Control methods, devices, equipment, systems and storage media for moving submodules

Abstract

The application provides a mover module control method, device, equipment, system and storage medium. The method comprises the following steps: acquiring flow information of each first branch path; wherein the flow information is used to represent the number of mover modules performing interactive tasks in the first branch path; determining the scheduling configuration information of each first branch path according to the flow information of the plurality of first branch paths; wherein the scheduling configuration information is used to determine whether the mover module located in the main path enters the corresponding first branch path. Based on the scheme of the application, the automation production efficiency can be effectively improved, and the equipment utilization rate of the first branch path can be improved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and more specifically, to a method, apparatus, device, system, and storage medium for controlling a moving module. Background Technology

[0002] In related technologies, linear motor equipment can be applied to automated production scenarios. Linear motor equipment includes a mover module and a stator module. The mover module can carry materials, and the stator module consists of multiple stator modules. The stator module provides a movement path for the mover module and controls the interaction between the mover module and different operating devices according to the process execution sequence of multiple operating devices deployed around the stator module.

[0003] Because different types of processes require varying numbers of moving submodules, congestion can easily occur. To address this, the number of stator modules in the stator module can be increased to extend the movement path. However, extending the path along a single path results in low physical space utilization. To address these issues of congestion and low physical space utilization, the mechanical mechanism of the linear motor equipment was improved. The original single movement path was transformed into a main path and multiple branch paths. After the operating equipment on a branch path completes one process operation, the moving submodules located on the main path are scheduled.

[0004] However, when operating equipment performing the same type of process operation is deployed around at least two branch paths, there are differences in process execution efficiency among multiple branch paths. The branch path with lower process execution efficiency will inevitably reduce the overall movement efficiency of the linear motor equipment, thereby reducing the efficiency of automated production. Summary of the Invention

[0005] This application provides a method, apparatus, device, system, and storage medium for controlling moving submodules. This method can effectively improve the efficiency of automated production and increase the equipment utilization rate of the first branch path.

[0006] Firstly, a method for controlling a moving submodule is provided. The moving submodule is located in a 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 method includes:

[0007] Obtain traffic information for each first branch path; wherein, the traffic information is used to characterize the number of active submodules executing interactive tasks in the first branch path;

[0008] 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.

[0009] In a second aspect, a control device is provided for controlling a moving submodule, which is located on a 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.

[0010] The device includes:

[0011] The acquisition unit is used to acquire traffic information for each first branch path; wherein, the traffic information is used to characterize the number of active sub-modules that perform interactive tasks in the first branch path;

[0012] The scheduling unit is used to determine the scheduling configuration information of each first branch path based on the traffic information of 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.

[0013] Thirdly, a linear motor device is provided, which includes a mover module, a stator module and a control device. The mover module is disposed 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.

[0014] The control device includes:

[0015] Memory, used to store executable program code;

[0016] A processor is used to call and run executable program code from memory, enabling electronic devices to perform any of the above-mentioned submodule control methods.

[0017] Fourthly, an automated production system is provided, which 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.

[0018] The control device includes:

[0019] Memory, used to store executable program code;

[0020] A processor is used to call and run executable program code from memory, enabling electronic devices to perform any of the above-mentioned submodule control methods.

[0021] Fifthly, a computer-readable storage medium is provided, which stores a computer program that, when executed, implements the submodule control method described above.

[0022] Based on the technical solutions provided in some embodiments of this application, the flow rate of the moving submodule can reflect 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, thereby achieving dynamic scheduling of the moving submodules located on the main path. This allows for the allocation of more moving submodules to the first branch path with higher process execution efficiency, balancing the adverse effects of differences in process execution efficiency among multiple first branch paths on the overall movement efficiency of the linear motor equipment, and thus effectively improving automated production efficiency. Furthermore, the embodiments provided in this application can also improve the equipment utilization rate of the first branch path. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of a single-path transportation scenario provided in this application;

[0025] Figure 2 This is a schematic diagram of a multi-path transportation scenario provided in this application;

[0026] Figure 3 This is a schematic diagram of a branch structure based on overall switching provided in this application;

[0027] Figure 4 This is a schematic diagram of another branch structure based on overall switching provided in this application;

[0028] Figure 5 This is a schematic diagram of a branch structure based on local switching provided in this application;

[0029] Figure 6 This is a schematic diagram of a branch structure based on coil energization switching provided in this application;

[0030] Figure 7 This is a flowchart illustrating a method for controlling a moving submodule provided in an embodiment of this application;

[0031] Figure 8 This is a schematic diagram of a scenario for controlling a moving submodule provided in an embodiment of this application;

[0032] Figure 9 This is a schematic diagram of a region division scenario provided in an embodiment of this application;

[0033] Figure 10 This is a schematic diagram of a scheduling process based on scheduling configuration information provided in an embodiment of this application;

[0034] Figure 11 This is a schematic diagram of a region division scenario provided in an embodiment of this application;

[0035] Figure 12 This is a schematic diagram illustrating a scenario where scheduling requirements are determined using information about the number of sub-modules to be executed, as provided in an embodiment of this application.

[0036] Figure 13 This is a schematic diagram illustrating another scenario provided by an embodiment of this application for determining scheduling requirements using information on the number of sub-modules to be executed;

[0037] Figure 14 This is a schematic diagram illustrating a scenario for determining scheduling requirements using process status information, provided in an embodiment of this application.

[0038] Figure 15 This is a schematic diagram of another scenario provided by an embodiment of this application for determining scheduling requirements using process status information;

[0039] Figure 16 This is a schematic diagram of a scenario for determining a first target path provided in an embodiment of this application;

[0040] Figure 17 This is a schematic diagram of a scenario for determining a first target module provided in an embodiment of this application;

[0041] Figure 18 This is a schematic diagram of a scenario for implementing traffic recording using traffic detection points, provided by an embodiment of this application;

[0042] Figure 19 This is a schematic diagram of a region division scenario provided in an embodiment of this application;

[0043] Figure 20 This is a schematic diagram of a scenario with dual flow detection points provided in an embodiment of this application;

[0044] Figure 21 This is a schematic diagram of the structure of a control device provided in an embodiment of this application;

[0045] Figure 22 This is a schematic diagram of another control device provided in an embodiment of this application;

[0046] Figure 23 This is a schematic diagram of the structure of a linear motor device provided in an embodiment of this application;

[0047] Figure 24 This is a schematic diagram of the structure of an automated production system provided in an embodiment of this application. Detailed Implementation

[0048] To make the features and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0050] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0051] The following will provide a detailed description of each example. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments.

[0052] In related technologies, linear motor equipment can be applied to automated production scenarios. Linear motor equipment includes a mover module and a stator module. The mover module can be used to carry materials, and the stator module consists of multiple stator modules. The stator module provides a movement path for the mover module. Following the process execution sequence of multiple operating devices deployed around the stator module, the mover module can be controlled to interact with different operating devices.

[0053] Please see Figure 1 , Figure 1This is a schematic diagram illustrating a single-path transportation method provided in an embodiment of this application. The moving submodule Y is located on the stator module, and the movement path L formed by the stator module is a closed path without branching structures; that is, the movement path can be considered a single path. The moving submodule Y moves along the movement path L according to the movement direction F.

[0054] An operating device C is arranged around the stator module. The operating device C can be a loading device, a unloading device, or a processing device. When the moving submodule Y moves to the vicinity of the operating device C along the moving path L according to the moving direction F, the operating device C can interact with the moving submodule Y to complete the corresponding process.

[0055] It should be noted that, Figure 1 Only one moving submodule Y and one operating device C are shown, but in reality there are multiple moving submodules Y and operating devices C.

[0056] based on Figure 1 The single-path structure shown is prone to congestion because different types of processes require varying numbers of moving submodules. While increasing the number of stator modules in the stator module can extend the movement path, this single-path extension method suffers from low physical space utilization. To address these issues, the mechanical mechanism of the linear motor equipment was improved, transforming the original single movement path into a main path and multiple branch paths. After the operating equipment on a branch path completes one process operation, the moving submodules located on the main path are scheduled.

[0057] Please see Figure 2 , Figure 2 This is an example diagram illustrating multi-path transportation provided in an embodiment of this application. Wherein, Figure 2 The multipath structure shown is based on Figure 1 The single-path structure shown is an improvement. (Compared to...) Figure 1 The difference is, Figure 2 The stator module shown 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 surrounded by operating devices C. The moving submodule Y moves from the main path L1 to the branch path L2, where it cooperates with the surrounding operating devices C to complete the corresponding process interaction.

[0058] about Figure 2 For details on the implementation of the branch structure, please refer to [link / reference]. Figures 3-6 , Figures 3-6This diagram illustrates local branches L1_a, L1_b, and L2_a of the main path, as well as a guidance transformation module used to establish the guidance relationships between these branches. It should be noted that... Figures 3-6 Local branches L1_a and L1_b of the main path are: Figure 2 The local path of the main path L1 shown. Figures 3-6 The local L2_a of the branch path in the middle is Figure 2 The local path of branch path L2 shown.

[0059] like Figure 3 As 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.

[0060] 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.

[0061] like Figure 5As 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.

[0062] like Figure 6 As shown, the guide transformation module B41 can switch guide states by changing the energization of its internal coils. In some cases, the guide transformation module B41 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 B41, so that the moving sub-module can enter the guide transformation module B41 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 B41. In some cases, the guide transformation module B41 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 B41, so that the moving sub-module can enter the guide transformation module B41 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 B41.

[0063] It should be noted that, Figures 3-6 This only shows how a moving submodule enters a branch path from the main path. Based on the same principle, the implementation method of a moving submodule entering the main path from a branch path can be generalized, which will not be elaborated further.

[0064] It should be noted that, Figure 2 Only one branch path L2 is shown, but in reality, there is at least one branch path L2. There are differences in process execution efficiency among multiple branch paths L2; ​​for example, some branch paths L2 have higher process execution efficiency, while others have lower efficiency. Branch paths L2 with lower process execution efficiency reduce the overall movement efficiency of the linear motor equipment, thereby reducing the efficiency of automated production.

[0065] To address the aforementioned issues, the solution provided in this application mainly includes: for first branch paths of the same type of process, firstly, acquiring the flow information of each first branch path, where the flow information represents the number of moving sub-modules executing interactive tasks on the first branch path; then, determining the scheduling configuration information of each first branch path based on the flow information of multiple first branch paths, where the scheduling configuration information is used to determine whether a moving sub-module located on the main path enters the corresponding first branch path. The flow of moving sub-modules reflects the actual process execution efficiency of the corresponding first branch path. The scheduling configuration information determined using the flow information can be used to determine whether a moving sub-module located on the main path enters the corresponding first branch path, thereby achieving dynamic scheduling of moving sub-modules located on the main path. This allocates more moving sub-modules to first branch paths with higher process execution efficiency, balancing the adverse effects of differences in process execution efficiency among multiple first branch paths on the overall movement efficiency of the linear motor equipment, and thus effectively improving automated production efficiency. Furthermore, the embodiments provided in this application can also improve the equipment utilization rate of the first branch path.

[0066] The control method for the moving submodule provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0067] Please see Figure 7 , Figure 7 This is a flowchart illustrating a moving submodule control method provided in an embodiment of this application. The moving submodule is located within 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, each corresponding to a branch path of the same type of process. Figure 7 As shown, the method in this application embodiment may include the following steps S101-S102.

[0068] S101, Obtain traffic information for each first branch path; wherein, the traffic information is used to characterize the number of active submodules executing interactive tasks in the first branch path.

[0069] Specifically, in this application embodiment, the movement path refers to the path along which the power supply submodule formed by the stator module moves; the main path refers to the main path connecting multiple branch paths within the movement path; and the branch path refers to a path branching off from the main path for performing a specific process or for the power supply submodule to bypass. There are multiple branch paths, including at least two first branch paths, each corresponding to a process of the same type. It should be noted that a process of the same type refers to a process with the same technological characteristics performed by the same type of operating equipment.

[0070] For example, at least two first branch paths correspond to process types of loading, unloading, or processing. The loading process refers to the process of placing unprocessed materials into the moving submodule, the unloading process refers to the process of removing processed materials from the moving submodule, and the processing process refers to the process of processing the materials carried by the moving submodule.

[0071] To determine the process execution efficiency of each first branch path, it is necessary to obtain the flow information of each first branch path. The flow information represents the number of moving sub-modules performing interactive tasks on the first branch path. It should be noted that interactive tasks refer to material transfer or processing operations between moving sub-modules and operating equipment. The flow information reflects the current load of moving sub-modules on the first branch path, thus allowing for the estimation of the process execution efficiency corresponding to the first branch path.

