Motor module control method and device, linear motor equipment and automation system

Abstract

The application discloses a mover module control method and device, a linear motor equipment and an automation system. It relates to the technical field of control. The method comprises the following steps: in a plurality of mover modules and a plurality of work stations, a first mover module and a first work station are identified; based on a work station parameter of the first work station, a second work station pointed to by the first work station is determined; a next target work station is determined according to a work station parameter of the second work station; wherein the target work station is the second work station or a third work station, and the third work station is a work station corresponding to the same type of process as the second work station; in a plurality of moving paths, a target path sequence corresponding to the first mover module moving to the next target work station is obtained; and the first mover module is controlled to move to the next target work station based on the target path sequence. Through the application, the problem of low efficiency of controlling the mover module to move in the related art is solved.

Description

Technical Field

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

[0002] In automated production systems, automated production lines employ a design combining moving submodules and stator modules to achieve efficient material transport and handling. Moving submodules move along tracks and stop at specific workstations to perform specific tasks, such as assembly, inspection, and handling. Flexible scheduling of these moving submodules is crucial. Currently, industry solutions commonly use single-path planning; however, if the task progress of a moving submodule within a single path is slow, it will affect the movement of other moving submodules, potentially causing blockages and reducing overall efficiency.

[0003] There is currently no effective solution to the problem of low movement efficiency of the control submodule in related technologies. Summary of the Invention

[0004] The main objective of this application is to provide a method, device, linear motor equipment, and automation system for controlling a moving submodule, in order to solve the problem of low efficiency in controlling the movement of moving submodules in related technologies.

[0005] To achieve the above objectives, according to one aspect of this application, a method for controlling a moving submodule is provided. The method includes: a moving submodule disposed on a stator module, the stator module being used to provide multiple movement paths for the moving submodule and to configure multiple workstations, at least two workstations corresponding to the same type of process; identifying a first moving submodule and a first workstation among the multiple moving submodules and multiple workstations; determining a second workstation pointed to by the first workstation based on workstation parameters; determining a next target workstation based on workstation parameters of the second workstation; wherein the target workstation is either the second workstation or a third workstation, the third workstation being a workstation corresponding to the same type of process as the second workstation; acquiring a target path sequence corresponding to the first moving submodule moving to the next target workstation among the multiple movement paths; and controlling the first moving submodule to move towards the next target workstation based on the target path sequence.

[0006] To achieve the above objectives, according to another aspect of this application, a moving submodule control device is provided. The device includes: a moving submodule disposed on a stator module, the stator module being used to provide multiple movement paths for the moving submodule and to configure multiple workstations, at least two workstations corresponding to the same type of process; and includes: an identification unit for identifying a first moving submodule and a first workstation among the multiple moving submodules and multiple workstations; a target workstation determination unit for determining a second workstation pointed to by the first workstation based on workstation parameters of the first workstation, and determining a next target workstation based on workstation parameters of the second workstation; wherein the target workstation is either the second workstation or a third workstation, the third workstation being a workstation corresponding to the same type of process as the second workstation; and a control unit for acquiring a target path sequence corresponding to the first moving submodule moving to the next target workstation among the multiple movement paths, and controlling the first moving submodule to move towards the next target workstation based on the target path sequence.

[0007] To achieve the above objectives, according to another aspect of this application, a linear motor device is provided, comprising: a mover module, a stator module, and a control device, wherein: the mover module is disposed on the stator module, the stator module is used to provide multiple movement paths for the mover module and to configure multiple work points, at least two work points corresponding to the same type of process, and the control device is used to execute the method described in any one of the above to control the movement of the mover module in the stator module.

[0008] To achieve the above objectives, according to another aspect of the embodiments of this application, an automated system is also provided, including a moving submodule, a stator module, a control device, and an operating device, wherein one of the operating devices is used to perform at least one type of process among loading, unloading, and processing; the control device includes: a memory storing an executable program; and a processor for running the program, wherein the program executes the moving submodule control method of any of the above-mentioned methods when it runs.

[0009] The technical solution provided in this application identifies the first moving submodule and its current first workstation, determines the second workstation based on the workstation parameters of the first workstation, and then flexibly selects either the second workstation or a third workstation of the same type as the next target workstation based on the workstation parameters of the second workstation. This distributes the number of moving submodules corresponding to the same type of process among the second and third workstations, reducing the process execution pressure at each workstation. In a multi-path environment, more path options can be provided for the first moving submodule to reach the target workstation, effectively avoiding the problem of moving submodules being unable to detour due to other workstations being occupied in a single movement path scenario. This reduces the overall process flow congestion. Through the target path sequence, it ensures that the first moving submodule can move smoothly from the first workstation to the target workstation, improving the passage efficiency of the moving submodule and the overall work efficiency. Therefore, the technical solution provided in this application overcomes the inefficiency problem caused by the sequential movement of moving submodules along a single path in the prior art, enhances the control flexibility of the moving submodule, reduces time delays caused by workstation occupancy, coordinates the rhythm of workstations for various types of processes, and improves the overall work efficiency of the moving module. Attached Figure Description

[0010] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0011] Figure 1 This is a hardware structure block diagram of a computer terminal for implementing a submodule control method according to an embodiment of this application;

[0012] Figure 2 This is a schematic diagram of the movement path in related technologies;

[0013] Figure 3 This is a flowchart of the submodule control method provided according to the embodiments of this application;

[0014] Figure 4 This is a schematic diagram of multiple movement paths provided according to embodiments of this application;

[0015] Figure 5 This is a schematic diagram of the pointing relationship provided in the embodiments of this application. Figure 1 ;

[0016] Figure 6 This is a schematic diagram of the pointing relationship provided in the embodiments of this application. Figure 2 ;

[0017] Figure 7 This is a schematic diagram of the pointing relationship provided in the embodiments of this application. Figure 3 ;

[0018] Figure 8 This is a schematic diagram of the submodule control method provided according to the embodiments of this application. Figure 1 ;

[0019] Figure 9 This is a schematic diagram of the submodule control method provided according to the embodiments of this application. Figure 2 ;

[0020] Figure 10 This is a schematic diagram of the moving submodule control device provided according to an embodiment of this application;

[0021] Figure 11 This is a schematic diagram of a linear motor device provided according to an embodiment of this application;

[0022] Figure 12 This is a structural block diagram of an automated system according to an embodiment of this application. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] First, some nouns or terms that appear in the description of the embodiments of this application shall be interpreted as follows:

[0026] Moving submodule: refers to the component that can move along the stator module and can interact with the operating equipment to perform different types of process tasks, such as material transfer tasks and collaborative processing tasks.

