, the priority configuration information is "high priority", the capacity configuration information of the first branch path L212 is 3 mover modules, the priority configuration information is "medium priority", and the capacity configuration information of the first branch path L213 is 2 mover modules, the priority configuration information is "low priority". The first branch path L211 has the largest capacity configuration information, so the first branch path L211 is determined as the first target path.

[0144] If the multiple first branch paths with scheduling demand have the highest priority configuration information, it indicates that the priority configuration information of the multiple first branch paths with scheduling demand is not equal, and at this time, the first branch path with the highest priority configuration information can be determined as the first target path.

[0145] Exemplarily, please combine Figure 16 , assume that the first branch paths with scheduling demand include the first branch path L211, the first branch path L212 and the first branch path L213. The capacity configuration information of the first branch path L211 is 3 mover modules, the priority configuration information is "high priority", the capacity configuration information of the first branch path L212 is 4 mover modules, the priority configuration information is "medium priority", and the capacity configuration information of the first branch path L213 is 2 mover modules, the priority configuration information is "low priority". The first branch path L211 has the highest priority configuration information, so the first branch path L211 is determined as the first target path.

[0146] If the multiple first branch paths with scheduling demand have the largest mover module margin information, and the multiple first branch paths with scheduling demand have the highest priority configuration information, it indicates that these first branch paths are in the optimal state in the two dimensions of capacity configuration information and priority configuration information. At this time, the distance information of the corresponding first branch path and the preset reference point in the main path can be obtained, and the first branch path with the smallest or largest distance information is determined as the first target path.

[0147] Exemplarily, please combine Figure 16, the first branch paths with scheduling demand include the first branch path L211, the first branch path L212 and the first branch path L213. The first branch path L211 has 3 mover modules of mover module margin information, "high priority" of priority configuration information and D1 of distance between the preset reference point K in the trunk path L1. The first branch path L212 has 3 mover modules of mover module margin information, "high priority" of priority configuration information and D2 of distance between the preset reference point K in the trunk path L1. The first branch path L213 has 2 mover modules of mover module margin information, "medium priority" of priority configuration information and D3 of distance between the preset reference point K in the trunk path L1. D3>D2>D1, D1, D2 and D3 represent length, and the unit can be millimeter, centimeter, meter, etc. The first branch path L211 and the first branch path L212 have the maximum mover module margin information and the highest priority configuration information at the same time, so the first branch path L211 with the minimum distance information can be selected as the first target path from the first branch path L211 and the first branch path L212.

[0148] If different first branch paths with scheduling demand have the maximum mover module margin information and the highest priority configuration information respectively, it indicates that these first branch paths have cross advantages in the two dimensions of capacity configuration information and priority configuration information. At this time, the first branch path with the highest priority configuration information can be determined as the first target path, or the first branch path with the most mover module margin information can be determined as the first target path, or the first branch path with the minimum or maximum distance information can be determined as the first target path according to the distance information between the corresponding first branch path and the preset reference point in the trunk path.

[0149] Exemplarily, please combine with Figure 16, the first branch path that assumes there is a scheduling demand includes the first branch path L211, the first branch path L212 and the first branch path L213. Among them, the mover module margin information of the first branch path L211 is 4 mover modules, the priority configuration information is "medium priority", and the distance between the preset reference point K in the trunk path L1 is D1; the mover module margin information of the first branch path L212 is 3 mover modules, the priority configuration information is "high priority", and the distance between the preset reference point K in the trunk path L1 is D2; the mover module margin information of the first branch path L213 is 2 mover modules, the priority configuration information is "low priority", and the distance between the preset reference point K in the trunk path L1 is D3. Among them, D3>D2>D1, D1, D2 and D3 all represent length, which can be millimeter, centimeter, meter, etc. The first branch path L211 has the largest mover module margin information, and the first branch path L212 has the highest priority configuration information. If the priority configuration information is given priority, the first branch path L212 is determined as the first target path; if the mover module margin information is given priority, the first branch path L211 is determined as the first target path; if the distance information is considered and the first branch path with the smallest distance information is selected, the first branch path L211 is determined as the first target path.

[0150] In the embodiments of the present application, four specific decision scenarios are provided when the scheduling configuration information contains both capacity configuration information and priority configuration information: the first scenario is for the case that multiple first branch paths have the maximum mover module margin information, and the second screening is performed through the priority configuration information; the second scenario is for the case that multiple first branch paths have the highest priority configuration information, and the second screening is performed through the mover module margin information; the third scenario is for the case that the mover module margin information and the priority configuration information are both optimal, and the distance information is introduced as the final decision basis; the fourth scenario is for the case that different first branch paths have advantages in different dimensions, and three optional decision schemes are provided. The above decision mechanism considers the actual carrying capacity of the first branch path, takes into account the scheduling priority and spatial position relationship through multi-dimensional evaluation and hierarchical screening, realizes flexible management of mover module scheduling, ensures that the first branch path with high process execution efficiency can obtain more mover module resources, and further improves the overall efficiency of automatic production.

[0151] In some embodiments of the present application, the step of "determining the first target module from the mover modules not located in the first branch path according to the process type corresponding to the first target path" is further refined, which can specifically include the following steps: obtain the work history information of the mover modules not located in the first branch path; According to the work history information of the mover module not located in the first branch path, a mover module matching the process type corresponding to the first target path is determined as the first target module.

[0152] Specifically, the embodiment of the present application proposes to determine the first target module based on the work history information of the mover module of the first branch path. The work history information refers to a set of state data related to process execution recorded by the mover module in the historical running process. In some cases, the work history information can indicate whether the mover module carries material; in some cases, the work history information can indicate whether the mover module carries material and the processing condition of the material. The work history information can be stored in the memory of the related control device, or in the storage unit of the mover module, or in the cloud database.