[0072] Regarding the above steps, in some possible implementations, position measurement information of multiple moving submodules can be obtained. Based on this information, the number of moving submodules entering the first branch path can be counted to obtain the corresponding flow information. In other possible implementations, relevant sensors can be set up. When a moving submodule enters the first branch path and passes a trigger sensor, corresponding sensing data is generated. This sensing data is then used to count the number of moving submodules entering the first branch path to obtain the corresponding flow information. Besides these, there are many other possible implementations for obtaining flow information for each first branch path, which will not be listed here.

[0073] S102, based on the traffic information of multiple first branch paths, determine the scheduling configuration information of each first branch path; wherein, the scheduling configuration information is used to determine whether the moving submodule located on the trunk path enters the corresponding first branch path.

[0074] Specifically, in order to achieve reasonable scheduling of the moving sub-modules, the scheduling configuration information of each first branch path can be determined based on the traffic information of multiple first branch paths.

[0075] The scheduling configuration information refers to the set of configuration parameters used to guide the scheduling decisions of the moving submodules. Through the scheduling configuration information, it can be determined whether the moving submodule located on the main path can enter the first branch path and which first branch path it can enter.

[0076] For example, the scheduling configuration information of the first branch path may include at least one of the capacity configuration information and the priority configuration information of the first branch path. The capacity configuration information is used to characterize the number of active submodules allowed to enter the first branch path to wait for interaction, and the priority configuration information is used to characterize the priority of the first branch path in the active submodule scheduling process.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] In some alternative embodiments, such as Figure 8As shown, the moving submodule Y is located in the movement path formed by the stator module. This movement path includes a main path L1 and multiple branch paths connected to the main path L1. The multiple branch paths include first branch path L211, first branch path L212, first branch path L213, and second branch paths L221 and L222. First branch paths L211, L212, and L213 each correspond to a processing operation type, and are surrounded by operating devices C2, C3, and C4, respectively. Second branch path L221 corresponds to a loading operation type, and is surrounded by operating device C1. Second branch path L222 corresponds to a unloading operation type, and is surrounded by operating device C5. The moving submodule Y moves along the movement direction F in the movement path.

[0082] First, the traffic information for the first branch path L211, L212, and L213 is obtained. This traffic information represents the number of active submodules executing processing operation interaction tasks in the first branch paths L211, L212, and L213, respectively. Then, based on the traffic information of the first branch paths L211, L212, and L213, the scheduling configuration information for the first branch paths L211, L212, and L213 is determined. This scheduling configuration information includes capacity configuration information and priority configuration information.

[0083] In practical applications, when the moving submodule Y travels along the main path L1 to the intersection of branch paths, the scheduling configuration information of the first branch path L211, L212, and L213 will be used to determine which first branch path Y should enter to perform the processing operation. For example, if the first branch path L211 is the most suitable, then the moving submodule Y will be scheduled to the first branch path L211 first. Similarly, if the first branch path L212 or L213 is the most suitable, then the moving submodule Y can also be scheduled to the first branch path L212 or L213 first. In this way, the adverse effects of the differences in the process execution efficiency among the first branch paths L211, L212, and L213 on the overall movement efficiency of the linear motor equipment can be balanced, thereby effectively improving the efficiency of automated production and increasing the utilization rate of operating equipment C2, C3, and C4.

[0084] It should be understood that the above figures are only used to exemplarily describe the conceptual design of the embodiments of this application. For ease of understanding and description, the multiple first branch paths shown in the figures of the embodiments of this application are all connected to the straight sections of the main road and distributed in the same direction. However, in practical applications, the first branch paths can be connected to the non-straight sections of the main road, and the embodiments of this application do not impose specific limitations on this. Furthermore, the multiple first branch paths can be distributed in different directions, and the embodiments of this application also do not impose specific limitations on this.

[0085] In some embodiments of this application, the step of "obtaining traffic information for each first branch path" is further refined, and may specifically include the following steps:

[0086] Based on a preset traffic acquisition cycle, the number of active sub-modules executing interactive tasks in each first branch path is obtained within a specified time period to determine the traffic information of each first branch path; wherein, the specified time period is determined according to a single traffic acquisition cycle, multiple traffic acquisition cycles, or a preset duration parameter.

[0087] Specifically, in order to accurately reflect the actual load of each first branch path, this application embodiment proposes to obtain the number of active submodules executing interactive tasks in each first branch path within a specified time period according to the traffic acquisition cycle, so as to determine the traffic information of each first branch path. Here, the traffic acquisition cycle refers to the time interval at which traffic information acquisition is periodically triggered; the specified time period can be the duration corresponding to a single traffic acquisition cycle, the cumulative duration corresponding to multiple traffic acquisition cycles, or a fixed duration determined according to a preset duration parameter.

[0088] In some possible implementations, each first branch path corresponds to a pre-set first storage unit. The first storage unit for each first branch path can accumulate the number of active sub-modules performing interactive tasks in each first branch path to obtain first quantity recording information. According to the traffic acquisition cycle, each trigger reads the first quantity recording information from the first storage unit corresponding to each first branch path, and after reading, the first storage unit is cleared, meaning the first storage unit restarts recording the number of active sub-modules performing interactive tasks in the corresponding first branch path from zero. The specified time period in this implementation refers to the time period from when the last first quantity recording information was cleared to when the current first quantity recording information is triggered for reading. Therefore, the specified time period is determined based on a single traffic acquisition cycle, and each time the first quantity recording information is obtained, it represents the number of active sub-modules recorded in a single traffic acquisition cycle. For example, if the traffic acquisition cycle is set to T1, then according to T1, each trigger reads the first quantity recording information N1, and after reading N1, N1 is cleared from the first storage unit. Where T1 represents the time length, and the time unit of T1 can be microseconds, milliseconds, seconds or minutes, etc.; the N1 read represents the number of active submodules that executed interactive tasks in the first branch path within the past T1.

[0089] In some possible implementations, each first branch path has a pre-set second and third storage unit. The second storage unit for each first branch path can accumulate the number of active submodules executing interactive tasks to obtain second quantity record information. The third storage unit for each first branch path can store the second quantity record information previously read from the corresponding second storage unit, serving as the third quantity record information for the third storage unit. The second and third quantity record information in the second and third storage units are continuously updated but not cleared. According to the traffic acquisition cycle, the second and third quantity record information in the second and third storage units corresponding to each first branch path are read each time. Then, the second and third quantity record information are subtracted from the read second and third quantity record information to obtain the first quantity information for each first branch path. In this implementation, the specified time period refers to the period from the last reading of the second and third quantity record information to the current trigger reading of the second and third quantity record information; therefore, the specified time period is determined based on a single traffic acquisition cycle. Each time, the first quantity information obtained based on the read second and third quantity record information represents the number of active submodules recorded in a single traffic acquisition cycle. For example, if the traffic acquisition cycle is set to T2, then according to T2, each time 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. Then, N2 and N3 are subtracted from the read N2 for each first branch path to obtain the first quantity information Nx for each first branch path. Here, T2 represents the time length, and the time unit of T2 can be microseconds, milliseconds, seconds, or minutes, etc.; Nx represents the number of active submodules that performed interactive tasks in the first branch path within the past T2.

[0090] In some possible implementations, each first branch path corresponds to a pre-set fourth storage unit. The fourth storage unit for each first branch path can accumulate the number of active sub-modules executing interactive tasks to obtain fourth quantity record information. According to the traffic acquisition cycle, each trigger reads the fourth quantity record information from the fourth storage unit corresponding to each first branch path, and performs an average operation on the read fourth quantity record information according to the traffic acquisition cycle to obtain second quantity information. The fourth quantity record information in the fourth storage unit is continuously updated but not cleared. In this implementation, the specified time period refers to the time period from the initialization time of the fourth storage unit to the trigger time of the current traffic acquisition cycle. This is equivalent to the specified time period being determined based on one or more traffic acquisition cycles, and the specified time period is a multiple of the traffic acquisition cycle. Therefore, the specified time period is determined based on a single traffic acquisition cycle, and the second quantity information obtained each time represents the average number of active sub-modules recorded in a single traffic acquisition cycle. For example, if the traffic acquisition cycle is set to T31 and the specified time period is T32, then according to the fourth quantity record information N4 read each time it is triggered in T31, the second quantity information Ny is obtained by calculating N4 / (T32 / T31). Here, T32 is an integer multiple of T31, T31 and T32 represent the time length respectively, and the time units of T31 and T32 can be microseconds, milliseconds, seconds or minutes, etc.; Ny represents the average number of active submodules that executed interactive tasks in the first branch path corresponding to each T31 ​​within the past T32.

[0091] In some possible implementations, each first branch path corresponds to a pre-defined fifth storage unit. This fifth storage unit records the timestamps of the active submodules executing interactive tasks on the corresponding first branch path, thus obtaining 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 the traffic acquisition cycle, each trigger reads the time record information matching the specified time period from the fifth storage unit corresponding to each first branch path. Based on this time record information, a third quantity information for each first branch path is calculated. This third quantity information represents the number of active submodules executing interactive tasks on the corresponding first branch path within the specified time period. For example, if the traffic acquisition cycle is set to T41 and the specified time period is T42, then each trigger according to T41 reads time record information TS1 matching T42. Each timestamp in time record information TS1 is within T42. Then, the number of timestamps in time record information TS1 is counted to obtain the third quantity information Nz. Where T41 and T42 represent time lengths, and the time units of T41 and T42 can be microseconds, milliseconds, seconds, or minutes, etc.; Nz represents the number of active submodules that executed interactive tasks in the first branch path within the past T42.

[0092] In this embodiment, the number of moving sub-modules in the first branch path is statistically analyzed regularly by pre-setting the traffic acquisition period. Secondly, the data statistics within a specified time period can accurately reflect the real-time traffic status of the first branch path, ensuring the accuracy of the traffic information and thus providing a reliable data foundation for the subsequent determination of scheduling configuration information.

[0093] In some embodiments of this application, the step of "determining the scheduling configuration information of each first branch path based on the traffic information of multiple first branch paths" is further refined, and may specifically include at least one of the following steps:

[0094] 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.

[0095] Compare the traffic information of multiple first branch paths to determine the priority configuration information of each first branch path.

[0096] The maximum capacity information of the moving submodules corresponding to the first branch path represents the maximum number of moving submodules allowed to enter the first branch path. In other words, the maximum capacity information of the moving submodules corresponding to the first branch path represents the maximum carrying capacity of the first branch path for moving submodules. Optionally, the maximum capacity information of the moving submodules corresponding to the first branch path is represented by pre-configured fixed parameters.

[0097] In some implementations, the first branch path includes an interactive area for performing interactive tasks, where one or more workstations are located. When setting the maximum capacity information for the moving submodules corresponding to the first branch path, it is necessary to discuss separately whether to allocate corresponding moving submodules to the workstations after startup.

[0098] For specific settings regarding the interaction area of ​​the first branch path mentioned above, please refer to [link / reference]. Figure 9 The main path L1 connects to the first branch path L21. Starting from the entrance of the first branch path L21 and moving towards the exit, positions M1, M3, M4, and M5 are distributed sequentially. Position M1 is located at the entrance of the first branch path L21, and position M5 is located at the exit of the first branch path L21. Based on this position distribution, the interval formed by positions M3 and M4 can be defined as an interaction area; alternatively, the interval formed by positions M1 and M3 can be defined as an interaction area; alternatively, the interval formed by positions M1 and M4 can be defined as an interaction area; alternatively, the interval formed by positions M3 and M5 can be defined as an interaction area; alternatively, the interval formed by positions M4 and M5 can be defined as an interaction area. It is understood that one or more workstations can be located within the interaction area.

[0099] If, after startup, corresponding moving submodules are first assigned to workstations, the maximum capacity information of the moving submodules corresponding to the first branch path further indicates the maximum number of moving submodules allowed to enter the first branch path and wait for task execution. This maximum capacity information is determined by factors such as the length of the first branch segment between the entrance end of the first branch path and the boundary near the entrance end in the interaction area, the dimensions of the moving submodules along the direction of movement, and the safety distance parameters between adjacent moving submodules. The entrance end is the end of the first branch path provided for the moving submodules to enter.

[0100] If no corresponding moving submodule is assigned to the work site after startup, the maximum capacity information of the moving submodule corresponding to the first branch path further indicates the maximum number of moving submodules allowed to enter the first branch path to wait for task execution and to perform task execution. The maximum capacity information of the moving submodule corresponding to the first branch path is determined by factors such as the length of the first branch segment, the size information of the moving submodule along the direction of movement, the safety distance parameter between adjacent moving submodules, and the number of work sites.