[0027] Stator module: A component composed of multiple stator modules, used to guide and support the movement of the moving sub-module, providing multiple path selection to improve movement efficiency.

[0028] Movement path: The path formed by the moving submodule moving along the track module. Each movement path can correspond to at least one stator module in the stator module used to form the movement path. Depending on the specific layout of the stator module, the movement path can be divided into main path and branch path.

[0029] Workpoint location: A virtual or physical point set based on a specified position on the stator module. The moving module performs a specific type of process task at this position. Different workpoint locations can be distinguished by the identification information of the workpoint location.

[0030] According to an embodiment of this application, a method embodiment for controlling a moving submodule is also provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0031] The method embodiment provided in Embodiment 1 of this application can be executed in a mobile terminal, computer terminal, or similar computing device (such as a control device). Figure 1 A hardware structure block diagram of a computer terminal (or mobile device) for implementing a submodule control method is shown. Figure 1 As shown, the computer terminal 10 (or mobile device) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU (Microcontroller Unit) or a programmable gate array (FPGA), etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0032] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the submodule control method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the aforementioned submodule control method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0033] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet. For example, control commands can be issued to the moving submodule in this application via the transmission device 106 to control the movement of the moving submodule within the stator module.

[0034] The display can be a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or mobile device). For example, the display can show the current position information of the moving submodule.

[0035] In the field of automation control technology, for automated systems involving automated transportation (such as transportation automation systems and production automation systems), moving submodules can move along the stator module. By controlling multiple moving submodules to move sequentially along the stator module, multiple moving submodules can perform the same type of process task at the same workstation at different times. However, since only a single movement path is set in the stator module, multiple moving submodules can only move sequentially along this single path. In this scenario, if the process task of one moving submodule on the single movement path progresses slowly, it will affect the movement of other moving submodules, and may even cause other moving submodules to become blocked, thereby reducing the overall working efficiency of the moving submodules.

[0036] like Figure 2As shown, moving submodules M1, M2, and M3 execute the same type of process task at work station P1 at different times. The process task of moving submodule M1 at work station P1 is progressing slowly, which will cause other moving submodules (such as moving submodules M2 and M3) to wait outside work station P1, thus causing a blockage.

[0037] It should be understood that the accompanying drawings in this application are for illustrative purposes only and do not limit the number of work points, the number of moving sub-modules, the shape of the movement path, etc.

[0038] To address the aforementioned issues, this application provides the following: Figure 3 The illustrated method describes a moving submodule control method. It should be noted that, to implement the moving submodule control method provided in this application, in some embodiments, the stator module includes multiple stator modules. Each stator module may have two or more connection ends. Stator modules with two or more connection ends have a guiding switching function, thereby increasing the number of movement paths of the stator module. For ease of description, stator modules with two or more connection ends and a guiding switching function are referred to as commutating stator modules, and stator modules with two connection ends and a guiding switching function are referred to as non-commutating stator modules.

[0039] The moving submodule can enter from one connection end of the commutating stator module and exit from one of at least two other connection ends. The moving submodule can move linearly along the commutating stator module, and further, it can move along a curve. Through the splicing of the commutating stator module and the non-commutating stator module, the stator module can provide multiple movement paths for the moving submodule. These movement paths can be divided according to the commutating stator module, for example, based on the turning points within the commutating stator module that change the direction of movement of the moving submodule.

[0040] For example, such as Figure 4 The diagram showing the movement path is arranged according to the turning points of each commutation stator module (e.g., Figure 4 The turning points a1, a2, a3, and a4 in the diagram can be used to divide the path into multiple movement paths (e.g., ...). Figure 4 The submodule can move along multiple movement paths (L1, L2-1, L2-2, L3, L4-1, and L4-2).

[0041] Multiple workstations can be set based on the stator module. Since the movement path is formed through the stator module, there is a corresponding relationship between the movement path and the workstation. Depending on the distribution of operating equipment in the actual scenario, multiple workstations corresponding to the same type of process can be set on the same or different movement paths. For example... Figure 4 In the diagram, movement path L1 corresponds to workstation P1, movement path L2-1 corresponds to workstation P2, movement path L2-2 corresponds to workstation P3, and movement path L4-2 corresponds to workstations P4 and P5. Workstations P2 and P3 correspond to one type of process, where the moving submodule can execute the corresponding process task at either workstation P2 or P3. Workstations P4 and P5 correspond to another type of process, where the moving submodule can execute the corresponding process task at either workstation P4 or P5.

[0042] When multiple movement paths exist, Figure 3 This is a flowchart of a moving submodule control method according to an embodiment of this application, the moving submodule control method including:

[0043] Step S301: Identify the first moving submodule and the first work point among multiple moving submodules and multiple work points.

[0044] In some embodiments, each moving submodule is assigned a workstation, which indicates the desired location the moving submodule is expected to reach. After a moving submodule completes its current task at its assigned workstation, the next workstation is assigned to it, and the moving submodule is controlled to move to the next assigned workstation to execute the next task. For ease of description, the workstation indicating the desired location of the moving submodule is called the target workstation, the moving submodule requiring the assignment of the next workstation is called the first moving submodule, and the workstation currently occupied by the moving submodule that has completed its task is called the first workstation. It should be understood that the first workstation and the previous target workstation indicating the location of the first moving submodule in its current task are actually the same workstation; they are simply used for ease of description and understanding to represent and distinguish the different roles played by the same workstation at different times.

[0045] In some embodiments, the first moving submodule and the first workstation can be identified by monitoring the working status, location information, and task completion status of the moving submodule. For example, the first moving submodule and the first workstation can be identified by the process operation completion information fed back by the operating equipment, or by the location information fed back by the moving submodule.

[0046] Step S302: Based on the station parameters of the first station, determine the second station to which the first station points.