[0153] Exemplarily, the work history information can include at least one of the following: carrying state information of whether the mover module currently carries material, process type information of the last execution of the mover module, operation device identification information of the last interaction of the mover module, timestamp information of the last interaction of the mover module, processing progress information of the material carried by the mover module, batch identification information of the material carried by the mover module. The carrying state information is used to represent whether the mover module currently carries material; the process type information is used to represent the process type of the last execution of the mover module, such as feeding, discharging or processing; the operation device identification information is used to represent the unique identification of the operation device of the last interaction of the mover module; the timestamp information is used to represent the specific time of the last interaction of the mover module; the processing progress information is used to represent the current processing completion degree of the material carried by the mover module; and the batch identification information is used to represent the production batch to which the material carried by the mover module belongs.

[0154] Firstly, the work history information of the mover module not located in the first branch path needs to be obtained. Specifically, the work history information can be read from the storage unit of the mover module by wired or wireless communication, or the work history information can be queried from the memory of the control device, or the work history information can be downloaded from the cloud database. The process of obtaining the work history information can be performed in real time after determining the first target path, or the work history information can be pre-obtained and cached in the local storage unit periodically.

[0155] Then, according to the work history information of the mover modules not located on the first branch path, a mover module matching the process type corresponding to the first target path is determined as the first target module. Specifically, first, the path-process type mapping relationship is queried according to the path identifier of the first target path, and the process type corresponding to the first target path is determined; then the work history information of each mover module not located on the first branch path is traversed, and the mover module matching the process type corresponding to the first target path is selected as a candidate mover module; finally, according to the preset selection rule, one mover module is selected from the candidate mover module as the first target module. Wherein, the path-process type mapping relationship refers to a data structure pre-established for recording the association relationship between each branch path and the process type corresponding thereto; the selection rule can be to select the most recently dispatched mover module, to select the mover module with the longest idle time, or to select randomly.

[0156] Exemplarily, please combine Figure 17 , a plurality of mover modules are arranged in the moving path formed by the stator module, and the plurality of mover modules include mover module Y1, mover module Y2, and mover module Y3; the moving path includes a main path L1 and a plurality of branch paths connected to the main path L1, wherein the plurality of branch paths include a first branch path L211, a first branch path L212, a first branch path L213, a second branch path L221, and a second branch path L222. The operation device C2, the operation device C3, and the operation device C4 are arranged around the first branch path L211, the first branch path L212, and the first branch path L213, respectively; the operation device C1 is arranged around the second branch path L221; and the operation device C5 is arranged around the second branch path L222. The mover module Y moves in the moving path along the moving direction F.

[0157] Suppose the first target path is the first branch path L211, and the process type corresponding to the first branch path L211 is determined to be the feeding process through the path-process type mapping relationship. The work history information of the mover modules Y1, Y2, and Y3 on the main path is traversed: the work history information of the mover module Y1 indicates that it currently carries material and the last executed process type is the feeding process; the work history information of the mover module Y2 indicates that it currently carries material and the last executed process type is the feeding process; and the work history information of the mover module Y3 indicates that it currently does not carry material and the last executed process type is the discharging process.

[0158] According to the adaptation requirement of the machining process corresponding to the first branch path L211, the mover module Y1 and the mover module Y2 are screened as candidate mover modules. Then, the mover module Y1 can be determined as the first target module according to the rule of selecting the longest idle time, or one of the mover module Y1 and the mover module Y2 is determined as the first target module according to other rules.

[0159] In the embodiments of the present application, the current state and the historical working record of each mover module can be accurately mastered by acquiring the working history information of the mover module not located in the first branch path; and the mover module matched with the process type corresponding to the first target path is screened as the first target module according to the working history information, so as to ensure the adaptability of the mover module to the process requirement. In this way, the situation that the mismatched mover module enters the first target path to cause the process execution failure is avoided, and the scheduling efficiency and the utilization rate of the mover module are improved, thereby effectively improving the overall operation efficiency of the automated production.

[0160] In an embodiment, each first branch path is provided with a flow detection point; before acquiring the flow information of each first branch path, the following steps are further included: According to the position measurement information of the plurality of mover modules, when it is identified that the mover module passes through the flow detection point, the statistical information of the flow detection point is updated.

[0161] Specifically, the embodiments of the present application propose to record the flow information based on the flow detection point. The flow detection point refers to a detection point provided in the first branch path and used to detect the passing of the mover module. Each first branch path is provided with a corresponding flow detection point, and the number of flow detection points corresponding to the first branch path is at least one, which is not limited.

[0162] It should be noted that the flow detection point can be a detection point realized based on a physical sensor, or a virtual detection point. For example, the detection point realized based on the physical sensor can be an optical sensor detection point, a radio frequency identification detection point, and an infrared sensor detection point; and the virtual detection point can be an image recognition point set based on a visual recognition system, or a virtual detection point determined based on the position coordinates of the mover module.

[0163] The recording process of the flow information is performed by updating the statistical information of the flow detection point according to the position measurement information of the plurality of mobile sub-modules when it is identified that the mobile sub-modules pass through the flow detection point. The statistical information of the flow detection point refers to a data set recording the number of times, the time stamp and the identification of the mobile sub-module passing through the flow detection point. The specific implementation of the process is to actively acquire the position measurement information of the plurality of mobile sub-modules, or receive the position measurement information of the plurality of mobile sub-modules through wired or wireless communication, and then match and calculate the position measurement information and the preset flow detection point position information. When the matching calculation result meets the preset passing condition, it is determined that the mobile sub-module passes through the flow detection point, and the recorded value in the statistical information storage unit corresponding to the flow detection point is updated.