[0101] As mentioned above, the scheduling configuration information of the first branch path involved in the embodiments of this application may include at least one of the capacity configuration information of the first branch path and the priority configuration information of the first branch path.

[0102] If 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 by combining the traffic information of each first branch path and the capacity limit information of the moving submodule corresponding to each first branch path. In some possible implementations, the traffic information of the first branch path can be compared with the capacity limit information of the moving submodule, and the capacity configuration information can be determined based on the comparison result.

[0103] When the scheduling configuration information of the first branch path includes its priority configuration information, the traffic information of multiple first branch paths can be compared to determine the priority configuration information of each first branch path. In some possible implementations, the traffic information of multiple first branch paths can be sorted, and the priority configuration information of each first branch path can be obtained based on the sorting result. For example, the first branch path with the largest traffic information can be assigned the highest priority level, and other first branch paths can be assigned lower priority levels sequentially, until the first branch path with the smallest traffic information is assigned the lowest priority level, thus obtaining the priority configuration information of each first branch path. Alternatively, multiple traffic ranges and corresponding priority levels can be set, and the priority level of each first branch path can be determined based on the traffic range in which its traffic information falls, thus obtaining the priority configuration information of each first branch path.

[0104] Optionally, in specific implementation, the capacity configuration information of the first branch path can be represented by the capacity configuration parameter of the first branch path. By adjusting or updating the capacity configuration parameter of the first branch path, the capacity configuration information of the first branch path can be changed. The priority configuration information of the first branch path can be represented by the priority configuration parameter of the first branch path. By adjusting or updating the priority configuration parameter of the first branch path, the priority configuration information of the first branch path can be changed.

[0105] In this embodiment, by combining the traffic information of each first branch path and the capacity limit information of the corresponding moving sub-module for each first branch path, the current traffic status and maximum carrying capacity of the first branch path can be determined, thereby ensuring the rationality of the capacity configuration information of the first branch path. By comparing the traffic information of multiple first branch paths, the relative traffic status between multiple first branch paths can be determined, thereby ensuring the rationality of the priority configuration information of each first branch path. Therefore, at least one of the capacity configuration information and priority configuration information can be used to implement moving sub-module scheduling, so as to achieve a balanced distribution of moving sub-modules among the first branch paths, effectively improving overall transportation efficiency.

[0106] In some embodiments of this application, 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 moving submodule of each first branch path" is further refined, and may specifically include the following steps:

[0107] If the traffic information of each first branch path does not exceed the capacity limit of the active submodule, the traffic information is set as the capacity configuration information;

[0108] If the traffic information of each first branch path exceeds the capacity limit information of the moving submodule, the capacity limit information of the moving submodule will be set as the capacity configuration information.

[0109] Specifically, considering the matching relationship between the actual flow of the moving submodules in the first branch path and the maximum carrying capacity of the moving submodules in the first branch path, the flow information of each first branch path can be compared with the corresponding upper limit information of the moving submodule capacity.

[0110] If the traffic information of each first branch path does not exceed the capacity limit of the active submodule, it indicates that the number of active submodules currently executing interactive tasks on the first branch path has not yet reached the maximum carrying capacity of that first branch path for active submodules. In this case, the traffic information can be set as the capacity configuration information. It is understood that the capacity configuration information configured this time can be adjusted upwards, remain the same, or downwards compared to the previously configured capacity configuration information.

[0111] If the traffic information of each first branch path exceeds the capacity limit information of the active submodule, it indicates that the number of active submodules currently executing interactive tasks on the first branch path has exceeded the maximum carrying capacity of that first branch path for active submodules. In this case, the capacity limit information of the active submodules can be set as the capacity configuration information to ensure that the number of active submodules on the first branch path does not exceed its physical carrying limit. It is understandable that the capacity configuration information configured this time can be adjusted upwards or remain the same as the previously configured capacity configuration information.

[0112] For example, please combine Figure 8The first branch paths L211, L212, and L213 all correspond to processing operation types. Assume that the maximum capacity of the moving submodules corresponding to the first branch paths L211, L212, and L213 is 3 moving submodules. When the traffic information of the first branch path L211 indicates 2 moving submodules, the capacity configuration information of the first branch path L211 is set to 2 because the traffic information of the first branch path L211 does not exceed the capacity limit of the moving submodule of the first branch path L211. When the traffic information of the first branch path L212 indicates 3 moving submodules, the capacity configuration information of the first branch path L212 can be set to 3 because the traffic information of the first branch path L212 does not exceed the capacity limit of the moving submodule of the first branch path L212. When the traffic information of the first branch path L213 indicates 4 moving submodules, the capacity configuration information of the first branch path L213 can be set to 3 because the traffic information of the first branch path L213 exceeds the capacity limit of the moving submodule of the first branch path L213.

[0113] It should be understood that "exceeding" in the embodiments of this application can be interpreted as greater than, and "not exceeding" can be interpreted as less than or equal to. In practical scenarios, "exceeding" in the embodiments of this application may also be interpreted as greater than or equal to, and "not exceeding" may also be interpreted as less than.

[0114] In this embodiment, the traffic information of each first branch path is first compared with the corresponding maximum capacity information of the moving submodule. When the traffic information of each first branch path does not exceed the maximum capacity information of the moving submodule, the traffic information is set as the capacity configuration information; when the traffic information of each first branch path exceeds the maximum capacity information of the moving submodule, the maximum capacity information of the moving submodule is set as the capacity configuration information. In this way, the capacity configuration information can be determined based on the actual traffic situation when the traffic information does not exceed the maximum capacity information of the moving submodule, and the first branch path can be ensured not to be overloaded when the traffic information exceeds the maximum capacity information of the moving submodule. This achieves dynamic control of the capacity of the moving submodule by the first branch path, improving the scheduling efficiency of the moving submodule and avoiding safety hazards.

[0115] In some embodiments of this application, the step of "comparing the traffic information of multiple first branch paths and determining the priority configuration information of each first branch path" is further refined, and may specifically include the following steps:

[0116] By comparing 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.

[0117] Based on the relative order information of each first branch path, determine the priority configuration information that matches each first branch path.

[0118] Specifically, in order to determine the priority configuration information that matches each first branch path, this application proposes a scheme based on traffic information comparison to determine the priority configuration information.

[0119] First, the traffic information of multiple first branch paths is compared. Based on the comparison results and a specified sorting rule, each first branch path is sorted to obtain its relative order information. This relative order information represents the order of a first branch path among multiple first branch paths. The relative order information can be represented by a symbolic sorting number, which can include at least one of numbers and letters. The specified sorting rule can be ascending or descending. Furthermore, first branch paths within a certain sorting range can be assigned the same sorting number to ensure consistent priority in subsequent assignments.

[0120] In some possible implementations, based on the comparison results of the traffic information of multiple first branch paths, the multiple first branch paths can be sorted in descending order, with the relative order information of the first branch path with the largest traffic information set to 1, the relative order information of the first branch path with the second largest traffic information set to 2, and so on. Further details are omitted. In some possible implementations, based on the comparison results of the traffic information of multiple first branch paths, the traffic information of multiple first branch paths can be sorted in ascending order, with the relative order information of the first branch path with the smallest traffic information set to 1, the relative order information of the first branch path with the second smallest traffic information set to 2, and so on. Further details are omitted.

[0121] Furthermore, in some possible implementations, the sorted first branch paths can be divided into multiple path groups, the same sorting number can be assigned to the first branch paths in each path group, and different sorting numbers can be assigned according to the sorting order of the multiple path groups.

[0122] Secondly, based on the relative order information of the multiple first branch paths obtained, the first branch paths can be classified into different levels to obtain the priority configuration information of each first branch path.

[0123] In some possible implementations, the priority configuration information of the first branch paths can be determined based on the sorting method of the multiple first branch paths and the relative order information of each first branch path. For example, when multiple first branch paths are sorted in descending order, the priority configuration information of the first branch path with a relative order information of 1 is set to the highest priority, the priority configuration information of the first branch path with a relative order information of 2 is set to the second highest priority, and so on, without further elaboration.

[0124] In some possible implementations, priority configuration information can be assigned to first branch paths with matching relative order information based on the sorting method and priority division rules of multiple first branch paths. For example, a preset priority division rule indicates the existence of low priority, medium priority, and high priority. When there are 9 first branch paths and they are sorted in ascending order, the priority configuration information of the first branch path with relative order information in the range of 1 to 3 is set to low priority, the priority configuration information of the first branch path with relative order information in the range of 4 to 6 is set to medium priority, and the priority configuration information of the first branch path with relative order information in the range of 7 to 9 is set to high priority.

[0125] Optionally, the priority level is determined based on whether the number of first branch paths reaches a preset path threshold. For example, if the number of first branch paths does not reach the preset path threshold 1, the priority level is determined to be 1; if the number of first branch paths reaches the preset path threshold 1 but not the preset path threshold 2, the priority level is determined to be 2, and so on. It should be noted that the smallest unit of priority configuration information can be the same as or different from the relative order information. When the smallest unit of priority configuration information differs from the relative order information, the granularity of priority configuration information can be coarser than that of relative order information. For example, relative order information might divide multiple first branch paths into 5 levels, while priority configuration information might divide multiple first branch paths into 3 levels.

[0126] In this embodiment, the relative order information of each first branch path is first obtained by comparing the traffic information of multiple first branch paths. This relative order information reflects the traffic situation of the moving submodules in each first branch path. Then, based on the relative order information of each first branch path, priority configuration information is determined to match it. This allows the priority configuration information to be dynamically adjusted based on the actual traffic situation of the moving submodules. Subsequently, the moving submodules are scheduled using the priority configuration information, which can effectively improve the efficiency of automated production and the equipment utilization rate of the first branch paths.

[0127] Please see Figure 10This application provides a schematic diagram of a scheduling process based on scheduling configuration information, as illustrated in the embodiments of this application. Figure 10 As shown, the method in this embodiment may include the following steps S201-S203, which can be executed after determining the scheduling configuration information of multiple first branch paths (e.g., Figure 7 The illustrated embodiment is executed after step S102.

[0128] S201, in response to the first scheduling trigger instruction, determine the first target path among the multiple first branch paths according to the scheduling configuration information of multiple first branch paths;

[0129] S202, based on the process type corresponding to the first target path, determine the first moving module in the moving sub-modules that are not located in the first branch path;

[0130] S203, control the first moving submodule to enter the first target path, so that the first moving submodule can perform interactive tasks in the first target path.

[0131] It is understandable that the role of scheduling configuration information is to guide the scheduling process of moving sub-modules, so as to reduce the negative impact of differences in the process execution efficiency of each first branch path. Therefore, this application proposes to use scheduling configuration information to schedule moving sub-modules, so that moving sub-modules are preferentially assigned to the first branch path with higher process execution efficiency, thereby improving the overall efficiency of automated production.

[0132] First, in response to the first scheduling trigger instruction, a first target path is determined from the multiple first branch paths based on the scheduling configuration information of the multiple first branch paths. Here, the first scheduling trigger instruction refers to the instruction signal used to initiate the scheduling process of the moving submodule; the first target path refers to the branch path currently most suitable for receiving the moving submodule, selected from the multiple first branch paths according to the scheduling configuration information. Regarding this step, in some possible implementations, the first target path can be determined based on the capacity configuration information in the scheduling configuration information of the multiple first branch paths; in some possible implementations, the first target path can be determined based on the priority configuration information in the scheduling configuration information of the multiple first branch paths; in some possible implementations, the first target path can be determined based on both the capacity configuration information and the priority configuration information in the scheduling configuration information of the multiple first branch paths.

[0133] Further, based on the process type corresponding to the first target path, a first moving submodule is determined from the moving submodules not located on the first branch path. Here, the process type corresponding to the first target path refers to the process type performed by the operating equipment deployed around the first branch path, such as loading, unloading, or processing; the moving submodule not located on the first branch path refers to the moving submodule currently located on the main path or other branch paths (e.g., the second or third branch path); the first moving submodule refers to the moving submodule selected from the candidate moving submodules based on the process type matching condition, suitable for entering the first target path to perform the interactive task. Regarding this step, in some possible implementations, the work history information of the moving submodules not located on the first branch path can be obtained, and the first moving submodule can be determined using this work history information.

[0134] Furthermore, the first moving submodule is controlled to enter the first target path, so that the first moving submodule can perform interactive tasks on the first target path. The first target path has at least one workstation, and the interactive task refers to the task of loading, unloading, or processing materials between the moving submodule and the operating equipment at the workstation. In some possible implementations, the first moving submodule can be controlled to enter a waiting area on the first target path, pause briefly in the waiting area, and then proceed to the corresponding workstation on the first target path to perform the interactive task at the corresponding workstation; in other possible implementations, the first moving submodule can be controlled to move towards the corresponding workstation on the first target path and perform the interactive task upon arrival at the corresponding workstation.