[0047] In some embodiments, workstation parameters include, but are not limited to, pointer object information. Pointer object information indicates the pointer object configured for the corresponding workstation, which originates from other workstations. The pointer object for a workstation can be configured according to the process type and process execution order corresponding to each workstation. It should be noted that the workstation parameters of different workstations can be distinguished by the workstation's identification information. The pointer object information clarifies the logical connection between the workstation and other workstations, i.e., after the first workstation completes its task, the next workstation (e.g., the second workstation) that the moving submodule should flow to. Therefore, the second workstation pointed to by the first workstation can be determined based on the workstation parameters of the first workstation.

[0048] In some embodiments, based on the pointing object information of each workstation, the pointing relationships between workstations can be divided into unidirectional pointing relationships and bidirectional pointing relationships. A unidirectional pointing relationship means that the corresponding workstation only points to other workstations. A bidirectional pointing relationship means that the corresponding workstation points to other workstations and is pointed to by other workstations. In other words, when a workstation has a unidirectional pointing relationship, the workstation can point to one or more other workstations; however, the workstation will not be pointed to by one or more other workstations. For example, as... Figure 5 As shown, Figure 5 In this context, P1 and P2 represent multiple workstations corresponding to the same type of process. P2 has a bidirectional pointing relationship, while P1 has a unidirectional pointing relationship. Figure 5 P1 and P3 in the diagram have a unidirectional pointing relationship; they can point to another workstation, but that workstation cannot be pointed to by one or more other workstations. For example, as... Figure 6 As shown, Figure 6 In this context, P1 and P2 represent multiple workstations corresponding to the same type of process. P2 and P3 have a bidirectional pointing relationship, while P1 has a unidirectional pointing relationship. P3 points to another workstation and is pointed to by one or more other workstations.

[0049] When a workstation has a bidirectional pointing relationship, it can point to one or more other workstations, and it can also be pointed to by one or more other workstations. For example, as... Figure 7 As shown, P1, P2, and P3 all have bidirectional pointing relationships. P1 and P2 correspond to multiple workstations of the same type of process, and P3 can point to one or more other workstations (such as...). Figure 7 (P3 points to P1 and P2).

[0050] If the first workstation has a unidirectional pointing relationship, it will not be pointed to by one or more other workstations. If the first workstation has a bidirectional pointing relationship, it will be pointed to by one or more other workstations. However, regardless of whether the first workstation has a unidirectional or bidirectional pointing relationship, it will point to at least one other workstation according to its configuration. When the first workstation points to only one other workstation, the workstation uniquely pointed to by the first workstation is determined as the second workstation. When the first workstation points to multiple other workstations, the workstation that is first queried among the multiple workstations pointed to by the first workstation can be determined as the second workstation. Alternatively, a workstation can be selected as the second workstation based on its priority (or sequence number) among the multiple workstations pointed to by the first workstation. Alternatively, workstations can be scored based on factors such as availability, distance, and task urgency, and the workstation with the highest score can be selected as the second workstation.

[0051] Therefore, by reading and parsing the parameters of the first work station, the first work station that the moving submodule can go to next can be obtained.

[0052] Step S303: Determine the next target work station based on the work station parameters of the second work station; wherein the target work station is either the second work station or the third work station, and the third work station is a work station of the same type of process as the second work station.

[0053] In some embodiments, the workstation parameters may also include usage status information. If the usage status information of the second workstation indicates that it is in an idle state, then the second workstation is the next target workstation, and the control submodule can be controlled to go directly to that point to perform the corresponding process task.

[0054] If the usage status information of the second work station indicates that it is occupied and is in an occupied state, and there are other work stations with the same type of operation as the second work station, then by querying other work stations with the same type of operation as the second work station (e.g., the third work station), available alternative options are found, thereby providing more options for the next target work station of the first action submodule.

[0055] Through the above steps, intelligent management and dynamic scheduling of workstation resources for the same type of process are achieved, ensuring that the motion module can perform process tasks efficiently, while reducing congestion and resource waste at workstations.

[0056] Step S304: Among multiple movement paths, obtain the target path sequence corresponding to the first moving submodule moving to the next target work point.

[0057] In some embodiments, after determining the next target work station, a target path sequence corresponding to the movement of the first moving submodule to the next target work station is determined based on multiple movement paths provided by the stator module. For example, all relevant movement paths from the first work station to the next target work station (which may be the second or third work station, depending on the target work station selection strategy) are identified. Depending on whether the next target work station is specifically the second or third work station, the target path sequence may include different movement paths, which may depend on the layout of the stator module and the configuration of work stations corresponding to the same type of process.

[0058] Optionally, when the first work station and the next target work station are located on different movement paths, the target path sequence may or may not include the movement path where the first work station is located. If there are multiple selectable movement paths between the first moving submodule and the next target work station, one of the multiple selectable movement paths is selected as the target path according to a selection strategy.

[0059] It should be noted that the target path sequence may include one or more target paths, and when there are multiple target paths in the target path sequence, the multiple target paths have an order relationship.

[0060] For example, such as Figure 4 The workstations P1, P2, P3, P4, and P5 are shown. Assuming the first workstation is P1 and the next target workstation is P2, the target path sequence can include movement path L1 and movement path L2-1, or it can include movement path L2-1. When the target path sequence includes movement path L1 and movement path L2-1, movement path L1 corresponds to order 1, and movement path L2-1 corresponds to order 2, thus representing the order relationship from movement path L1 to movement path L2-1.

[0061] By obtaining the target path sequence for the first moving submodule, it is ensured that it can move efficiently and orderly in scenarios with multiple movement paths, reducing the waiting time caused by improper path selection and avoiding unnecessary blocking and resource waste.

[0062] Step S305: Based on the target path sequence, control the first moving submodule to move to the next target work point.

[0063] In some embodiments, after the target path sequence is determined, the first moving submodule is controlled to move along at least one moving path according to the guidance of the target path sequence, thereby moving to the next target work site.