[0164] Exemplarily, please refer to Figure 18 , which shows a first branch path local L_c. The first branch path local L_c can be a local path of a certain first branch path. The first branch path local L_c is provided with a flow detection point J, and the mobile sub-module Y1 and the mobile sub-module Y2 move along the first branch path local L_c according to the moving direction F. When the position measurement information of the mobile sub-module Y1 indicates that the coordinates thereof enter the detection range of the flow detection point J, it is identified that the mobile sub-module Y1 passes through the flow detection point J, the passing time counter in the statistical information of the flow detection point J is increased by 1, and the current time stamp and the identification information of the mobile sub-module Y1 are recorded. The position measurement information of the mobile sub-module Y2 indicates that the coordinates thereof do not enter the detection range of the flow detection point J, and thus the recording action corresponding to the flow detection point J is not triggered.

[0165] In the embodiments of the present application, the passing conditions of the mobile sub-modules can be accurately recorded by setting the flow detection points in the first branch paths. The behavior of the mobile sub-modules passing through the flow detection points is identified based on the position measurement information, and the statistical information is updated in real time, thereby providing a reliable data source for subsequently obtaining the flow information of the first branch paths.

[0166] In some embodiments of the present application, at least part of the first branch paths are provided with a first flow detection point and a second flow detection point. The first flow detection point is located before the interaction area of the first branch path, and the second flow detection point is located after the interaction area of the first branch path. The step of "obtaining the flow information of the first branch paths" is further refined, and can specifically include any one of the following steps: The statistical information of the first flow detection point and the statistical information of the second flow detection point are obtained, and one of the statistical information of the first flow detection point and the statistical information of the second flow detection point is selected as the flow information of the corresponding first branch path; The statistical information of the first flow detection point and the statistical information of the second flow detection point are obtained, and the statistical information of the first flow detection point and the statistical information of the second flow detection point are fused to obtain the flow information of the corresponding first branch path.

[0167] Specifically, considering that setting a single flow detection point in the first branch path has the defect of being prone to errors and cannot comprehensively reflect the complete flow of the mover module in the first branch path, which may lead to inaccurate statistics of the passing of the mover module, embodiments of the present application propose that at least part of the first branch path is provided with a first flow detection point and a second flow detection point. Wherein the first flow detection point and the second flow detection point are both a kind of flow detection point; the interaction area of the first branch path refers to the area in the first branch path provided with a work site and used for interaction between the mover module and the operating equipment. In order to achieve accurate detection, the first flow detection point is arranged before the interaction area of the first branch path, and the second flow detection point is arranged after the interaction area of the first branch path.

[0168] For the convenience of understanding the specific setting of the first flow detection point and the second flow detection point in the embodiments of the present application, please refer to Figure 19 . Wherein the main path L1 is connected with the first branch path L21, and from the entrance end of the first branch path L21, the positions M1, M2, M3, M4 and M5 are distributed in turn in the outlet end direction. The position M1 is arranged at the entrance end of the first branch path L21; the position M5 is arranged at the outlet end of the first branch path L21. Based on the above position distribution, the interval formed by the position M1 and the position M2 can be determined as the waiting area, the interval formed by the position M3 and the position M4 can be determined as the interaction area, the interval formed by the position M2 and the position M3 can be determined as the blank area 1, and the interval formed by the position M4 and the position M5 can be determined as the blank area 2. When the mover module moves to the waiting area, it can stay in the waiting area for a while, and then go to the interaction area when the interaction area is suitable for entering.

[0169] It can be understood that the first flow detection point can be arranged in the blank area 1 or the waiting area, and the second flow detection point can be arranged in the blank area 2.

[0170] Exemplarily, please refer to Figure 20 , Figure 20 Based on Figure 19 , the flow detection points are added. Wherein the first flow detection point J1 is arranged in the blank area 1 formed by the position M2 and the position M3, and the second flow detection point J2 is arranged in the blank area 2 formed by the position M4 and the position M5.

[0171] Regarding obtaining the flow information of each first branch path, two specific implementation modes are provided as follows: In an implementation, the statistical information of the first traffic detection point and the statistical information of the second traffic detection point are acquired first, and then one of the statistical information of the first traffic detection point and the statistical information of the second traffic detection point is selected as the traffic information of the corresponding first branch path. This step specifically represents that the statistical information is read from the storage units corresponding to the first traffic detection point and the second traffic detection point, and the statistical information of one of the traffic detection points is selected as the traffic information of the first branch path according to a preset selection rule. The selection rule can be fixedly selecting the statistical information of the first traffic detection point, fixedly selecting the statistical information of the second traffic detection point, or dynamically selecting the statistical information of the first traffic detection point or the second traffic detection point according to a preset condition.

[0172] Regarding the above implementation, exemplarily, please combine Figure 20 When the rule of fixedly selecting the statistical information of the first traffic detection point J1 is adopted, the number of the mover modules recorded by the first traffic detection point J1 is always taken as the traffic information of the first branch path L21 regardless of the change of the statistical information of the second traffic detection point J2; when the dynamic selection rule is adopted, the statistical information of the traffic detection point with better signal quality can be selected as the traffic information of the first branch path L21 according to the signal quality parameters of the first traffic detection point J1 and the second traffic detection point J2.