[0135] For specific settings regarding the interaction area of ​​the first branch path mentioned above, please refer to [link / reference]. Figure 11 Starting from the entrance of the first branch path L21 and proceeding along the exit direction, positions M1, M2, and M5 are distributed sequentially. Position M1 is located at the entrance of the first branch path L21, and position M5 is located at the exit of the first branch path L21. Based on this position distribution, the interval formed by positions M1 and M2 can be defined as a waiting area, while the interval formed by positions M2 and M5 can contain one or more workstations.

[0136] In this embodiment, firstly, in response to a first scheduling trigger command, a first target path is determined from multiple first branch paths based on scheduling configuration information. Then, based on the process type corresponding to the first target path, a first moving submodule is determined from the moving submodules not located on a first branch path, ensuring that the moving submodule matches the process type. Finally, the first moving submodule is controlled to enter the first target path to execute the interactive task, completing the scheduling. Thus, by dynamically determining the first target path based on scheduling configuration information, the moving submodules can be rationally allocated according to the actual traffic flow of each first branch path, effectively solving the efficiency reduction problem caused by differences in process execution efficiency among multiple branch paths and improving the overall operating efficiency of automated production.

[0137] In one embodiment, at least one of the following steps is further included before responding to the scheduling trigger instruction:

[0138] When at least one first branch path with scheduling requirements is identified based on the position measurement information of multiple moving submodules, a first scheduling trigger instruction is generated.

[0139] Receive the first scheduling trigger instruction, which is generated by the external device when it identifies a scheduling requirement for at least one first branch path based on the position measurement information of multiple moving submodules.

[0140] Specifically, embodiments of this application propose multiple ways to generate the first scheduling trigger instruction.

[0141] In one possible implementation, the position measurement information of multiple moving submodules is first acquired. This position measurement information refers to the real-time position data of the moving submodules, collected by position sensors, characterizing their position along the movement path. The acquisition of this position measurement information can be achieved through several methods: detecting trigger signals generated when the moving submodule passes a specific detection point using photoelectric sensors mounted on the stator module; obtaining the position coordinates of the moving submodule through communication between an RFID tag installed on the moving submodule and an RFID reader / writer on the stator module; or obtaining the position of the moving submodule within the stator module through image recognition using a visual recognition system. Several other possible methods exist, which will not be listed here.

[0142] Furthermore, the system identifies whether there is a scheduling requirement for a branch path based on the position measurement information of multiple moving submodules. A scheduling requirement refers to the need to schedule moving submodules on that branch path, determined by the distribution or operational status of the moving submodules. When a scheduling requirement is identified for at least one first branch path, a first scheduling trigger instruction will be generated.

[0143] In one possible implementation, the first scheduling trigger instruction is not generated internally, but sent by some external device. For example, the external device could be an external host computer system, an independent scheduling server, or other control equipment with data processing capabilities. Specifically, the scheduling trigger instruction is generated by the external device when it identifies a scheduling requirement for at least one first branch path based on the position measurement information of multiple moving submodules. This means that the external device independently acquires the position measurement information of multiple moving submodules, or receives the position measurement information of multiple moving submodules via wired or wireless communication, then identifies whether a branch path has a scheduling requirement based on the position measurement information of the multiple moving submodules, and generates and sends the first scheduling trigger instruction upon identifying a scheduling requirement.

[0144] After an external device sends a first scheduling trigger command, the system receives the first scheduling trigger command accordingly. This receiving process can be implemented through a wired communication interface, such as an Ethernet interface or an RS485 interface; it can also be implemented through wireless communication methods, such as Wi-Fi, Bluetooth, or Zigbee wireless communication protocols. The received first scheduling trigger command will be used to trigger the subsequent submodule scheduling process.

[0145] In this embodiment, two methods for generating the first scheduling trigger instruction are provided: one is an internal autonomous generation method, which automatically identifies scheduling requirements and generates instructions by acquiring and analyzing the position measurement information of the moving submodule; the other is an external trigger method, which receives scheduling instructions generated by an external device based on the same principle. These two methods can be used alone or in combination, providing a flexible scheduling trigger mechanism and a reliable trigger basis for subsequent moving submodule scheduling.

[0146] In some embodiments of this application, the step of "identifying at least one first branch path with scheduling requirements based on the position measurement information of multiple moving submodules" is further refined, and may specifically include at least one of the following steps:

[0147] 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 in the first branch path.

[0148] Based on the position measurement information of 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.

[0149] Specifically, this application embodiment provides a detailed explanation of whether there is a scheduling requirement for the branch path. The scheduling requirement is determined to exist in two cases: when the number of sub-modules to be executed is less than the capacity configuration information, and when the process status information indicates that the process is idle.

[0150] In some possible implementations, the number of pending motion submodules on the first branch path is obtained based on the position measurement information of multiple motion submodules. Specifically, this step involves analyzing the real-time position distribution of multiple motion submodules along the movement path to count the number of motion submodules currently located on the first branch path and in a pending execution state. Here, a pending execution state motion submodule refers to a motion module that has entered the first branch path but has not yet reached the workstation to perform the interaction task; for example, it could be located at... Figure 11 The moving submodule of the waiting area formed between position M1 and position M2 shown.

[0151] Furthermore, for each first branch path, the number of sub-modules to be executed 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 maximum capacity information of the sub-modules.

[0152] If the number of sub-modules to be executed in any first branch path is less than the corresponding capacity configuration information, it indicates that the first branch path can currently accommodate more sub-modules to enter the execution interaction task, and at this time it can be determined that there is a scheduling requirement for the first branch path.

[0153] Regarding the above implementation method, for example, please refer to... Figure 12 and Figure 13 . Figure 12 and Figure 13 The diagram shows the main path L1 and the first branch path L21. Starting from the entrance of the first branch path L21 and moving towards the exit, positions M1, M2, and M5 are distributed sequentially. Position M1 is located at the entrance of the first branch path L21; position M5 is located at the exit of the first branch path L21. The area formed by positions M1 and M2 is a waiting area, while the area formed by positions M2 and M5 is a work station Gz. Moving submodule Y1 is located at work station Gz, moving submodule Y2 is located in the waiting area, and moving submodule Y3 is located on the main path L1 but has not yet reached position M1. Assuming the capacity configuration of the first branch path L21 is 2 moving submodules... Figure 12 Currently, the number of pending sub-modules in the first branch path L21, obtained through location measurement information, is 1. Since 1 is less than 2, it can be determined that there is a scheduling requirement for the first branch path L21, and sub-module Y3 needs to be scheduled from the main path L1 to enter the first branch path L21. Furthermore, Figure 13 This shows that the active submodule Y3 is scheduled to the first branch path L21.

[0154] In some possible implementations, the process status information of the first branch path is obtained based on the position measurement information of multiple moving sub-modules. The process status information refers to information reflecting the current execution status of the process in the first branch path. The process status information may indicate whether the process is idle or not. An idle process means that there are idle workstations in the first branch path, while a not idle process means that there are no idle workstations in the first branch path.

[0155] Furthermore, if the process status information of any first branch path indicates that the process is idle, it means that the operating device corresponding to the first branch path can currently receive the sub-module to execute the interactive task. At this time, it can be determined that there is a scheduling requirement for the first branch path.

[0156] Regarding the above implementation method, for example, please refer to... Figure 14 and Figure 15 . Figure 14 and Figure 15 The diagram shows the main path L1 and the first branch path L21. Starting from the entrance of the first branch path L21 and moving towards the exit, positions M1, M2, and M5 are sequentially distributed. Position M1 is located at the entrance of the first branch path L21; position M5 is located at the exit of the first branch path L21. The area formed by positions M1 and M2 is a waiting area, while the area formed by positions M2 and M5 contains a work point Gz. Moving submodules Y2 and Y3 are located in the waiting area, while moving submodule Y4 is located on the main path L1 but has not yet reached position M1.

[0157] exist Figure 14 In this scenario, the moving submodule Y1 is located at workstation Gz, and the operating device corresponding to workstation Gz is executing an interactive task regarding the moving submodule Y1. At this time, the process status information of the first branch path L21 indicates that the process is not idle, and there is no scheduling requirement for the first branch path L21.

[0158] exist Figure 15 In the current state, the moving submodule Y1 has left work point Gz and moved towards position M5, meaning that the operating device corresponding to work point Gz has completed the interaction task regarding the moving submodule Y1. At this time, the process status information of the first branch path L21 indicates that the process is idle, and there is a scheduling requirement for the first branch path L21. The moving submodule Y4 can be scheduled to the first branch path L21.

[0159] In this embodiment, on the one hand, the number of moving submodules to be executed in the first branch path can be determined by acquiring the position measurement information of multiple moving submodules, and this number of moving submodules to be executed can be compared with the pre-determined capacity configuration information. When the number of moving submodules to be executed is less than the capacity configuration information, it indicates that the first branch path can currently accommodate more moving submodules, thus determining that there is a scheduling requirement. On the other hand, the process status information of the first branch path can be obtained by acquiring the position measurement information of multiple moving submodules. When the process status information indicates that the process is idle, it indicates that the corresponding operating equipment is in a state that can receive moving submodules, thus determining that there is a scheduling requirement. In this way, the accurate identification of scheduling requirements can be achieved, which not only improves the scheduling efficiency of moving submodules, but also ensures the stable operation of the automated production process.

[0160] In some embodiments of this application, the step of "determining the first target path among multiple first branch paths based on the scheduling configuration information of multiple first branch paths" is further refined, and may specifically include at least one of the following steps:

[0161] 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.

[0162] Obtain the priority configuration information from the scheduling configuration information of the first branch path with scheduling requirements, and determine the first target path in the first branch path with scheduling requirements based on the priority configuration information of the first branch path with scheduling requirements.

[0163] Obtain the capacity configuration information and priority configuration information from the scheduling configuration information of the first branch path with scheduling requirements. Based on the capacity configuration information and the number of pending sub-modules of the first branch path with scheduling requirements, determine the remaining sub-module information of the first branch path with scheduling requirements. Based on the remaining sub-module information and priority configuration information of the first branch path with scheduling requirements, determine the first target path in the first branch path with scheduling requirements.

[0164] Specifically, the scheduling configuration information for the first branch path can include at least one of the capacity configuration information and the priority configuration information. Therefore, the scheduling configuration information actually has three possible forms: including only capacity configuration information, including only priority configuration information, and including both capacity configuration information and priority configuration information. The following will describe how to determine the first target path for each of these three possible forms of scheduling configuration information.

[0165] In one possible implementation, the scheduling configuration information of the first branch path includes capacity configuration information. Specifically, the capacity configuration information of the scheduling configuration information of the first branch path with scheduling needs is obtained, and the remaining capacity information of the first branch path with scheduling needs is determined based on the capacity configuration information of the first branch path with scheduling needs and the number of pending sub-modules. This step is specifically manifested as: subtracting the corresponding number of pending sub-modules from the capacity configuration information of the first branch path with scheduling needs to obtain the remaining capacity information of the first branch path; wherein, the remaining capacity information represents the number of additional sub-modules that the first branch path can currently accommodate.

[0166] Furthermore, based on the remaining submodule information of the first branch paths with scheduling needs, a first target path is determined among the first branch paths with scheduling needs. Specifically, this step involves comparing the remaining submodule information of each first branch path with scheduling needs and determining the first branch path with the largest remaining submodule information as the first target path. If multiple first branch paths have the same largest remaining submodule information, it may be necessary to select one of these first branch paths as the first target path based on other preset auxiliary decision-making rules.

[0167] Regarding the above implementation method, for example, please refer to... Figure 8 Assume that the first branch paths with scheduling requirements include first branch path L211 and first branch path L212. First branch path L211 has a capacity configuration of 3 active submodules and 1 active submodule to be executed. First branch path L212 has a capacity configuration of 4 active submodules and 3 active submodules to be executed. Therefore, the remaining active submodule capacity of first branch path L211 is 2, and that of first branch path L212 is 1. Thus, the first branch path L211 with the larger remaining active submodule capacity is determined as the first target path.

[0168] In one possible implementation, the scheduling configuration information of the first branch path includes priority configuration information. Specifically, the priority configuration information of the scheduling configuration information of the first branch paths with scheduling needs is obtained, and a first target path is determined among the first branch paths with scheduling needs based on the priority configuration information of the first branch paths with scheduling needs. This step specifically involves: comparing the priority configuration information of each first branch path with scheduling needs, and determining the first branch path with the highest priority configuration information as the first target path; if multiple first branch paths have the same highest priority configuration information, it may be necessary to select one of these first branch paths as the first target path according to other preset auxiliary decision-making rules.