[0064] The solutions provided in this application can be applied to different production scenarios. In some embodiments, the solutions provided in this application can be applied to automated assembly production scenarios, which include different types of processes such as loading, welding, assembly, quality inspection, and unloading. Based on the different types of processes, work points are configured along the stator module formed by splicing commutating stator modules and non-commutating stator modules. Assume that the moving submodule M1 is currently cooperating with the welding equipment at work point P1 to perform a welding process. After welding is completed, the moving submodule M1 is identified as the first moving submodule, and work point P1 is identified as the first work point. Based on the target information of the first work point, the second work point P2 corresponding to the assembly process is determined. Based on the usage status information of the second work point P2, the next target work point is determined to be either the second work point P2 or the third work point P4 corresponding to the same assembly process. Assume that work point P4 is determined as the first target work point. The target path sequence from work point P1 to work point P4 is determined through analysis. Finally, a movement command is sent to the moving submodule M1. Based on the determined target path sequence, the moving submodule M1 is guided to start from work point P1 and eventually reach the next target work point P4 to start the assembly process.

[0065] In summary, by adopting the technical solution provided in this application embodiment, the first moving submodule and its current first work station are identified, and the second work station is determined by combining the work station parameters of the first work station. Then, based on the work station parameters of the second work station, the second work station or a third work station of the same type is flexibly selected as the next target work station. This reduces the number of moving submodules corresponding to the same type of process by distributing the second and third work stations, thereby reducing the process execution pressure of each work station. In a multi-path environment, more path options can be provided for the first moving submodule to reach the target work station, effectively avoiding the problem of the moving submodule being unable to detour due to the occupation of other work stations in a single movement path scenario. This reduces the overall process flow blockage. Through the target path sequence, it is ensured that the first moving submodule can move smoothly from the first work station to the target work station, improving the passage efficiency of the moving submodule and the overall work efficiency. Therefore, the technical solution provided by the embodiments of this application overcomes the problem of low efficiency caused by the sequential movement of the moving sub-module along a single path in the prior art, enhances the control flexibility of the moving sub-module, reduces the time delay caused by the occupation of work points, coordinates the cycle time of work points of various types of processes, and improves the overall working efficiency of the moving module.

[0066] Optionally, in the moving submodule control method provided in this application embodiment, among multiple moving paths, obtaining the target path sequence corresponding to the first moving submodule moving to the next target work point includes: setting the moving path related to the first moving submodule moving to the next target work point as the target path according to the position measurement information of the first moving submodule, the position configuration information of the next target work point and the connection relationship information of multiple moving paths, thereby obtaining the target path sequence.

[0067] Among them, the connection relationship information of multiple movement paths is used to determine how multiple movement paths are connected. In addition, the connection relationship information of multiple movement paths can also be used to determine at least one of the following information: the distribution of moving sub-modules in multiple movement paths, the distribution of work points in multiple movement paths, the path length of multiple movement paths, and the priority of multiple movement paths, so as to facilitate path planning.

[0068] In some optional embodiments, the position measurement information of the first moving submodule and the position configuration information of the next target workstation are obtained. Path planning is performed based on the position measurement information of the first moving submodule, the position configuration information of the next target workstation, and the connection information of multiple movement paths. The movement path related to the first moving submodule moving to the next target workstation is set as the target path, thereby obtaining a target path sequence. For example, multiple candidate path sequences that can reach the next target workstation can be determined first, and then one of the candidate path sequences is selected as the target path sequence. The target path sequence can be determined based on at least one of the following: the total length of the movement paths in the candidate path sequences, the number of movement paths in the candidate path sequences, whether the movement paths in the candidate path sequences have workstations, and whether the workstations are occupied.

[0069] In an alternative embodiment, such as Figure 4 As shown, multiple workstations include workstations P1 to P5. Assuming the first workstation is P4 and the next target workstation is P3, the movement path sequence can include two sequences: Path Sequence 1 and Path Sequence 2. Path Sequence 1 includes movement path L4-2 (not passing through workstation P5), movement path L4-1, movement path L3, and movement path L2-2. Path Sequence 2 includes movement path L4-2 (passing through workstation P5), movement path L3, and movement path L2-2. One of Path Sequence 1 and Path Sequence 2 is selected as the target path sequence for moving from P4 to P3. Through dynamic programming and immediate selection of the optimal path sequence, P3 can be reached from P4 in a shorter time, reducing waiting time and congestion during movement, thus improving movement efficiency.

[0070] By introducing a dynamic path planning mechanism into the multi-path work point control method, suitable movement paths can be quickly identified, improving the movement efficiency of the moving sub-modules.

[0071] Optionally, in the moving submodule control method provided in this application embodiment, setting the movement path related to the first moving submodule moving to the next target work point as the target path includes: setting the movement path where the next target work point is located as the target path; if there is a movement path that the first moving submodule and the next target work point must pass through, setting it as the target path; if there are multiple movement paths that the first moving submodule and the next target work point can pass through, selecting at least one movement path from the multiple movement paths that the moving submodule can pass through and setting it as the target path according to the connection relationship information of the multiple movement paths.

[0072] In some embodiments, since the movement path to the next target work site is a path that must be reached, the movement path to the next target work site is set as the target path.

[0073] In some embodiments, if the next target work station and the first work station are not on the same movement path and are not adjacent to each other, the movement path that the first moving submodule will definitely pass through when moving to the next target work station is set as the target path.

[0074] In some embodiments, if there are multiple movement paths available for the moving submodule, at least one movement path can be randomly selected as the target path. Alternatively, at least one movement path can be selected as the target path based on at least one of the following: the distribution of the moving submodule in the multiple movement paths, the distribution of the work point in the multiple movement paths, the path length of the multiple movement paths, and the priority of the multiple movement paths, as determined by the connection relationship information of the multiple movement paths.

[0075] Based on the distribution of the moving submodules across multiple movement paths, the congestion level of the available movement paths can be predicted. Based on the distribution of workstations across multiple movement paths, it can be determined whether workstations are set up on the available movement paths and whether those workstations are occupied. Based on the path lengths of the multiple movement paths, the time required for the moving submodule to reach the next target workstation using each available movement path can be determined. The priority of the multiple movement paths can be manually set.

[0076] In an alternative embodiment, such as Figure 4As shown, the first moving submodule needs to move from P4 to P1. Therefore, movement path L1, where P1 is located, is a necessary path to reach P1, and thus, movement path L1 is designated as the target path. Movement path L3 is a path that the first moving submodule will definitely traverse along the way, and therefore, movement path L3 is also designated as the target path. Movement paths L2-1 and L2-2 are multiple movement paths available to the moving submodule, and one of them can be selected as the target path.