[0173] In an implementation, the statistical information of the first traffic detection point and the statistical information of the second traffic detection point are acquired first, and then the statistical information of the first traffic detection point and the statistical information of the second traffic detection point are fused and processed to be taken as the traffic information of the corresponding first branch path. The fusion processing refers to a process of performing mathematical operation or logical operation on the statistical information of two traffic detection points to obtain a comprehensive statistical result. For example, the fusion processing can be weighted summation operation processing, can be average value operation processing, or can be maximum value or minimum value operation processing, and is not limited to this. This step specifically represents that the statistical information is read from the storage units corresponding to the first traffic detection point and the second traffic detection point, and the two statistical information are processed according to a preset fusion algorithm, and the processing result is taken as the traffic information of the first branch path.

[0174] Regarding the above implementation, exemplarily, please combine Figure 20. Assuming that the first flow detection point J1 records a quantity of 5 moving sub-modules passing through, and the second flow detection point J2 records a quantity of 4 moving sub-modules passing through. When a weighted summation operation processing is adopted, the weight of the first flow detection point J1 can be set to 0.6, and the weight of the second flow detection point J2 can be set to 0.4. Then, the flow information after fusion processing is 5*0.6+4*0.4=4.6, and after rounding, the quantity of moving sub-modules is 5. When an average value operation processing is adopted, the flow information after fusion processing is (5+4) / 2=4.5, and after rounding, the quantity of moving sub-modules is 5. When a maximum value operation processing is adopted, the flow information after fusion processing is max(5,4)=5, and the quantity of moving sub-modules is 5.

[0175] In the embodiment of the present application, by respectively setting the first flow detection point and the second flow detection point before and after the interaction area of the first branch path, the passing situation of the moving sub-module in the first branch path can be comprehensively monitored. Two flow information acquisition methods are provided, that is, the statistical information of a single detection point can be selected, or the statistical information of two detection points can be fused for processing, thereby improving the accuracy and reliability of flow information statistics. In this way, more accurate data support can be provided for subsequent scheduling configuration information determination, thereby realizing flexible scheduling of the moving sub-module and effectively improving the efficiency of automatic production.

[0176] In an embodiment, before determining the scheduling configuration information of each first branch path according to the flow information of the plurality of first branch paths, the following steps are further included: It is identified that there is a first branch path with flow information less than a preset flow threshold information.

[0177] Specifically, if the scheduling configuration information of the branch path can adapt to the actual scheduling demand and maintain a high automatic production efficiency, the scheduling configuration information of the branch path does not need to be adjusted. For this reason, before adjusting the scheduling configuration information of some branch paths, it is necessary to identify whether the branch path needs to be adjusted.

[0178] The embodiment of the present application proposes a scheme of determining whether the branch path needs to adjust the scheduling configuration information through the preset flow threshold information. Specifically, the flow information of each branch path can be compared with the preset flow threshold information in real time, wherein the flow threshold information refers to a standard value for determining whether the current number of movers of the branch path meets the minimum requirement. In some cases, the flow threshold information can be determined based on the number of workstations of the branch path, for example, the flow threshold information is set to 2 times the number of workstations in the branch path; in some cases, the flow threshold information can be determined based on the process type of the branch path, for example, the flow threshold information of the branch path corresponding to the feeding process is set to 6 mover modules, and the flow threshold information of the branch path corresponding to the discharging process is set to 18 mover modules; in addition, the flow threshold information can also be determined based on the historical average flow of the branch path, the processing capacity of the operation equipment corresponding to the branch path, etc., which is not limited here.

[0179] If it is identified that there is a branch path with flow information less than the preset flow threshold information, it indicates that the current number of movers of the branch path is insufficient to maintain the normal process execution efficiency. At this time, the branch path with flow information less than the preset flow threshold information can be determined as the first branch path, and the scheduling configuration information of the first branch path will be adjusted subsequently to enable the first branch path to obtain more mover allocation, thereby improving the process execution efficiency.

[0180] It should be noted that the at least two first branch paths of the embodiment of the present application specifically refer to the branch paths corresponding to the same type of process and having flow information less than the preset flow threshold information.

[0181] Exemplarily, please combine Figure 8 , it is assumed that the first branch path L211, the first branch path L212, and the first branch path L213 are branch paths corresponding to machining processes, and the preset flow threshold information is 6 mover modules. Through real-time monitoring, it is obtained that the flow information of the first branch path L211 is 8 mover modules, the flow information of the first branch path L212 is 5 mover modules, and the flow information of the first branch path L213 is 4 mover modules. Since the flow information 5 of the first branch path L212 and the flow information 4 of the first branch path L213 are both less than the flow threshold information 6, the first branch path L212 and the first branch path L213 are determined as the first branch paths that need to adjust the scheduling configuration information, and the scheduling configuration information thereof will be re-determined according to the flow information of the first branch path L212 and the first branch path L213 subsequently.

[0182] In the embodiments of the present application, the size comparison of the flow information and the flow threshold information can accurately locate the first branch path with insufficient process execution efficiency, and the subsequent adjustment of the scheduling configuration information of each first branch path can effectively improve the process execution efficiency of each first branch path, thereby improving the overall efficiency of automatic production.

[0183] In an embodiment, the plurality of branch paths includes at least one second branch path, and the second branch path and the first branch path correspond to different types of processes; the mover module control method further includes the following steps: Obtaining flow information of the second branch path; Adjusting the scheduling configuration information of each first branch path according to the flow information of the second branch path.

[0184] Specifically, in the case where the plurality of branch paths includes at least two first branch paths and at least one second branch path, the overall automatic production efficiency is not only determined by the process execution efficiency of the first branch path, but also affected by the process execution efficiency of the first branch path and the second branch path. Therefore, the embodiments of the present application propose to use the flow information of the second branch path to trigger the adjustment of the scheduling configuration information of each first branch path.