[0169] Regarding the above implementation method, for example, please refer to... Figure 8 Assume that the first branch paths with scheduling requirements include first branch path L211 and first branch path L212, where the priority configuration information of first branch path L211 is "high priority" and the priority configuration information of 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.

[0170] In one possible implementation, the scheduling configuration information of the first branch path includes capacity configuration information and priority configuration information. Specifically, the capacity configuration information and priority configuration information of the scheduling configuration information of the first branch path with scheduling needs are obtained, and the remaining capacity information of the first branch path with scheduling needs is determined based on the capacity configuration information and the number of pending submodules. This step is specifically manifested as: subtracting the corresponding number of pending submodules from the capacity configuration information of the first branch path with scheduling needs to obtain the remaining capacity information of the first branch path.

[0171] Further, based on the submodule availability information and priority configuration information of the first branch paths with scheduling needs, a first target path is determined among the first branch paths with scheduling needs. Specifically, this step involves: firstly, comparing the submodule availability information of each first branch path with scheduling needs, and determining the first branch path with the largest submodule availability information as the first target path; if multiple first branch paths have the same largest submodule availability information, then further comparing the priority configuration information of these first branch paths, and determining the first branch path with the highest priority configuration information as the first target path; if multiple first branch paths still have the same highest priority configuration information, it may be necessary to select one of these first branch paths as the first target path according to other preset auxiliary decision-making rules.

[0172] Regarding the above implementation method, for example, please refer to... Figure 8 Assume that the first branch paths with scheduling requirements include first branch path L211 and first branch path L212. First branch path L211 has a capacity configuration of 3 moving submodules, a number of moving submodules to be executed of 1, and a priority configuration of "high priority." First branch path L212 also has a capacity configuration of 3 moving submodules, a number of moving submodules to be executed of 1, and a priority configuration of "medium priority." Both branch paths have a remaining capacity of 2 moving submodules. Therefore, by further comparing the priority configuration information, the first branch path L211 with the higher priority configuration is determined as the first target path.

[0173] This application provides three specific implementation methods for determining the first target path based on scheduling configuration information: The first method obtains the capacity configuration information from the scheduling configuration information of the first branch path with scheduling needs, calculates the remaining capacity information of the sub-modules to be executed, and then determines the first target path based on the remaining capacity information; the second method directly determines the first target path by obtaining the priority configuration information from the scheduling configuration information of the first branch path with scheduling needs; the third method combines the first two methods, considering both capacity configuration information and priority configuration information, first calculating the remaining capacity information of the sub-modules, and then combining the priority configuration information to determine the first target path. These three implementation methods evaluate and select the first branch path using scheduling configuration information of different dimensions (capacity configuration information, priority configuration information, or a combination of both). They can flexibly select suitable scheduling strategies according to the needs of actual application scenarios, ensuring that sub-modules can be reasonably allocated to appropriate first branch paths. This considers both the actual carrying capacity of the first branch path and scheduling priority, thereby effectively improving the scheduling efficiency and allocation rationality of sub-modules.

[0174] In some embodiments of this application, the step of "determining the first target path in the first branch path with scheduling requirements based on the remaining information of the moving submodules in the first branch path with scheduling requirements" is further refined, and may specifically include at least one of the following steps:

[0175] If multiple first branch paths with scheduling requirements have the largest moving submodule margin information, then obtain the distance information between the first branch path corresponding to the largest moving submodule margin 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;

[0176] 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.

[0177] Specifically, if we only consider the case where the scheduling configuration information of the first branch path includes capacity configuration information, then we can further determine whether multiple first branch paths with scheduling needs have the largest remaining submodule information.

[0178] If multiple first branch paths with scheduling needs do not have the largest moving submodule reserve information, it indicates that the moving submodule reserve information of multiple first branch paths with scheduling needs is equal. In this case, one of these first branch paths can be selected as the first target path according to other preset auxiliary decision rules. For example, other auxiliary decision rules can be random selection, selection according to the numbering order of the first branch paths, etc.

[0179] In one implementation, the distance information between the first branch path corresponding to the largest moving submodule margin and a preset reference point in the main path is obtained, and the first branch path with the smallest or largest distance information is determined as the first target path. Specifically, the physical or logical distance between each first branch path with the largest moving submodule margin and the preset reference point in the main path is calculated, the distance information of each first branch path is compared, and the first branch path with the smallest or largest distance information is selected as the first target path. The preset reference point can be the start point, end point, or any specified location of the main path, and the distance information can be the actual physical distance or other quantifiable distance indicators.

[0180] Regarding the above implementation method, for example, please refer to... Figure 16Assume that the first branch paths with scheduling requirements include first branch paths L211, L212, and L213. The remaining submodule capacity of first branch path L211 is 3 submodules, that of first branch path L212 is 3 submodules, and that of first branch path L213 is 2 submodules. Therefore, first branch paths L211 and L212 have the largest remaining submodule capacity. Further, the distance between first branch path L211 and the preset reference point K in the main path L1 is D1, the distance between first branch path L212 and the preset reference point K is D2, and the distance between first branch path L213 and the preset reference point K is D3. Here, D3 > D2 > D1, and D1, D2, and D3 all represent lengths, with units such as millimeters, centimeters, and meters. If, among the first branch paths with the largest moving submodule margin information, the first branch path with the smallest distance information is selected as the first target path, then the first branch path L211 is determined as the first target path; if, among the first branch paths with the largest moving submodule margin information, the first branch path with the largest distance information is selected as the first target path, then the first branch path L212 is determined as the first target path.

[0181] In one implementation, the first branch path with the largest remaining movable submodule information is determined as the first target path. Specifically, when multiple first branch paths have the same maximum remaining movable submodule 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 could be to select the first branch path with the smallest number, select the most recently used first branch path, or randomly select a first branch path, etc.

[0182] Regarding the above implementation method, for example, please refer to... Figure 16Assume that the first branch paths with scheduling requirements include first branch paths L211, L212, and L213. First branch path L211 has 4 movable submodules remaining, numbered 1; first branch path L212 has 4 movable submodules remaining, numbered 2; and first branch path L213 has 3 movable submodules remaining, numbered 3. Therefore, first branch paths L211 and L212 have the largest movable submodule remaining capacity. If, among the first branch paths with the largest movable submodule remaining capacity, the default rule of selecting the smallest number applies, then first branch path L211 is determined as the first target path; if, among the first branch paths with the largest movable submodule remaining capacity, the default rule of most recently used applies, and first branch path L212 has been most recently used, then first branch path L212 is determined as the first target path.

[0183] This application provides two specific processing methods when multiple first branch paths have the same maximum moving submodule reserve information: the first method introduces distance information as an auxiliary decision-making basis, allowing the selection of the first branch path closest to or farthest from a preset benchmark point as the first target path; the second method uses default rules to select one of the first branch paths as the first target path. Both methods effectively solve the path selection problem when multiple first branch paths have the same maximum moving submodule reserve information. They consider both the spatial relationship between the first branch path and the main path, and ensure the executability of scheduling decisions, thereby achieving reasonable scheduling of moving submodules. This ensures that the first branch path with higher process execution efficiency can obtain more moving submodule resources, thus improving the overall efficiency of automated production.

[0184] In some embodiments of this application, the step of "determining the first target path among the first branch paths with scheduling requirements based on the priority configuration information of the first branch paths with scheduling requirements" is further refined, and may specifically include at least one of the following steps:

[0185] 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.

[0186] 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.

[0187] Specifically, if we only consider the case where the scheduling configuration information of the first branch path includes priority configuration information, then we can further determine whether multiple first branch paths with scheduling needs have the highest priority configuration information.

[0188] If multiple first-branch paths with scheduling needs do not have the highest priority configuration information, it indicates that the priority configuration information of the multiple first-branch paths with scheduling needs is equal. In this case, one of these first-branch paths can be selected as the first target path according to other preset auxiliary decision-making rules. For example, other auxiliary decision-making rules can be selecting according to the numbering order of the first-branch paths, selecting according to the historical scheduling frequency of the first-branch paths, or selecting randomly, etc.

[0189] In one implementation, the distance information between the first branch path corresponding to the highest priority configuration information and a preset reference point in the main path is obtained, and the first branch path with the smallest or largest distance information is determined as the first target path. Specifically, the physical or logical distance between each first branch path with the highest priority configuration information and the preset reference point in the main path is calculated, the distance information of each first branch path is compared, and the first branch path with the smallest or largest distance information is selected as the first target path. Here, the preset reference point can be the start point, end point, or any specified location of the main path, and the distance information can be the actual physical distance or other quantifiable distance indicators.

[0190] Regarding the above implementation method, for example, please refer to... Figure 16 Assume that the first branch paths with scheduling requirements include first branch paths L211, L212, and L213, where the priority configuration information of first branch path L211 is "high priority", the priority configuration information of first branch path L212 is "high priority", and the priority configuration information of first branch path L213 is "medium priority". Then, first branch paths L211 and L212 have the highest priority configuration information. Further, the distance information between first branch path L211 and the preset reference point K in the main path L1 is D1, the distance information between first branch path L212 and the preset reference point K is D2, and the distance information between first branch path L213 and the preset reference point K is D3. Where D3 > D2 > D1, D1, D2, and D3 all represent lengths, and their units can be millimeters, centimeters, meters, etc. If the first branch path with the highest priority configuration information is selected as the first target path with the smallest distance information, then the first branch path L211 is determined as the first target path; if the first branch path with the highest priority configuration information is selected as the first target path with the largest distance information, then the first branch path L212 is determined as the first target path.

[0191] In one implementation, the first branch path with the highest priority configuration information is determined as the first target path. Specifically, when multiple first branch paths have 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 could be to select the first branch path with the smallest number, select the most recently used first branch path, or randomly select a first branch path, etc.

[0192] Regarding the above implementation method, for example, please refer to... Figure 16 Assume that the first branch paths with scheduling requirements include first branch path L211, first branch path L212, and first branch path L213. First branch path L211 has a priority configuration of "high priority" and is numbered 1; first branch path L212 has a priority configuration of "high priority" and is numbered 2; and first branch path L213 has a priority configuration of "medium priority" and is numbered 3. Therefore, first branch paths L211 and L212 have the highest priority configuration. If, among the first branch paths with the highest priority configuration, the default rule of selecting the path with the smallest number is applied, then first branch path L211 is determined as the first target path; if, among the first branch paths with the highest priority configuration, the default rule of selecting the most recently used path is applied, and first branch path L212 has been used most recently, then first branch path L212 is determined as the first target path; if, according to the default rule of random selection, first branch path L211 or first branch path L212 is randomly selected as the first target path.

[0193] This application provides two specific processing methods when multiple first branch paths have the same highest priority configuration information: the first method introduces distance information as an auxiliary decision-making basis, allowing the selection of the first branch path closest to or farthest from a preset benchmark point as the first target path; the second method uses default rules to select one of the first branch paths as the first target path. Both methods effectively solve the path selection problem when multiple first branch paths have the same highest priority configuration information. They consider both the spatial relationship between the first branch path and the main path, and ensure the executability of scheduling decisions, thereby achieving reasonable scheduling of moving submodules. This ensures that the first branch path with higher process execution efficiency can obtain more moving submodule resources, thus improving the overall efficiency of automated production.

[0194] In some embodiments of this application, 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" is further refined, and may specifically include the following steps:

[0195] If multiple first branch paths with scheduling requirements have the largest submodule reserve information, then the first branch path with the highest priority configuration information is determined as the first target path;

[0196] 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.

[0197] If multiple first branch paths with scheduling requirements have the largest submodule margin 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.

[0198] If different first branch paths with scheduling requirements have the largest moving submodule margin information and the highest priority configuration information, 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 margin 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.

[0199] Specifically, if we consider the case where the scheduling configuration information of the first branch path includes both capacity configuration information and priority configuration information, then we can further determine whether multiple first branch paths with scheduling needs have the largest capacity configuration information or the highest priority configuration information.

[0200] If multiple first branch paths with scheduling needs have the largest capacity configuration information, it indicates that the capacity configuration information of the multiple first branch paths with scheduling needs is not equal. In this case, the first branch path with the largest capacity configuration information can be determined as the first target path.

[0201] For example, please combine Figure 16Assume that the first branch paths with scheduling requirements include first branch paths L211, L212, and L213. First branch path L211 has a capacity configuration of 4 moving submodules and a priority configuration of "high priority"; first branch path L212 has a capacity configuration of 3 moving submodules and a priority configuration of "medium priority"; and first branch path L213 has a capacity configuration of 2 moving submodules and a priority configuration of "low priority". First branch path L211 has the largest capacity configuration; therefore, first branch path L211 is determined as the first target path.