[0077] Through the above scheme, the control method of the moving submodule can provide more reliable path planning, effectively reduce the efficiency reduction and resource waste caused by improper path selection, reduce waiting time, and thus improve the overall process execution efficiency of the moving submodule.

[0078] Optionally, in the motion control method provided in this application embodiment, obtaining the target path sequence corresponding to the first moving submodule moving to the next target work point includes: when the third work point is determined as the next target work point, and the third work point and the second work point are on the same motion path, if there is a detourable motion path, a target path is selected from the detourable motion paths to obtain the target path sequence.

[0079] In some embodiments, when a third work station is identified as the next target work station, it is detected whether the third work station and the second work station are on the same movement path. If they are, it is checked whether there is a detour path to the target work station (i.e., the third work station), in addition to directly traversing the current path. The detour path can be formed through other work stations, branches, or loops, providing additional movement options for the moving submodule. If a detour path exists, one is selected as the target path. For example, a detour path can be selected as the target path based on path length, path congestion, energy consumption on the path, and path safety, resulting in a target path sequence to ensure the moving submodule can move to the target work station in the most efficient way. When the third work station is identified as the next target work station, it indicates that the second work station is occupied. Selecting the path where the third and second work stations are located as the target path may cause congestion. Therefore, if a detour path exists, the target path is selected from the detour paths, resulting in a target path sequence.

[0080] In some embodiments, such as Figure 8As shown, the workstations include P1-P5, and the movement paths include movement paths L1, L2-1, L2-2, L3, L4-1, and L4-2. P5 is the third workstation and is identified as the next target workstation. P4 is the second workstation. The first moving submodule needs to be moved from P3 to P5. P4 and P5 are on the same movement path (movement path L4-2). Therefore, it is necessary to check if there is a detour path. Figure 8 If a detour path (movement path L4-1) exists, then movement path L4-1 can be determined as the target path.

[0081] The flexible application of detour routes can reduce waiting time caused by path congestion, speed up the turnaround rate of moving sub-modules, and improve overall operation efficiency.

[0082] Optionally, in the moving submodule control method provided in this application embodiment, the multiple movement paths include a main path and branch paths, with at least one main path and multiple branch paths connected. The main path is used for the unified movement of multiple moving submodules, and the multiple branch paths are used for the selective movement of multiple moving submodules. Based on the connection relationship information of the multiple movement paths, selecting at least one movement path as the target path from among the multiple movement paths available for the moving submodules includes at least one of the following: among the multiple branch paths connected to the same main path, selecting one branch path as the target path based on at least one of the following: the distribution of moving submodules, the distribution of work points, and the path length; or among the multiple branch paths connected to the same main path, selecting one branch path as the target path based on the preset priority information of the branch paths.

[0083] In some embodiments, multiple movement paths include a main path and branch paths. The main path is used for the unified movement of multiple moving submodules and connects multiple branch paths. Branch paths provide selectable movement routes for the moving submodules, connecting to the main path, allowing the moving submodules to choose their movement based on actual conditions. For example, ... Figure 4 As shown, movement paths L1 and L3 are the main paths, while movement paths L2-1, L2-2, L4-1, and L4-2 are the branch paths.

[0084] In some embodiments, among multiple branch paths connecting the same main path, the most suitable branch path is selected based on information such as the distribution of moving sub-modules, the distribution of work points, and the length of the path.

[0085] For example, in an automated warehouse, if a certain area on the main path has a high density of moving sub-modules, a branch path with fewer moving sub-modules can be selected as the target path. This ensures the rapid passage of moving sub-modules, reduces waiting time, and improves overall efficiency. Alternatively, a shorter branch path can be selected as the target path based on the path length. Considering the usage status and distribution of workstations, paths with fewer or no workstations can be selected to ensure that moving sub-modules can quickly reach their destination and begin performing relevant tasks without waiting due to workstation occupancy.

[0086] For example, such as Figure 9 Given the multiple movement paths shown, if the moving submodule needs to move from P1 to P2, the corresponding branch paths are movement path L2-1, movement path L2-2, movement path L2-3, and movement path L2-4. Considering path length, the relatively shorter movement path L2-3 can be chosen as the target path. Considering the distribution of workstations, either movement path L2-1 or movement path L2-3 can be selected as the target path. If, given the distribution of moving submodules, the moving submodules on movement path L2-4 are more densely packed than those on movement path L2-2, then movement path L2-2 can be chosen as the target path.

[0087] By dynamically selecting the movement path of the moving submodule, unnecessary waiting and path congestion are reduced, thus improving the movement efficiency of the moving submodule.

[0088] In some embodiments, among multiple branch paths, each path can be assigned different priorities based on its characteristics (such as path length, work station type, etc.). When selecting a target path, these preset priority information will be given priority, and the path with the higher priority will be selected as the target path.

[0089] For example, in some cases, certain branch paths can be designed as fast lanes for urgent movement tasks, while other branch paths serve as regular or low-priority paths. When planning routes, fast lanes are prioritized to ensure rapid task execution.

[0090] By introducing priority planning into multiple branch paths, the flexibility and response speed of the control submodule are improved.

[0091] Optionally, in the moving submodule control method provided in the embodiments of this application, before identifying the first moving submodule and the first working point among multiple moving submodules and multiple working points, the method further includes one of the following: detecting that the operating equipment has completed the process operation; detecting that the moving submodule has reached the target working point, wherein the target working point is a non-operating working point or an operating working point, the non-operating working point is configured in the track area of ​​the stator module that does not correspond to the operating equipment, and the operating working point is configured in the track area of ​​the stator module that corresponds to the operating equipment.

[0092] In some embodiments, to achieve uninterrupted movement of the moving submodule, the first moving submodule and the first work point can be identified when the operation device completes its process operation. It should be noted that if the work point is configured in the track area of ​​the corresponding operation device in the stator module, this work point is an operation work point. After the moving submodule reaches the work point, it will interact with the operation device. After detecting that the operation device has completed its process operation, it can be determined that the moving submodule has completed its process task. Therefore, the first moving submodule and the first work point can be identified when the operation device completes its process operation.