[0185] Firstly, the flow information of the second branch path needs to be obtained. It can be understood that the flow information of the second branch path can reflect whether the second branch path is in a congestion situation or an unsaturated situation. The specific implementation of this step is: obtaining the number of movers passing through the second branch path through the flow detection point arranged on the second branch path; or counting the number of movers currently located in the second branch path by analyzing the position measurement information of the movers in the second branch path; or indirectly obtaining the flow information of the second branch path through the state information of the operation equipment corresponding to the second branch path. Among them, the flow information acquisition method of the second branch path can be the same as or different from the flow information acquisition method of the first branch path.

[0186] Further, the scheduling configuration information of each first branch path is adjusted according to the flow information of the second branch path. It can be understood that the second branch path and the first branch path correspond to different types of processes, and considering the continuous execution of processes in the automatic production process, the process execution efficiency of the first branch path will affect the second branch path. The specific implementation of this step is: If the flow information of the second branch path exceeds the preset congestion threshold, it indicates that the second branch path is in a congestion situation. At this time, the scheduling configuration information of each first branch path can be adjusted to reduce the process execution efficiency of each first branch path and alleviate the congestion situation of the second branch path. Specifically, the capacity configuration information of each first branch path can be lowered, and / or the priority configuration information of each first branch path can be lowered.

[0187] If the traffic flow of the second branch path is lower than the preset unsaturation threshold, it indicates that the second branch path is unsaturated. In this case, the scheduling configuration information of each first branch path can be adjusted to improve the execution efficiency of each first branch path and alleviate the unsaturation of the second branch path. Specifically, the capacity configuration information of each first branch path can be increased, and / or the priority configuration information of each first branch path can be increased.

[0188] For example, please combine Figure 8 Assume that branch paths L211, L212, and L213 correspond to processing operations; and branch path L222 corresponds to the unloading operation. The preset congestion threshold is 10 moving sub-modules, and the unsaturation threshold is 5 moving sub-modules. When the flow information for branch path L222 is 12 moving sub-modules, exceeding the congestion threshold, it indicates congestion in the unloading operation. At this point, the capacity configuration information for branch paths L211, L212, and L213 is reduced by 2 moving sub-modules, and the priority configuration information is lowered by one level. When the flow information for branch path L222 is 3 moving sub-modules, below the unsaturation threshold, it indicates that the unloading operation is unsaturated. At this point, the capacity configuration information for branch paths L211, L212, and L213 is increased by 1 moving sub-module, and the priority configuration information is raised by one level.

[0189] In this embodiment, by obtaining the traffic information of the second branch path and triggering the adjustment of the scheduling configuration information of the first branch path accordingly, collaborative scheduling between different types of process branch paths can be achieved. This takes into account both the process execution efficiency of the first branch path and the operating status of the second branch path, thereby ensuring the coordinated operation of each process link in the automated production process and effectively improving the overall production efficiency.

[0190] The following will combine Figures 21-22 The control device provided in the embodiments of this application will be described in detail. It should be noted that... Figures 21-22 The control device in the application is used to execute the present application. Figures 7-20 The methods shown in the embodiments are for illustrative purposes only, illustrating the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to this application. Figures 7-20 The illustrated embodiment. Specifically, Figures 21-22 The control device 700 in the middle is used to control the moving sub-module. The moving sub-module is located in the stator module. The movement path formed by the stator module includes a main path and multiple branch paths connected to the main path. The multiple branch paths include at least two first branch paths, which are branch paths corresponding to the same type of process. As Figure 21 shown, the control device 700 can include an acquisition unit 701 and a scheduling unit 702, specifically as follows: The acquisition unit 701 is configured to acquire traffic information of each first branch path; wherein the traffic information is used to represent the number of dynamic sub-modules performing interactive tasks in the first branch path; The scheduling unit 702 is configured to determine scheduling configuration information of each first branch path according to the traffic information of the plurality of first branch paths; wherein the scheduling configuration information is used to determine whether the dynamic sub-module located in the trunk path enters the corresponding first branch path.

[0191] Optionally, in some embodiments of the present application, the acquisition unit 701 and the scheduling unit 702 specifically perform steps can refer to the above-mentioned method embodiment content, and will not be repeated here.

[0192] As Figure 22 shown, the control device 700 can include an acquisition unit 701, a scheduling unit 702, an instruction response unit 703, a dynamic sub-module determination unit 704, a dynamic sub-module control unit 705, an instruction generation unit 706, an instruction receiving unit 707, a traffic detection unit 708 and a path identification unit 709, specifically as follows: The acquisition unit 701 is configured to acquire traffic information of each first branch path; wherein the traffic information is used to represent the number of dynamic sub-modules performing interactive tasks in the first branch path; The scheduling unit 702 is configured to determine scheduling configuration information of each first branch path according to the traffic information of the plurality of first branch paths; wherein the scheduling configuration information is used to determine whether the dynamic sub-module located in the trunk path enters the corresponding first branch path; The instruction response unit 703 is configured to determine a first target path in the plurality of first branch paths according to the scheduling configuration information of the plurality of first branch paths in response to a first scheduling trigger instruction; The dynamic sub-module determination unit 704 is configured to determine a first dynamic sub-module from the dynamic sub-modules not located in the first branch path according to the process type corresponding to the first target path; The dynamic sub-module control unit 705 is configured to control the first dynamic sub-module to enter the first target path, so that the first dynamic sub-module performs interactive tasks in the first target path.