[0202] If multiple first branch paths with scheduling needs have the highest priority configuration information, it indicates that the priority configuration information of the multiple first branch paths with scheduling needs is not equal. In this case, the first branch path with the highest priority configuration information can be determined as the first target path.

[0203] For example, please combine Figure 16 Assume that the first branch paths with scheduling requirements include first branch paths L211, L212, and L213. First branch path L211 has a capacity configuration of 3 moving submodules and a priority configuration of "high priority"; first branch path L212 has a capacity configuration of 4 moving submodules and a priority configuration of "medium priority"; and first branch path L213 has a capacity configuration of 2 moving submodules and a priority configuration of "low priority". First branch path L211 has the highest priority configuration; therefore, first branch path L211 is determined as the first target path.

[0204] If multiple first branch paths with scheduling needs have the largest remaining capacity of moving submodules and the highest priority configuration information, then these first branch paths are in optimal condition in both capacity and priority configuration. In this case, the distance information between the corresponding first branch path and a preset reference point in the main path can be obtained, and the first branch path with the smallest or largest distance information can be determined as the first target path.

[0205] For example, please combine Figure 16Assume that the first branch paths with scheduling requirements include first branch paths L211, L212, and L213. Specifically, first branch path L211 has 3 moving submodules, a priority configuration of "high priority," and a distance of D1 from the preset reference point K in the main path L1; first branch path L212 has 3 moving submodules, a priority configuration of "high priority," and a distance of D2 from the preset reference point K in the main path L1; first branch path L213 has 2 moving submodules, a priority configuration of "medium priority," and a distance of D3 from the preset reference point K in the main path L1. Here, D3 > D2 > D1, and D1, D2, and D3 all represent lengths, with units such as millimeters, centimeters, and meters. If both the first branch path L211 and the first branch path L212 have the largest submodule margin information and the highest priority configuration information, then the first branch path L211 with the smallest distance information can be selected as the first target path.

[0206] If different first branch paths with scheduling needs have the largest remaining capacity of moving submodules and the highest priority configuration information, it indicates that these first branch paths have overlapping advantages in both capacity and priority configuration information. In this case, 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 remaining moving submodules can be determined as the first target path; or, based on the distance information between the corresponding first branch path and a preset reference point in the trunk path, the first branch path with the smallest or largest distance information can be determined as the first target path.

[0207] For example, please combine Figure 16Assume that the first branch paths with scheduling requirements include first branch paths L211, L212, and L213. First branch path L211 has 4 moving submodules available, a priority configuration of "medium priority," and a distance of D1 from the preset reference point K in the main path L1. First branch path L212 has 3 moving submodules available, a priority configuration of "high priority," and a distance of D2 from the preset reference point K in the main path L1. First branch path L213 has 2 moving submodules available, a priority configuration of "low priority," and a distance of D3 from the preset reference point K in the main path L1. Here, D3 > D2 > D1, and D1, D2, and D3 all represent lengths, with units such as millimeters, centimeters, and meters. First branch path L211 has the largest moving submodule availability, and first branch path L212 has the highest priority configuration. If priority configuration information is taken into account, the first branch path L212 is determined as the first target path; if the submodule margin information is taken into account, the first branch path L211 is determined as the first target path; if distance information is taken into account and the first branch path with the smallest distance information is selected, the first branch path L211 is determined as the first target path.

[0208] This application provides four specific decision-making scenarios when the scheduling configuration information includes both capacity configuration information and priority configuration information: The first scenario, for multiple first branch paths with the largest available submodule capacity, uses priority configuration information for secondary filtering; the second scenario, for multiple first branch paths with the highest priority configuration information, uses submodule capacity information for secondary filtering; the third scenario, for cases where both submodule capacity and priority configuration information are optimal, introduces distance information as the final decision-making basis; and the fourth scenario, for cases where different first branch paths have advantages in different dimensions, provides three optional decision-making schemes. This decision-making mechanism, through multi-dimensional evaluation and hierarchical filtering, considers both the actual carrying capacity of the first branch paths and the scheduling priority and spatial location relationships, achieving flexible management of submodule scheduling. This ensures that first branch paths with higher process execution efficiency can obtain more submodule resources, thereby improving the overall efficiency of automated production.

[0209] In some embodiments of this application, the step of "determining the first target module in the moving sub-modules not located in the first branch path according to the process type corresponding to the first target path" is further refined, and may specifically include the following steps:

[0210] Obtain the work history information of the active submodule that is not located in the first branch path;

[0211] 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.

[0212] Specifically, this application proposes to determine the first target module based on the working history information of the moving submodule of the first branch path. The working history information refers to the set of status data related to process execution recorded by the moving submodule during its historical operation. In some cases, the working history information can indicate whether the moving submodule is carrying materials; in other cases, it can indicate whether the moving submodule is carrying materials and the processing status of the materials. This working history information can be stored in the memory of a related control device, in the storage unit built into the moving submodule, or in a cloud database.

[0213] For example, the work history information may include at least one of the following: carrying status information indicating whether the submodule is currently carrying materials; process type information of the most recently executed operation by the submodule; operating device identifier information of the most recently interacted operation by the submodule; timestamp information of the most recently interacted operation by the submodule; processing progress information of the materials carried by the submodule; and batch identifier information of the materials carried by the submodule. Specifically, the carrying status information indicates whether the submodule is currently carrying materials; the process type information indicates the type of process most recently executed by the submodule, such as loading, unloading, or processing; the operating device identifier information indicates the unique identifier of the operating device most recently interacted with by the submodule; the timestamp information indicates the specific time of the most recently interacted operation by the submodule; the processing progress information indicates the current processing completion status of the materials carried by the submodule; and the batch identifier information indicates the production batch to which the materials carried by the submodule belong.

[0214] First, it is necessary to obtain the operational history information of the moving submodules that are not located on the first branch path. Specifically, this can be done by reading the operational history information from the storage unit on the moving submodule itself via wired or wireless communication, querying the operational history information from the memory of the control device, or downloading the operational history information from a cloud database. The process of obtaining the operational history information can be performed in real time after the first target path is determined, or it can be obtained periodically in advance and cached in the local storage unit.

[0215] Then, based on the work history information of the sub-modules not located on the first branch path, the sub-module matching the process type corresponding to the first target path is determined as the first target module. Specifically, firstly, the preset path-process type mapping relationship is queried based on the path identifier of the first target path to determine the process type corresponding to the first target path; then, the work history information of each sub-module not located on the first branch path is traversed to filter out the sub-modules matching the process type corresponding to the first target path as candidate sub-modules; finally, a sub-module is selected from the candidate sub-modules as the first target module according to the preset selection rules. Here, the path-process type mapping relationship refers to the pre-established data structure used to record the association between each branch path and its corresponding process type; the selection rules can be selecting the most recently scheduled sub-module, selecting the sub-module with the longest idle time, or random selection, etc.

[0216] For example, please combine Figure 17 Multiple moving submodules are located within the movement path formed by the stator module. These moving submodules include moving submodule Y1, moving submodule Y2, and moving submodule Y3. The movement path includes a main path L1 and multiple branch paths connected to the main path L1. These branch paths include first branch path L211, first branch path L212, first branch path L213, and second branch paths L221 and L222. Operating devices C2, C3, and C4 are respectively located around first branch paths L211, L212, and L213; operating device C1 is located around second branch path L221; and operating device C5 is located around second branch path L222. Moving submodule Y moves along the movement direction F within the movement path.

[0217] Assuming the first target path is the first branch path L211, the process type corresponding to the first branch path L211 is determined to be the loading process through the path-process type mapping relationship. Traverse the work history information of the moving sub-modules Y1, Y2, and Y3 on the main path: the work history information of moving sub-module Y1 indicates that it is currently carrying materials and the most recently executed process type is the loading process; the work history information of moving sub-module Y2 indicates that it is currently carrying materials and the most recently executed process type is the loading process; the work history information of moving sub-module Y3 indicates that it is not currently carrying materials and the most recently executed process type is the unloading process.

[0218] Based on the adaptation requirements of the processing steps corresponding to the first branch path L211, moving submodules Y1 and Y2 are selected as candidate moving submodules. Then, moving submodule Y1 can be determined as the first target module according to the rule of selecting the one with the longest idle time; or, one of moving submodules Y1 and Y2 can be determined as the first target module according to other rules.

[0219] In this embodiment, by acquiring the work history information of moving submodules not located on the first branch path, the current status and historical work records of each moving submodule can be accurately grasped. Moving submodules matching the process type corresponding to the first target path are selected as the first target module based on the work history information, ensuring the compatibility between the moving submodules and the process requirements. This avoids situations where mismatched moving submodules enter the first target path, causing process execution failure, and improves the scheduling efficiency and utilization rate of moving submodules, thereby effectively enhancing the overall operational efficiency of automated production.

[0220] In one embodiment, each first branch path is equipped with a traffic detection point; before obtaining the traffic information of each first branch path, the following steps are also included:

[0221] Based on the position measurement information of multiple moving submodules, the statistical information of the flow detection point is updated when the moving submodule is detected to pass through the flow detection point.

[0222] Specifically, this application proposes a method for recording traffic information based on traffic detection points. A traffic detection point refers to a detection point set up on the first branch path to detect the passage of the moving submodule. Each first branch path has a corresponding traffic detection point, and the number of traffic detection points corresponding to a first branch path is at least one, without limitation.

[0223] It should be noted that the flow detection point can be a detection point based on a physical sensor or a virtual detection point. For example, a detection point based on a physical sensor can be a photoelectric sensor detection point, a radio frequency identification detection point, or an infrared sensor detection point; a virtual detection point can be an image recognition point set by a vision recognition system or a virtual detection point determined by calculating the position coordinates of the moving submodule.

[0224] The process of recording traffic flow information involves updating the statistical information of a traffic flow detection point when it is detected that a moving submodule has passed through the point, based on the position measurement information of multiple moving submodules. The statistical information of the traffic flow detection point refers to a data set recording the number of times a moving submodule passes through the point, its timestamp, and its identifier. Specifically, this process involves: actively acquiring the position measurement information of multiple moving submodules, or receiving it via wired or wireless communication; then matching this position measurement information with preset traffic flow detection point position information; and finally, determining that a moving submodule has passed through the traffic flow detection point when the matching result meets preset passage conditions, and updating the recorded value in the statistical information storage unit corresponding to that traffic flow detection point.

[0225] For example, please combine Figure 18 The diagram illustrates a local path L_c of the first branch path, which can be a local path within a given first branch path. A flow detection point J is located within this local path L_c. Moving submodules Y1 and Y2 move along this local path L_c according to the movement direction F. Specifically, when the position measurement information of moving submodule Y1 indicates that its coordinates have entered the detection range of flow detection point J, it is recognized that moving submodule Y1 has passed through flow detection point J. The pass count counter in the statistics of flow detection point J is incremented by 1, and the current timestamp and the identification information of moving submodule Y1 are recorded. If the position measurement information of moving submodule Y2 indicates that it has not entered the detection range of flow detection point J, then the recording action corresponding to flow detection point J will not be triggered.

[0226] In this embodiment, by setting traffic detection points on each first branch path, the passage of the moving sub-module can be accurately recorded; the behavior of the moving sub-module passing through the traffic detection points is identified based on the location measurement information, and the statistical information is updated in real time, providing a reliable data source for obtaining traffic information of each first branch path in the future.

[0227] In some embodiments of this application, at least a portion of the first branch paths are provided with a first traffic detection point and a second traffic detection point. 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 step of "obtaining traffic information of each first branch path" is further refined and may specifically include any one of the following steps:

[0228] Obtain statistical information from the first traffic detection point and the second traffic detection point, and select one of the statistical information from the first traffic detection point and the second traffic detection point as the traffic information of the corresponding first branch path;

[0229] 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 merged and processed to serve as the traffic information of the corresponding first branch path.

[0230] Specifically, considering the inherent error-prone nature of setting a single flow detection point on the first branch path and its inability to fully reflect the complete flow of the moving submodule within the first branch path, potentially leading to inaccurate statistics on the moving submodule's passage, this application proposes that at least a portion of the first branch path be equipped with a first flow detection point and a second flow detection point. Both the first and second flow detection points are types of flow detection points. The interaction area of ​​the first branch path refers to the area within the first branch path where workstations are located for interaction between the moving submodule and the operating equipment. To achieve accurate detection, the first flow detection point is set before the interaction area of ​​the first branch path, and the second flow detection point is set after the interaction area of ​​the first branch path.