[0093] In some embodiments, multiple operating devices may simultaneously or nearly simultaneously provide information on the completion of a process operation in practical applications. Therefore, the information on the completion of a process operation provided by the operating devices may carry identification information related to the moving submodule or the work station, so that at least one of the first moving submodule and the first work station can be determined based on the information on the completion of the process operation.

[0094] For example, the moving submodule M1 is responsible for transporting semi-finished parts from the storage area to the welding station P1, where the welding equipment completes the welding task. After the welding equipment completes the welding, it sends process operation completion information with the identifiers M1 and / or P1, which can then be used to identify the first moving submodule and the first welding station.

[0095] The process operation is completed by detecting the operating equipment, and the first moving sub-module and the first work point are identified in real time. After completing the current task, the moving sub-module can immediately accept the new task assignment without waiting for additional confirmation, realizing seamless conversion between tasks and significantly speeding up the overall production process.

[0096] In some embodiments, the first moving submodule and the first workstation can be identified after the moving submodule is detected to have arrived at the target workstation. This is because the target workstation to which the moving submodule is assigned is a workstation where no operation of the equipment is required, therefore, the identification of the first moving submodule and the first workstation can be performed after the moving submodule is detected to have arrived at the target workstation.

[0097] In some embodiments, multiple moving sub-modules may arrive at the corresponding target work point simultaneously or nearly simultaneously in practical applications. Therefore, the arrival information generated upon triggering can carry identification information related to the moving sub-module or work point, so that at least one of the first moving sub-module and the first work point can be determined based on the arrival information.

[0098] For example, moving submodules M1 and M2 are each responsible for transporting two batches of goods from the goods receiving area to inspection station P1 for preliminary size and weight checks. Inspection station P1, as a non-operational workstation, does not involve any assembly or processing equipment; it is simply a location confirmation and goods status checkpoint. When M1 and M2 arrive at P1 almost simultaneously, they send arrival information carrying their respective identifiers (M1, M2) and / or workstation identifier (P1), thereby determining at least one of the first moving submodule and the first workstation based on the identifiers (M1, M2) and / or workstation identifier (P1).

[0099] When no operation is required at a workstation, when the moving submodule arrives at the workstation, the first moving submodule and the first workstation are identified based on the arrival identification information, ensuring that the moving submodule can quickly switch to the next task, further improving the efficiency of continuous task execution.

[0100] In some embodiments, the appropriate timing for identifying the first moving submodule and the first workstation can be determined according to actual needs. For example, if the identification timing is when the operating equipment completes the process operation and the moving submodule reaches the target workstation, then the identification of the first moving submodule and the first workstation should only be performed when both conditions are met. Alternatively, if the identification timing is when the operating equipment completes the process operation or the moving submodule reaches the target workstation, then the identification of the first moving submodule and the first workstation can be performed when either condition is met.

[0101] Optionally, in the submodule control method provided in the embodiments of this application, detecting that the operating device has completed the process operation includes at least one of the following: detecting that at least one operating device has completed the process operation; detecting that all operating devices of the same type of process have completed the process operation.

[0102] In some embodiments, moving submodules located at multiple workstations of the same type of process can include both synchronous and asynchronous control methods. For example, in asynchronous control, when at least one operating device completes its assigned process operation, the first moving submodule and the first workstation are immediately activated, thereby achieving asynchronous control of the moving submodule. Asynchronous control ensures that the corresponding moving submodule can be immediately rescheduled after each process operation is completed, reducing waiting time and improving the control efficiency of the moving submodule.

[0103] For example, synchronous control requires the first moving submodule and the first workstation to be activated only after all operating equipment of the same type of process has completed its operation, thereby achieving synchronous control of the moving submodules. Under synchronous control, the scheduling of batch moving submodules helps optimize the resource allocation of equipment and moving submodules, reducing unnecessary repetitive operations or waiting time.

[0104] Optionally, in the moving submodule control method provided in the embodiments of this application, detecting that the moving submodule has reached the target work point includes at least one of the following: detecting that the moving submodule has moved to the corresponding target work point; detecting that the moving submodule has stopped at the corresponding target work point.

[0105] In some embodiments, the workstation assigned to the moving submodule may not require the operation of the equipment to perform the corresponding process, but it may still be necessary for the moving submodule to stop at the target workstation, for example, for status confirmation. Alternatively, the moving submodule may not need to stop at the target workstation, for example, loading or unloading may occur as the moving submodule passes through the workstation. Therefore, detecting that the moving submodule has reached the target workstation may include at least one of the following: detecting that the moving submodule has moved to the corresponding target workstation; detecting that the moving submodule stops at the corresponding target workstation.

[0106] For example, when the moving submodule is detected to have moved to the corresponding target work point, the first moving submodule and the first work point are immediately identified; alternatively, when the moving submodule is detected to have remained at the corresponding target work point for a preset time, the first moving submodule and the first work point are identified.

[0107] The flexible detection mechanism can adapt to various needs of the moving sub-module at non-operation workstations. Whether it is a status confirmation that the moving sub-module needs to stay or a quick passage that does not need to stay, it can be identified and responded to in real time, realizing the continuity and efficiency improvement of the production process.

[0108] Optionally, in the sub-module control method provided in this application embodiment, determining the next target workstation based on the workstation parameters of the second workstation includes at least one of the following: when the usage status information of the second workstation indicates an idle state, the second workstation is determined as the next target workstation; when the usage status information of the second workstation indicates an occupied state, based on preset query rule parameters, a query is performed to determine whether a third workstation exists, and if a third workstation is found, the usage status information of the third workstation is obtained to determine the next target workstation; wherein, the query rule parameters are determined based on the layout and pointing relationship of multiple workstations of the same process type; the third workstation is a workstation pointed to only by the first workstation, or the third workstation is a workstation not pointed to by other workstations.

[0109] In some embodiments, it is determined whether to designate the second work station as the next target work station based on the usage status information in the work station parameters of the second work station. For example, if the usage status information indicates that the second work station is in an idle state, then the second work station is designated as the next target work station.

[0110] In some embodiments, if the status information indicates that the second workstation is occupied, preset query rule parameters are obtained to query whether a third workstation currently exists. It should be noted that the query rule parameters can be determined based on the layout and directional relationships of multiple workstations of the same process type. The layout refers to the spatial location and distribution of workstations on the production or logistics line, and the directional relationships between workstations. For example, in actual deployment of workstations, concentrating multiple workstations of the same process type in the same area can reduce the movement distance and time required for the moving submodule to find alternative workstations. When searching for a third workstation, workstations located within the same area are searched to minimize the cost of repositioning the moving submodule.