[0193] The instruction generation unit 706 is configured to generate a first scheduling trigger instruction when it is identified that at least one first branch path has scheduling demand according to the position measurement information of the plurality of dynamic sub-modules; The instruction receiving unit 707 is configured to receive a first scheduling trigger instruction, and the first scheduling trigger instruction is generated by an external device when it is identified according to position measurement information of the plurality of mobile sub-modules that at least one first branch path exists scheduling demand; The flow detection unit 708 is configured to update statistical information of a flow detection point according to position measurement information of the plurality of mobile sub-modules when it is identified that the mobile sub-module passes through the flow detection point; The path identification unit 709 is configured to identify that there is a first branch path with flow information less than a preset flow threshold value information.

[0194] Optionally, in some embodiments of the present application, the obtaining unit 701, the scheduling unit 702, the instruction response unit 703, the mobile sub-module determination unit 704, the mobile sub-module control unit 705, the instruction generation unit 706, the instruction receiving unit 707, the flow detection unit 708 and the path identification unit 709 specifically perform steps which can refer to the above-mentioned method embodiment contents, and will not be repeated here.

[0195] The effects that can be achieved by the embodiments of the present application can refer to the related embodiments of the mobile sub-module control method described above, and will not be repeated here.

[0196] The present application also provides a linear motor device. Please refer to Figure 23 , Figure 23 is a structural schematic diagram of a linear motor device 800 provided by the embodiments of the present application. The linear motor device 800 includes a mobile sub-module 801, a stator module 802 and a control device 803, the mobile sub-module 801 is arranged in the stator module 802, the moving path formed by the stator module 802 includes a main path and a plurality of branch paths connected with the main path, the plurality of branch paths includes at least two first branch paths, and the first branch path is a branch path corresponding to the same type of process; The control device 803 includes a processor 8031 and a memory 8032. Wherein, the processor 8031 is electrically connected with the memory 8032.

[0197] The processor 8031 is the control center of the linear motor device 800, and connects each part of the linear motor device 800 through various interfaces and lines. By running or calling the computer program stored in the memory 8032 and calling the data stored in the memory 8032, the processor 8031 performs various functions of the linear motor device 800 and processes data, so as to monitor the linear motor device 800 as a whole.

[0198] The memory 8032 can be used to store software programs and modules, and the processor 8031 executes various function applications and the motion module 801 control by running the computer programs and modules stored in the memory 8032. The memory 8032 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one computer program required by a function, etc.; and the data storage area can store data created according to the use of the linear motor device 800, etc.

[0199] In addition, the memory 8032 can include a high-speed random access memory 8032, and can also include a non-volatile memory 8032, such as at least one magnetic disk memory 8032, a flash memory device, or other volatile solid-state memory 8032. Accordingly, the memory 8032 can also include a memory 8032 controller to provide access for the processor 8031 to the memory 8032.

[0200] In the embodiments of the present application, the processor 8031 loads the instructions corresponding to the processes of one or more computer programs into the memory 8032, and the processor 8031 runs the computer programs stored in the memory 8032, thereby realizing the motion module control method provided by the above embodiments.

[0201] The effects that can be achieved by the embodiments of the present application are described above in relation to the related embodiments of the motion module control method, and will not be repeated here.

[0202] The embodiments of the present application also provide an automatic production system. Please refer to Figure 24 , Figure 24 is a structural schematic diagram of an automatic production system 900 provided by the embodiments of the present application. The automatic production system 900 includes a motion module 901, a stator module 902, a control device 903, and an operating device 904, the motion module 901 is arranged in the stator module 902, the moving path formed by the stator module 902 includes a main path and a plurality of branch paths connected to the main path, the plurality of branch paths include at least two first branch paths, the first branch path is a branch path corresponding to the same type of process, and the operating device 904 is used to execute at least two types of processes in feeding, discharging, and processing. The control device 903 includes a processor 9031 and a memory 9032. The processor 9031 is electrically connected with the memory 9032.

[0203] The processor 9031 is a control center of the automatic production system 900, and connects various parts of the automatic production system 900 through various interfaces and lines, and performs various functions of the automatic production system 900 and processes data by running or calling computer programs stored in the memory 9032 and calling data stored in the memory 9032, so as to perform overall monitoring on the automatic production system 900.

[0204] The memory 9032 can be used to store software programs and modules, and the processor 9031 performs various function applications and the sub-module control by running the computer programs and modules stored in the memory 9032. The memory 9032 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, computer programs required by at least one function, etc.; and the data storage area can store data created according to the use of the automatic production system 900, etc.

[0205] In addition, the memory 9032 can include a high-speed random access memory 9032, and can also include a non-volatile memory 9032, such as at least one magnetic disk memory 9032, a flash memory device, or other volatile solid-state memory 9032. Accordingly, the memory 9032 can also include a memory 9032 controller to provide access of the processor 9031 to the memory 9032.

[0206] In the embodiment of the present application, the processor 9031 loads the instructions corresponding to the processes of one or more computer programs into the memory 9032, and runs the computer programs stored in the memory 9032 by the processor 9031, so as to realize the sub-module control method provided by the above embodiment.

[0207] The effects that can be achieved by the embodiments of the present application are described in the related embodiments of the sub-module control method, which will not be repeated here.

[0208] The embodiment of the present application also provides a computer readable storage medium, which stores computer program codes, and when the computer program codes run on the computer, the computer executes the related method steps to realize the sub-module control method provided by the above embodiment.

[0209] The storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0210] Due to the instructions stored in the storage medium, the steps in any of the mover module control methods provided in the embodiments of the present application can be performed, thus the beneficial effects that can be achieved by any of the mover module control methods provided in the embodiments of the present application can be achieved. Details are described in the foregoing embodiments, and will not be repeated here.