[0231] To facilitate understanding of the specific settings of the first and second flow detection points in the embodiments of this application, please refer to... Figure 19 The main path L1 connects to the first branch path L21. Starting from the entrance of the first branch path L21 and moving towards the exit, positions M1, M2, M3, M4, and M5 are distributed sequentially. Position M1 is located at the entrance of the first branch path L21; position M5 is located at the exit of the first branch path L21. Based on this position distribution, the interval formed by positions M1 and M2 can be defined as the waiting area, the interval formed by positions M3 and M4 as the interaction area, the interval formed by positions M2 and M3 as blank area 1, and the interval formed by positions M4 and M5 as blank area 2. After the moving submodule moves to the waiting area, it can pause there briefly until it is suitable to enter the interaction area before proceeding there.

[0232] It is understandable that the first flow detection point can be set in blank area 1 or waiting area, and the second detection point can be set in blank area 2.

[0233] For example, please combine Figure 20 , Figure 20 for Figure 19 The flow rate detection points are added to the above. The first flow rate detection point J1 is set in the blank area 1 formed by positions M2 and M3, and the second flow rate detection point J2 is set in the blank area 2 formed by positions M4 and M5.

[0234] Regarding obtaining traffic information for each first branch path, the following two specific implementation methods are provided:

[0235] In one implementation, statistical information from a first traffic detection point and statistical information from a second traffic detection point are first obtained. Then, one of the statistical information from the first traffic detection point and the second traffic detection point is selected as the traffic information for the corresponding first branch path. Specifically, this step involves reading statistical information from the storage units corresponding to the first and second traffic detection points, and selecting the statistical information from one of the traffic detection points as the traffic information for the first branch path according to a preset selection rule. The selection rule can be either a fixed selection of the statistical information from the first traffic detection point, a fixed selection of the statistical information from the second traffic detection point, or a dynamic selection of the statistical information from either the first or second traffic detection point based on preset conditions.

[0236] Regarding the above implementation method, for example, please refer to... Figure 20 When using the rule of fixed selection of statistical information from the first flow detection point J1, regardless of how the statistical information from the second flow detection point J2 changes, the number of moving sub-modules recorded by the first flow detection point J1 will always be used as the flow information of the first branch path L21. When using the dynamic selection rule, the statistical information of the flow detection point with better signal quality can be selected as the flow information of the first branch path L21 based on the signal quality parameters of the first flow detection point J1 and the second flow detection point J2.

[0237] In one implementation, statistical information from a first traffic detection point and statistical information from a second traffic detection point are first obtained. Then, the statistical information from the first and second traffic detection points is fused and processed to obtain the traffic information for the corresponding first branch path. The fusion processing refers to performing mathematical or logical operations on the statistical information from the two traffic detection points to obtain a comprehensive statistical result. For example, the fusion processing can be a weighted summation operation, an average value operation, or a maximum or minimum value operation; there are no limitations on this. Specifically, this step involves reading statistical information from the storage units corresponding to the first and second traffic detection points, processing the two sets of statistical information according to a preset fusion algorithm, and using the processing result as the traffic information for the first branch path.

[0238] Regarding the above implementation method, for example, please refer to... Figure 20Assume that the first flow detection point J1 records 5 moving sub-modules passing through, and the second flow detection point J2 records 4 moving sub-modules passing through. When using a weighted summation operation, 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 merged flow information is 5 × 0.6 + 4 × 0.4 = 4.6, which, after rounding, is 5 moving sub-modules. When using an average value operation, the merged flow information is (5 + 4) / 2 = 4.5, which, after rounding, is 5 moving sub-modules. When using a maximum value operation, the merged flow information is max(5,4) = 5 moving sub-modules.

[0239] In this embodiment, by setting a first flow detection point and a second flow detection point before and after the interaction area of ​​the first branch path, the passage of the moving submodule on the first branch path can be comprehensively monitored. Two methods for acquiring flow information are provided: either selecting statistical information from a single detection point or fusing statistical information from two detection points, thus improving the accuracy and reliability of flow information statistics. This provides more accurate data support for determining subsequent scheduling configuration information, thereby enabling flexible scheduling of the moving submodule and effectively improving automated production efficiency.

[0240] In one embodiment, before determining the scheduling configuration information of each first branch path based on the traffic information of multiple first branch paths, the following steps are further included:

[0241] The first branch path is identified where the traffic information is less than the preset traffic threshold.

[0242] Specifically, if the branch path scheduling configuration information can adapt to actual scheduling needs and maintain high automated production efficiency, then the branch path scheduling configuration information does not need to be adjusted. For this reason, before adjusting the scheduling configuration information of certain branch paths, it is necessary to identify whether the branch paths need to be adjusted.

[0243] This application proposes a scheme to determine whether branch paths need to adjust their scheduling configuration information by using preset traffic threshold information. Specifically, the traffic information of each branch path can be compared in real time with the preset traffic threshold information, where the traffic threshold information refers to a standard value used to determine whether the current number of moving submodules in the branch path meets the minimum requirement. In some cases, the traffic threshold information can be determined based on the number of workstations in the branch path, for example, setting the traffic threshold information to twice the number of workstations in the branch path; in other cases, the traffic threshold information can be determined based on the process type of the branch path, for example, setting the traffic threshold information for the branch path corresponding to the loading process to 6 moving submodules, and setting the traffic threshold information for the branch path corresponding to the unloading process to 18 moving submodules; in addition, the traffic threshold information can also be determined based on the historical average traffic of the branch path, the processing capacity of the operating equipment corresponding to the branch path, etc., which are not limited here.

[0244] If a branch path with traffic information below a preset traffic threshold is identified, it indicates that the current number of active submodules on that branch path is insufficient to maintain normal process execution efficiency. In this case, the branch path with traffic information below the preset traffic threshold can be designated as the first branch path. The scheduling configuration information of the first branch path will be adjusted subsequently to allow it to receive more active submodule allocations, thereby improving its process execution efficiency.

[0245] It should be noted that the at least two first branch paths in the embodiments of this application specifically refer to branch paths that correspond to the same type of process and whose flow information is less than a preset flow threshold information.

[0246] For example, please combine Figure 8 Assuming that first branch paths L211, L212, and L213 are all branch paths corresponding to processing steps, and the preset flow threshold is 6 moving sub-modules. Real-time monitoring reveals that the flow information for first branch path L211 is 8 moving sub-modules, for first branch path L212 it is 5 moving sub-modules, and for first branch path L213 it is 4 moving sub-modules. Since the flow information 5 for first branch path L212 and 4 for first branch path L213 are both less than the flow threshold 6, first branch paths L212 and L213 are identified as the first branch paths whose scheduling configuration information needs adjustment. Their scheduling configuration information will be re-determined based on the flow information of first branch paths L212 and L213.

[0247] In this embodiment, by comparing the magnitude of flow information and flow threshold information, the first branch path with insufficient process execution efficiency can be accurately located. Subsequently, by adjusting the scheduling configuration information of each first branch path, the process execution efficiency of each first branch path can be effectively improved, thereby achieving an overall efficiency improvement in automated production.

[0248] In one embodiment, 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 moving submodule control method further includes the following steps:

[0249] Obtain traffic information for the second branch path;

[0250] Adjust the scheduling configuration information of each first branch path based on the traffic information of the second branch path.

[0251] Specifically, when multiple branch paths include at least two first branch paths and at least one second branch path, the overall automated production efficiency is not determined solely by the process execution efficiency of the first branch path, but is simultaneously affected by the process execution efficiencies of both the first and second branch paths. Therefore, embodiments of this application propose using the traffic information of the second branch path to trigger adjustments to the scheduling configuration information of each first branch path.

[0252] First, it is necessary to obtain the traffic information for the second branch path. This traffic information can reflect whether the second branch path is congested or unsaturated. This step is implemented as follows: either by obtaining the number of moving submodules passing through traffic detection points set on the second branch path; or by analyzing the position measurement information of moving submodules in the second branch path to count the current number of moving submodules located on the second branch path; or by indirectly obtaining the traffic information for the second branch path through the status information of the operating devices corresponding to the second branch path. The method for obtaining the traffic information for the second branch path can be the same as or different from the method for obtaining the traffic information for the first branch path.

[0253] Furthermore, based on the traffic information of the second branch path, the scheduling configuration information of each first branch path is adjusted. It is understandable that the second and first branch paths correspond to different types of processes. Considering the continuous execution of processes in automated production, the process execution efficiency of the first branch path will affect the second branch path. The specific implementation method of this step is as follows:

[0254] If the traffic flow on the second branch path exceeds a preset congestion threshold, it indicates that the second branch path is congested. In this case, the scheduling configuration information of each first branch path can be adjusted to reduce the execution efficiency of each first branch path and alleviate the congestion on 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 reduced.

[0255] 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.

[0256] 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.

[0257] 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.

[0258] 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 to 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 to 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.

[0259] like Figure 21 As shown, the control device 700 may include an acquisition unit 701 and a scheduling unit 702, as detailed below:

[0260] The acquisition unit 701 is used to acquire traffic information for each first branch path; wherein, the traffic information is used to characterize the number of active sub-modules that perform interactive tasks in the first branch path;

[0261] The scheduling unit 702 is used to determine the scheduling configuration information of each first branch path based on the traffic information of 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.

[0262] Optionally, in some embodiments of this application, the specific execution steps of the acquisition unit 701 and the scheduling unit 702 can refer to the content of the above method embodiments, and will not be repeated here.

[0263] like Figure 22 As shown, the control device 700 may include an acquisition unit 701, a scheduling unit 702, an instruction response unit 703, a moving submodule determination unit 704, a moving submodule control unit 705, an instruction generation unit 706, an instruction receiving unit 707, a flow detection unit 708, and a path identification unit 709, as detailed below:

[0264] The acquisition unit 701 is used to acquire traffic information for each first branch path; wherein, the traffic information is used to characterize the number of active sub-modules that perform interactive tasks in the first branch path;

[0265] The scheduling unit 702 is used to determine the scheduling configuration information of each first branch path based on the traffic information of 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;

[0266] The instruction response unit 703 is used to respond to the first scheduling trigger instruction and determine the first target path among the multiple first branch paths according to the scheduling configuration information of multiple first branch paths;

[0267] The moving sub-module determination unit 704 is used to determine the first moving module among the moving sub-modules that are not located in the first branch path according to the process type corresponding to the first target path;

[0268] The moving submodule control unit 705 is used to control the first moving submodule to enter the first target path so that the first moving submodule can perform interactive tasks on the first target path.

[0269] The instruction generation unit 706 is used to generate a first scheduling trigger instruction when at least one first branch path is identified as having a scheduling requirement based on the position measurement information of multiple moving submodules.

[0270] The instruction receiving unit 707 is used to receive a first scheduling trigger instruction, which is generated by an external device when it identifies a scheduling requirement for at least one first branch path based on the position measurement information of multiple moving sub-modules.

[0271] The flow detection unit 708 is used to update the statistical information of the flow detection point when the flow detection point is detected to have passed through the position measurement information of multiple moving sub-modules.

[0272] The path identification unit 709 is used to identify the first branch path where the traffic information is less than a preset traffic threshold.

[0273] Optionally, in some embodiments of this application, the specific execution steps of the acquisition unit 701, scheduling unit 702, instruction response unit 703, moving submodule determination unit 704, moving submodule control unit 705, instruction generation unit 706, instruction receiving unit 707, traffic detection unit 708, and path identification unit 709 can be referred to the above method embodiments, and will not be repeated here.

[0274] For the effects achievable by the embodiments of this application, please refer to the relevant embodiments of the above-mentioned submodule control method, which will not be repeated here.

[0275] This application also provides a linear motor device. Please refer to [link to relevant documentation]. Figure 23 , Figure 23 This is a schematic diagram of the structure of a linear motor device 800 provided in an embodiment of this application. The linear motor device 800 includes a moving submodule 801, a stator module 802, and a control device 803. The moving submodule 801 is disposed on the stator module 802. The movement path formed by the stator module 802 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.

[0276] The control device 803 includes a processor 8031 ​​and a memory 8032. The processor 8031 ​​and the memory 8032 are electrically connected.

[0277] The processor 8031 ​​is the control center of the linear motor device 800. It connects various parts of the linear motor device 800 through various interfaces and lines. By running or calling computer programs stored in the memory 8032 and calling data stored in the memory 8032, it executes various functions of the linear motor device 800 and processes data, thereby performing overall monitoring of the linear motor device 800.

[0278] The memory 8032 can be used to store software programs and modules. The processor 8031 ​​executes various functional applications and controls the submodule 801 by running the computer programs and modules stored in the memory 8032. The memory 8032 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the linear motor device 800, etc.