[0111] Furthermore, the pointing relationships between workstations indicate which workstation the first moving submodule should move to from its current workstation. When the second workstation is occupied and the pointing relationship is bidirectional, the third workstation can be found through the pointing relationships between workstations. Therefore, the query rule parameters can be determined based on the layout and pointing relationships of multiple workstations of the same process type.

[0112] In some embodiments, query rule parameters may include, but are not limited to, query reference object information, query method information, and query cutoff condition information. Query reference object information refers to which workstation needs to be referenced when querying the third workstation. Query method information describes how to query the third workstation; for example, it can be queried in ascending, descending, or random order of workstation number, or it may be based on the workstation's location information, querying in order of proximity to the second workstation. The choice of query method can consider the actual layout of the workstations and the movement characteristics of the moving submodules to find an available third workstation as quickly as possible and reduce the waiting time of the moving submodules. Query cutoff condition information refers to the conditions for stopping the query; for example, the query stops when a third workstation is found.

[0113] In some embodiments, the pointing relationship between multiple workstations can be divided into unidirectional pointing relationship and bidirectional pointing relationship.

[0114] Under a unidirectional pointing relationship, among multiple workstations corresponding to the same type of process, some workstations only have a unidirectional pointing relationship, while others have a bidirectional pointing relationship (e.g., ...). Figure 6In this context, P1 and P2 represent multiple workstations corresponding to the same type of process. P2 has a bidirectional pointing relationship, while P1 has a unidirectional pointing relationship. A workstation can only point to another workstation, but a workstation can be pointed to by multiple different workstations (e.g., ...). Figure 6 (P3 in the text). Under a unidirectional pointing relationship, the second work point pointed to by the first work point all come from work points with a bidirectional pointing relationship (such as...). Figure 6 Assuming P3 is the first work station, according to the pointing object information, P3 points to P2, and P2 is the second work station. The third work station, which corresponds to the same type of process as the second work station, all originate from work stations with a unidirectional pointing relationship (e.g., ...). Figure 6 (P1 in the middle).

[0115] Under a bidirectional pointing relationship, among multiple workstations corresponding to the same type of process, each workstation has a bidirectional pointing relationship; a workstation can be pointed to by multiple different workstations, or it can point to multiple workstations. For example... Figure 7 As shown, P1, P2 and P3 all have a bidirectional pointing relationship.

[0116] When the pointing relationship can be divided into unidirectional and bidirectional pointing relationships, the third work point can be a work point that is pointed to only by the first work point (corresponding to a bidirectional pointing relationship), or the third work point can be a work point that is not pointed to by any other work points (corresponding to a unidirectional pointing relationship). It should be noted that other work points refer to work points other than the third work point.

[0117] In some embodiments, when a third work site is found, the usage status information of the third work site is obtained, and the next target work site is determined based on the usage status information of the third work site. For example, if the third work site is in an idle state, the third work site is set as the next target work site.

[0118] In some embodiments, when the usage status information of the second work site is in an occupied state, the usage status information of each third work site can be obtained after all third work sites have been queried; alternatively, the usage status information of a third work site can be obtained after a third work site has been queried.

[0119] By querying the rule parameters, when the second workstation is occupied, a free third workstation can be quickly found as a replacement, realizing efficient management and scheduling of workstations and reducing the waiting time and movement cost of the moving submodule.

[0120] Optionally, in the submodule control method provided in this application embodiment, after obtaining the usage status information of the third work station when the third work station is found, the method further includes: setting the third work station whose usage status information indicates an idle state as the next target work station; if there is no third work station whose usage status information indicates an idle state, selecting one of the second work station and the third work station as the next target work station.

[0121] In some embodiments, when a third work site is found and it is determined that a third work site is in an idle state, the third work site is set as the next target work site.

[0122] In some embodiments, if all queried third workstations are found to be occupied, one of the second or third workstations can be selected as the next target workstation. For example, if the expected waiting time for the second workstation is short and its subsequent processes will not be significantly affected, then the second workstation can be set as the next target workstation. Alternatively, if the expected waiting times for all third and second workstations are long, a more suitable workstation can be selected as the next target workstation based on other priority conditions (such as distance, resource allocation priority, etc.) to minimize overall waiting time and resource waste.

[0123] By prioritizing the selection of the third workstation in an idle state, the sub-module can be quickly scheduled to execute subsequent processes, thereby improving the overall execution efficiency of the process.

[0124] Optionally, in the sub-module control method provided in the embodiments of this application, after querying whether a third work point exists, the method further includes: if no third work point is found, setting the second work point as the next target work point.

[0125] In some embodiments, when the second work station is occupied and no third work station is found, the second work station is set as the next target work station, ensuring the continuity of the submodule's work process. At the same time, through reasonable waiting and resource optimization, the overall efficiency and stable operation capability of the automation system are improved.

[0126] Optionally, in the submodule control method provided in this application embodiment, querying whether a third work station exists based on preset query rule parameters includes at least one of the following: querying whether a third work station exists based on at least one of the work station number information, location information, and movement path information of the second work station; or querying whether a third work station exists based on the pointing object information of the first work station.

[0127] In some embodiments, when the pointing relationship can be divided into unidirectional and bidirectional pointing relationships, querying whether a third workstation exists based on preset query rule parameters includes: Method 1: Querying whether a third workstation exists based on the relevant parameters of the second workstation; Method 2: Querying whether a third workstation exists based on the relevant parameters of the first workstation. That is, the reference objects for the query differ when the pointing relationship can be divided into unidirectional and bidirectional pointing relationships.

[0128] In the case of a one-way pointing relationship, all workstations with the same type of process as the second workstation are workstations with a one-way pointing relationship. Therefore, it is necessary to refer to the relevant parameters of the second workstation to check whether a third workstation exists. For example, based on the workstation number information of the second workstation, start searching for the existence of a third workstation from the workstation closest to the workstation number; or, based on the location information of the second workstation, start searching for the existence of a third workstation from the point closest to the second workstation; or, based on the movement path information of the second workstation, start searching for the existence of a third workstation from the movement path.