[0211] In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other manners. For example, the division of the apparatus embodiments is merely illustrative, and for example, the division of the modules or units can be changed, and for example, a plurality of units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, apparatuses or units, and can be in electrical, mechanical or other forms.

[0212] For the control apparatus of the embodiments of the present application, each functional module can be integrated in one processing chip, or each module can exist physically separately, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of software functional module. When the integrated module is realized in the form of software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0213] The mover module control method, apparatus, device, system and storage medium provided in the embodiments of the present application are described in detail above. The principles and implementation manners of the present application are described by applying specific examples in this paper, and the above embodiments are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manner and application range can be changed, and in summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A method for controlling a moving submodule, characterized in that, The moving module is located on the stator module. The moving path formed by the stator module includes a main path and multiple branch paths connected to the main path. The multiple branch paths include at least two first branch paths, which are branch paths corresponding to the same type of process. The method includes: Obtain traffic information for each of the first branch paths; wherein, the traffic information is used to characterize the number of dynamic sub-modules performing interactive tasks on the first branch path; Based on the traffic information of multiple first branch paths, the scheduling configuration information of each first branch path is determined; wherein, the scheduling configuration information is used to determine whether the moving submodule located on the trunk path enters the corresponding first branch path.

2. The method according to claim 1, characterized in that, The step of obtaining traffic information for each of the first branch paths includes: Based on a preset traffic acquisition cycle, the number of active sub-modules executing interactive tasks in each of the first branch paths is obtained within a specified time period to determine the traffic information of each of the first branch paths; wherein, the specified time period is determined according to a single traffic acquisition cycle, multiple traffic acquisition cycles, or a preset duration parameter.

3. The method according to claim 1 or 2, characterized in that, The step of determining the scheduling configuration information for each of the first branch paths based on the traffic information of multiple first branch paths includes at least one of the following: By combining the traffic information of each first branch path and the capacity limit information of the corresponding dynamic submodule of each first branch path, the capacity configuration information of the first branch path is determined. Compare the traffic information of multiple first branch paths to determine the priority configuration information of each first branch path.

4. The method according to claim 3, characterized in that, The step of determining the capacity configuration information of the first branch path by combining the traffic information of each first branch path and the capacity limit information of the corresponding dynamic submodule of each first branch path includes: If the traffic information of each of the first branch paths does not exceed the capacity limit information of the moving submodule, the traffic information is set as capacity configuration information; If the traffic information of each of the first branch paths exceeds the upper limit information of the moving submodule capacity, the upper limit information of the moving submodule capacity is set as the capacity configuration information.

5. The method according to claim 3, characterized in that, The step of comparing the traffic information of multiple first branch paths to determine the priority configuration information of each first branch path includes: By comparing the magnitude of the traffic information of multiple first branch paths, the relative order information of each first branch path is obtained. The relative order information is used to characterize the order of the corresponding first branch path among multiple first branch paths. Based on the relative order information of each of the first branch paths, the priority configuration information matching each of the first branch paths is determined.

6. The method according to claim 1 or 2, characterized in that, After determining the scheduling configuration information of each first branch path based on the traffic information of multiple first branch paths, the method further includes: In response to the first scheduling trigger command, a first target path is determined among the multiple first branch paths based on the scheduling configuration information of the multiple first branch paths; Based on the process type corresponding to the first target path, determine the first moving submodule among the moving submodules that are not located in the first branch path; Control the first moving submodule to enter the first target path, so that the first moving submodule performs interactive tasks on the first target path.

7. The method according to claim 6, characterized in that, Prior to responding to the scheduling trigger instruction, it also includes at least one of the following: When at least one of the first branch paths is identified as having a scheduling requirement based on the position measurement information of multiple moving sub-modules, the first scheduling trigger instruction is generated. Receive a first scheduling trigger instruction, which is generated by an external device when it identifies a scheduling requirement for at least one of the first branch paths based on the position measurement information of the multiple moving sub-modules.

8. The method according to claim 7, characterized in that, The step of identifying at least one of the first branch paths with scheduling requirements based on the position measurement information of the multiple moving submodules includes at least one of the following: Based on the position measurement information of multiple moving sub-modules, the number of moving sub-modules to be executed in the first branch path is obtained, and when the number of moving sub-modules to be executed is less than the corresponding capacity configuration information, it is determined that there is a scheduling requirement for the first branch path. Based on the position measurement information of the multiple moving sub-modules, the process status information of the first branch path is obtained, and when the process status information indicates that the process is idle, it is determined that there is a scheduling requirement for the first branch path.

9. The method according to claim 6, characterized in that, The step of determining the first target path among the multiple first branch paths based on the scheduling configuration information of the multiple first branch paths includes at least one of the following: Obtain the capacity configuration information from the scheduling configuration information of the first branch path with scheduling requirements, and determine the remaining capacity information of the sub-modules of the first branch path with scheduling requirements based on the capacity configuration information and the number of sub-modules to be executed, and determine the first target path in the first branch path with scheduling requirements based on the remaining capacity information of the sub-modules of the first branch path with scheduling requirements. Obtain the priority configuration information from the scheduling configuration information of the first branch path with scheduling requirements, and determine the first target path from the first branch path with scheduling requirements based on the priority configuration information of the first branch path with scheduling requirements. Obtain the capacity configuration information and priority configuration information from the scheduling configuration information of the first branch path with scheduling requirements, and determine the remaining capacity information of the first branch path with scheduling requirements based on the capacity configuration information and the number of active sub-modules to be executed, and determine the first target path in the first branch path with scheduling requirements based on the remaining capacity information and priority configuration information of the active sub-modules in the first branch path with scheduling requirements.