[0279] Furthermore, the memory 8032 may include high-speed random access memory 8032, and may also include non-volatile memory 8032, such as at least one disk storage device 8032, flash memory device, or other volatile solid-state memory 8032. Accordingly, the memory 8032 may also include a memory controller 8032 to provide the processor 8031 ​​with access to the memory 8032.

[0280] In this embodiment, the processor 8031 ​​loads the instructions corresponding to the processes of one or more computer programs into the memory 8032 according to the following steps, and the processor 8031 ​​runs the computer programs stored in the memory 8032 to realize the submodule control method provided in the above embodiment.

[0281] For the effects achievable by the embodiments of this application, please refer to the relevant embodiments of the above-mentioned submodule control method, which will not be repeated here.

[0282] This application also provides an automated production system. Please refer to [link to relevant documentation]. Figure 24 , Figure 24 This is a schematic diagram of the structure of an automated production system 900 provided in an embodiment of this application. The automated production system 900 includes a moving submodule 901, a stator module 902, a control device 903, and an operating device 904. The moving submodule 901 is disposed on the stator module 902. The movement path formed by the stator module 902 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 904 is used to perform at least two types of processes in loading, unloading, and processing.

[0283] The control device 903 includes a processor 9031 and a memory 9032. The processor 9031 and the memory 9032 are electrically connected.

[0284] The processor 9031 is the control center of the automated production system 900. It connects various parts of the automated production system 900 through various interfaces and lines. By running or calling computer programs stored in the memory 9032 and calling data stored in the memory 9032, it executes various functions of the automated production system 900 and processes data, thereby performing overall monitoring of the automated production system 900.

[0285] The memory 9032 can be used to store software programs and modules. The processor 9031 executes various functional applications and controls the submodule 901 by running the computer programs and modules stored in the memory 9032. The memory 9032 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the automated production system 900, etc.

[0286] Furthermore, the memory 9032 may include high-speed random access memory 9032, and may also include non-volatile memory 9032, such as at least one disk storage device 9032, flash memory device, or other volatile solid-state memory 9032. Accordingly, the memory 9032 may also include a memory controller 9032 to provide the processor 9031 with access to the memory 9032.

[0287] In this embodiment, the processor 9031 loads the instructions corresponding to the processes of one or more computer programs into the memory 9032 according to the following steps, and the processor 9031 runs the computer programs stored in the memory 9032 to realize the submodule control method provided in the above embodiment.

[0288] For the effects achievable by the embodiments of this application, please refer to the relevant embodiments of the above-mentioned submodule control method, which will not be repeated here.

[0289] This application also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the submodule control method provided in the above embodiments.

[0290] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0291] Since the instructions stored in the storage medium can execute the steps in any of the moving submodule control methods provided in the embodiments of this application, the beneficial effects that any of the moving submodule control methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0292] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0293] For the control device in the embodiments of this application, its functional modules can be integrated into a single processing chip, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0294] The foregoing has provided a detailed description of the moving module control method, apparatus, device, system, and storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The above embodiments are merely for the purpose of helping to understand the methods and core ideas of this application; furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A mover module control method characterized by, The mover module is arranged in the stator module, a moving path formed by the stator module includes a main path and a plurality of branch paths connected with the main path, the plurality of branch paths include at least two first branch paths, and the first branch path is a branch path corresponding to the same type of process; The method comprises: Obtaining flow information of each first branch path; wherein the flow information is used to represent the number of mover modules performing interactive tasks in the first branch path; According to the flow information of a 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; According to the flow information of a plurality of first branch paths, determine the scheduling configuration information of each first branch path, including at least one of the following: Determine the capacity configuration information of the first branch path by combining the flow information of each first branch path and the upper limit information of the capacity of the mover module corresponding to each first branch path; Compare the flow information of a plurality of first branch paths to determine the priority configuration information of each first branch path.

2. The method of claim 1, wherein, The method comprises: Based on the preset flow acquisition period, obtain the number of mover modules performing interactive tasks in each first branch path within a specified time period to determine the flow information of each first branch path; wherein the specified time period is determined according to a single flow acquisition period, a plurality of flow acquisition periods or a preset time length parameter.

3. The method of claim 1, wherein, The method comprises: If the flow information of each first branch path does not exceed the upper limit information of the capacity of the mover module, set the flow information as the capacity configuration information; If the flow information of each first branch path exceeds the upper limit information of the capacity of the mover module, set the upper limit information of the capacity of the mover module as the capacity configuration information.

4. The method of claim 1, wherein, The method comprises: Compare the size of the flow information of a plurality of first branch paths to obtain the relative sequence information of each first branch path, and the relative sequence information is used to represent the order of the corresponding first branch path in a plurality of first branch paths; According to the relative sequence information of each first branch path, determine the priority configuration information matched with each first branch path.

5. The method according to claim 1 or 2, characterized in that, After determining the scheduling configuration information of each first branch path according to the flow information of a plurality of first branch paths, the method further comprises: In response to a first scheduling trigger instruction, determine a first target path in a plurality of first branch paths according to the scheduling configuration information of a plurality of first branch paths; According to the process type corresponding to the first target path, determine a first mover module from the mover modules not located in the first branch path; The first mover module is controlled to enter the first target path, so that the first mover module performs an interactive task on the first target path.

6. The method of claim 5, wherein, Before responding to the scheduling trigger instruction, at least one of the following is included: When it is identified from the position measurement information of the plurality of mover modules that at least one of the first branch paths has a scheduling demand, the first scheduling trigger instruction is generated. The first scheduling trigger instruction is received, and the scheduling trigger instruction is generated by an external device when it is identified from the position measurement information of the plurality of mover modules that at least one of the first branch paths has a scheduling demand.

7. The method of claim 6, wherein, The identification of the scheduling demand of at least one of the first branch paths from the position measurement information of the plurality of mover modules includes at least one of the following: According to the position measurement information of the plurality of mover modules, the number of to-be-executed mover modules of the first branch path is obtained, and when the number of to-be-executed mover modules is less than the corresponding capacity configuration information, it is determined that the first branch path has a scheduling demand. According to the position measurement information of the plurality of mover modules, the process state information of the first branch path is obtained, and when the process state information indicates that the process is idle, it is determined that the first branch path has a scheduling demand.

8. The method of claim 5, wherein, The determination of the first target path from the scheduling configuration information of the plurality of first branch paths includes at least one of the following: The capacity configuration information in the scheduling configuration information of the first branch path with a scheduling demand is obtained, and the mover module surplus information of the first branch path with a scheduling demand is determined according to the capacity configuration information and the number of to-be-executed mover modules of the first branch path with a scheduling demand, and the first target path is determined from the first branch path with a scheduling demand according to the mover module surplus information of the first branch path with a scheduling demand. The priority configuration information in the scheduling configuration information of the first branch path with a scheduling demand is obtained, and the first target path is determined from the first branch path with a scheduling demand according to the priority configuration information of the first branch path with a scheduling demand. The capacity configuration information and the priority configuration information in the scheduling configuration information of the first branch path with a scheduling demand are obtained, the mover module surplus information of the first branch path with a scheduling demand is determined according to the capacity configuration information and the number of to-be-executed mover modules of the first branch path with a scheduling demand, and the first target path is determined from the first branch path with a scheduling demand according to the mover module surplus information and the priority configuration information of the first branch path with a scheduling demand.

9. The method of claim 8, wherein, The determination of the first target path from the first branch path with a scheduling demand according to the mover module surplus information of the first branch path with a scheduling demand includes at least one of the following: If multiple first branch paths with scheduling requirements have the maximum dynamic sub-module margin information, distance information between the first branch path corresponding to the maximum dynamic sub-module margin 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 requirements has the maximum dynamic sub-module margin information, the first branch path with the maximum dynamic sub-module margin information is determined as the first target path.

10. The method of claim 8, wherein, The first target path is determined from the first branch paths with scheduling requirements according to the priority configuration information of the first branch paths with scheduling requirements, and the first target path is determined from the first branch paths with scheduling requirements according to the dynamic sub-module margin information of the first branch paths with scheduling requirements. If multiple first branch paths with scheduling requirements have the highest priority configuration information, 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 requirements has the highest priority configuration information, the first branch path with the highest priority configuration information is determined as the first target path.

11. The method of claim 8, wherein, The first target path is determined from the first branch paths with scheduling requirements according to the dynamic sub-module margin information and the priority configuration information of the first branch paths with scheduling requirements. If multiple first branch paths with scheduling requirements have the maximum dynamic sub-module margin information, 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, the first branch path with the maximum dynamic sub-module margin information is determined as the first target path. If multiple first branch paths with scheduling requirements have the maximum dynamic sub-module margin information and multiple first branch paths with scheduling requirements have the highest priority configuration information, 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 different first branch paths with scheduling requirements have the maximum dynamic sub-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 dynamic sub-module margin information is determined as the first target path, or the first branch path with the minimum or maximum distance information is determined as the first target path according to distance information between the corresponding first branch path and the preset reference point in the trunk path.

12. The method of claim 5, wherein, The first target module is determined from the dynamic sub-modules not located in the first branch path according to the process type corresponding to the first target path, and the first target module is determined from the dynamic sub-modules not located in the first branch path according to the process type corresponding to the first target path. The working history information of the dynamic sub-modules not located in the first branch path is obtained. The dynamic sub-module matching the process type corresponding to the first target path is determined as the first target module according to the working history information of the dynamic sub-modules not located in the first branch path.

13. The method of claim 1 or 2, wherein, Each of the first branch paths is provided with a flow detection point; before the flow information of each of the first branch paths is acquired, the method further comprises: According to the position measurement information of the plurality of mover modules, when it is identified that the mover modules pass through the flow detection point, the statistical information of the flow detection point is updated.

14. The method of claim 1 or 2, wherein, 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 flow information of each of the first branch paths is acquired by any one of the following methods: The statistical information of the first flow detection point and the statistical information of the second flow detection point are acquired, 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 acquired, and after the statistical information of the first flow detection point and the statistical information of the second flow detection point are fused, the fused information is taken as the flow information of the corresponding first branch path.

15. The method of claim 1 or 2, wherein, Before the scheduling configuration information of each of the first branch paths is determined according to the flow information of the plurality of first branch paths, the method further comprises: It is identified that there is a first branch path with flow information less than a preset flow threshold.

16. The method of claim 1 or 2, wherein, The plurality of branch paths include at least one second branch path, the second branch path and the first branch path correspond to different types of processes; the method further comprises: Acquiring the flow information of the second branch path; According to the flow information of the second branch path, the scheduling configuration information of each of the first branch paths is adjusted.

17. A control device characterized by comprising: The control device is used for controlling a mover module, the mover module is arranged in a stator module, 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 include at least two first branch paths, and the first branch paths are branch paths corresponding to the same type of process; The device comprises: An acquisition unit is configured to acquire flow information of each of the first branch paths; wherein the flow information is used to represent the number of mover modules performing interaction tasks in the first branch path; A scheduling unit is configured to determine scheduling configuration information of each of the first branch paths according to flow information of a plurality of first branch paths; wherein the scheduling configuration information is used to determine whether a mover module located in the main path enters the corresponding first branch path; the scheduling configuration information includes at least one of capacity configuration information and priority configuration information, the capacity configuration information is determined by combining the flow information of each of the first branch paths and the upper limit information of the mover module capacity corresponding to each of the first branch paths, and / or the priority configuration information is determined by comparing the flow information of the plurality of first branch paths.

18. A linear motor apparatus, characterized by The linear motor device comprises a mover module, a stator module, and a control device, the mover module is arranged in the stator module, the moving path formed by the stator module comprises a main path and a plurality of branch paths connected with the main path, the plurality of branch paths comprise at least two first branch paths, and the first branch paths are branch paths corresponding to the same type of process. The control device comprises: a memory for storing executable program codes; a processor for calling and running the executable program codes from the memory, so that the linear motor device executes the method as claimed in any one of claims 1 to 16.

19. An automated production system, characterized by The automatic production system comprises a mover module, a stator module, a control device, and an operating device, the mover module is arranged in the stator module, the moving path formed by the stator module comprises a main path and a plurality of branch paths connected with the main path, the plurality of branch paths comprise at least two first branch paths, and the first branch paths are branch paths corresponding to the same type of process, and the operating device is used for executing at least two types of processes of feeding, discharging, and processing; The control device comprises: a memory for storing executable program codes; a processor for calling and running the executable program codes from the memory, so that the automatic production system executes the method as claimed in any one of claims 1 to 16.

20. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, when the computer program is executed, the method as claimed in any one of claims 1 to 16 is realized.

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