10. The method according to claim 9, characterized in that, The step of determining the first target path in the first branch path with scheduling requirements based on the remaining submodule information of the first branch path with scheduling requirements includes at least one of the following: If multiple first branch paths with scheduling requirements have the largest moving submodule reserve information, then obtain the distance information between the first branch path corresponding to the largest moving submodule reserve information and the preset reference point in the trunk path, and determine the first branch path with the smallest or largest distance information as the first target path; If a first branch path with scheduling requirements has the largest remaining submodule information, then the first branch path with the largest remaining submodule information is determined as the first target path.

11. The method according to claim 9, characterized in that, The step of determining the first target path among the first branch paths with scheduling needs based on the priority configuration information of the first branch paths with scheduling needs includes: If multiple first branch paths with scheduling requirements have the highest priority configuration information, then obtain the distance information between the first branch path corresponding to the highest priority configuration information and the preset reference point in the trunk path, and determine the first branch path with the smallest or largest distance information as the first target path. If a first branch path with scheduling requirements has the highest priority configuration information, then the first branch path with the highest priority configuration information is determined as the first target path.

12. The method according to claim 9, characterized in that, The step of determining the first target path in the first branch path with scheduling requirements based on the remaining submodule information and priority configuration information of the first branch path with scheduling requirements includes: If multiple first branch paths with scheduling requirements have the largest dynamic submodule reserve information, then the first branch path with the highest priority configuration information is determined as the first target path; If multiple first branch paths with scheduling requirements have the highest priority configuration information, then the first branch path with the largest remaining submodule information is determined as the first target path. If multiple first branch paths with scheduling requirements have the largest submodule reserve information and multiple first branch paths with scheduling requirements have the highest priority configuration information, then obtain the distance information between the corresponding first branch path and the preset reference point in the trunk path, and determine the first branch path with the smallest or largest distance information as the first target path. If different first branch paths with scheduling requirements have the largest moving submodule reserve information and the highest priority configuration information respectively, then the first branch path with the highest priority configuration information is determined as the first target path; or, the first branch path with the most moving submodule reserve information is determined as the first target path; or, based on the distance information between the corresponding first branch path and the preset reference point in the trunk path, the first branch path with the smallest or largest distance information is determined as the first target path.

13. The method according to claim 6, characterized in that, The step of determining the first target module among the moving sub-modules not located in the first branch path according to the process type corresponding to the first target path includes: Obtain the working history information of the moving submodules that are not located in the first branch path; Based on the work history information of the moving submodules that are not located in the first branch path, the moving submodule that matches the process type corresponding to the first target path is determined as the first target module.

14. The method according to claim 1 or 2, characterized in that, Each of the first branch paths is equipped with a traffic detection point; before obtaining the traffic information of each of the first branch paths, the method further includes: Based on the position measurement information of the multiple moving sub-modules, when the moving sub-module is detected to have passed the flow detection point, the statistical information of the flow detection point is updated.

15. The method according to claim 1 or 2, characterized in that, At least a portion of the first branch path is provided with a first traffic detection point and a second traffic detection point, wherein the first traffic detection point is located before the interaction area of ​​the first branch path, and the second traffic detection point is located after the interaction area of ​​the first branch path. The acquisition of traffic information for each of the first branch paths includes any one of the following: Obtain statistical information of the first traffic detection point and statistical information of the second traffic detection point, and select one of the statistical information of the first traffic detection point and the statistical information of the second traffic detection point as the traffic information of the corresponding first branch path; The statistical information of the first traffic detection point and the statistical information of the second traffic detection point are obtained, and the statistical information of the first traffic detection point and the statistical information of the second traffic detection point are fused together to form the traffic information of the corresponding first branch path.

16. The method according to claim 1 or 2, characterized in that, Before determining the scheduling configuration information of each first branch path based on the traffic information of multiple first branch paths, the method further includes: The first branch path is identified where the traffic information is less than the preset traffic threshold.

17. The method according to claim 1 or 2, characterized in that, The multiple branch paths include at least one second branch path, and the second branch path and the first branch path correspond to different types of processes; the method further includes: Obtain the traffic information for the second branch path; Based on the traffic information of the second branch path, adjust the scheduling configuration information of each of the first branch paths.

18. A control device, characterized in that, The control device is used to control the moving sub-module, which is located on the stator module. The movement path formed by the stator module includes a main path and multiple branch paths connected to the main path. The multiple branch paths include at least two first branch paths, which are branch paths corresponding to the same type of process. The device includes: An acquisition unit is used to acquire traffic information for each of the first branch paths; wherein the traffic information is used to characterize the number of dynamic sub-modules that perform interactive tasks on the first branch path; The scheduling unit is used to determine the scheduling configuration information of each of the first branch paths based on the traffic information of the multiple first branch paths; wherein the scheduling configuration information is used to determine whether the moving submodule located on the trunk path enters the corresponding first branch path.

19. A linear motor device, characterized in that, The linear motor equipment includes a moving module, a stator module, and a control device. The moving module is located on the stator module. The movement path formed by the stator module includes a main path and multiple branch paths connected to the main path. The multiple branch paths include at least two first branch paths, which are branch paths corresponding to the same type of process. The control device includes: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the linear motor device to perform the method as described in any one of claims 1 to 17.

20. An automated production system, characterized in that, The automated production system includes a moving submodule, a stator module, a control device, and an operating device. The moving submodule is located on the stator module. The movement path formed by the stator module includes a main path and multiple branch paths connected to the main path. The multiple branch paths include at least two first branch paths, which are branch paths corresponding to the same type of process. The operating device is used to perform at least two types of processes in loading, unloading, and processing. The control device includes: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the automated production system to perform the method as described in any one of claims 1 to 17.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 17.

Images