[0129] In some embodiments, the existence of a third workstation can be queried by combining the workstation number information, location information, and movement path information of the second workstation. For example, the location information and movement path information of the second workstation can be used simultaneously to search for the third workstation starting from the workstation closest to the second workstation and located on the same or connected movement path. Alternatively, the workstation number information, location information, and movement path information of the second workstation can be used simultaneously to search for the third workstation starting from the workstation with the smaller number, closest to the second workstation, and located on the same or connected movement path.

[0130] In the case of a bidirectional pointing relationship, where all workstations are bidirectionally pointing to each other, the existence of a third workstation can be queried by referring to the relevant parameters of the first workstation. That is, based on whether the first workstation has other pointing objects, the existence of a third workstation can be queried. For example, a third workstation can be identified as a workstation that the first workstation does not point to for the first time, or as a workstation that is not selected for the first time among multiple workstations pointed to by the first workstation.

[0131] By distinguishing between unidirectional and bidirectional pointing relationships, multiple strategies for querying the third work station are provided, improving the scheduling efficiency and flexibility of the dynamic submodule.

[0132] Optionally, in the submodule control method provided in this application embodiment, when querying whether a third workstation exists, the method further includes: stopping the query operation when a query cutoff condition is triggered; wherein, the query cutoff condition includes at least a first cutoff condition or a second cutoff condition, the first cutoff condition is used to indicate that the query is stopped when a third workstation with an idle status is found; the second cutoff condition is used to stop the query when no third workstation is found or when all third workstations have been found.

[0133] In some embodiments, the query cutoff condition is used to determine when to stop the query when querying the third workstation. The query operation will stop when the query cutoff condition is detected to be triggered. It should be noted that the query cutoff condition includes, but is not limited to, a first cutoff condition or a second cutoff condition.

[0134] The first cutoff condition is to stop the query when any third workstation with an idle status is found. For example, when the first third workstation is found, if the usage status information of the first third workstation indicates that it is idle, then the query operation is stopped.

[0135] The second cutoff condition is to stop the query when no third workstation is found, or when all third workstations have been queried. For example, when querying for the existence of a third workstation based on the target information of the first workstation, if the first workstation has no additional target, the query stops. As another example, if all third workstations have been found based on the target information of the first workstation, the query stops.

[0136] In some embodiments, cutoff conditions can be set based on the number of queried workstations, the serial number of the queried workstation, and the distance between the queried workstation and the second workstation. For example, the query stops when the number of queried workstations reaches a set workstation number threshold; or a serial number threshold can be set to limit the search range. The serial number threshold can be a fixed offset value relative to the second workstation. If the serial number of the second workstation is 10 and the set serial number threshold is ±5, then the query will be limited to workstations with serial numbers between 5 and 15; or a distance threshold can be set, and the query stops when the distance between the queried workstation and the second workstation has reached the distance threshold.

[0137] Introducing query cutoff conditions can reduce unnecessary query iterations and ensure that effective scheduling decisions are made within a limited time, thereby reducing system response latency caused by infinite queries.

[0138] Optionally, in the submodule control method provided in this application embodiment, querying whether a third workstation exists based on at least one of the workstation number information, location information, and movement path information of the second workstation includes at least one of the following: selecting a workstation whose process type information is the same as that of the second workstation as the third workstation based on at least one of the workstation number information, location information, and movement path information of the second workstation; or selecting a workstation that meets the query threshold condition information and whose working mode information is non-independent based on at least one of the workstation number information, location information, and movement path information of the second workstation as the third workstation.

[0139] In some embodiments, a third workstation can be selected based on at least one of the workstation number, location, and movement path information of the second workstation. For example, a third workstation can be searched based on its workstation number. If the second workstation's number is 10, all workstations with the same process type as the second workstation can be searched in ascending or descending order of their numbers (depending on the specific scenario and workstation layout) until a query cutoff condition is triggered. Alternatively, a third workstation can be searched based on its location. All workstations with the same process type as the second workstation can be searched in ascending order of distance based on the location of the second workstation until a query cutoff condition is triggered. Finally, a third workstation can be searched based on its movement path. This involves searching for workstations located on the same path as or directly connected to the second workstation to determine if a third workstation exists.

[0140] In some embodiments, the existence of a third workstation can be queried based on the workstation number information of the second workstation, following an increasing and / or decreasing sequence number direction; the existence of a third workstation can also be queried based on the location information of the second workstation, following a decreasing distance direction. Furthermore, the existence of a third workstation can be queried along the movement path of the second workstation and other corresponding connected movement paths.

[0141] By querying workstation locations using workstation number information, location information, and movement path information, the system can dynamically adjust the query direction and filtering conditions based on current work requirements, workstation layout, and the actual location of the moving sub-module, thereby quickly locating the most suitable third workstation.

[0142] In some embodiments, a workstation that meets the query threshold condition information and the work mode information of the second workstation can be designated as a third workstation based on at least one of the workstation number information, location information, and movement path information.

[0143] It should be noted that the query threshold conditions may include at least one of the following: the number of queried workstations, the serial number of the queried workstation, and the distance between the queried workstation and the second workstation. The independent mode indicates that the workstation is not one of multiple workstations of the same type of process, meaning that the type of process corresponding to this workstation does not correspond to other workstations. The non-independent mode indicates that the workstation is one of multiple workstations corresponding to the same type of process.

[0144] In some embodiments, query threshold conditions can be set. These conditions can be the number of workstations being queried, the workstation number, or the distance between a workstation and a second workstation. For example, for a third workstation query based on workstation number information, assuming the second workstation P2 has a number of 10, the set query threshold condition for workstation numbers is ±5. This means only workstations with numbers between 5 and 15 are queried, further filtering out workstations whose working mode is non-independent, i.e., these workstations belong to the same type of process group. For example, if workstations P8 (number 8) and P12 (number 12) belong to the same type of process group, and P8 is currently idle, then P8 will be identified as the third workstation.

[0145] For example, a third work site query based on location information sets a query threshold condition based on the location information, such as querying only work sites located within a 10-meter radius of P2. Then, the third work site is determined by searching for work sites with non-independent patterns located within a 10-meter radius of P2.

[0146] For example, when querying the third work site based on the movement path information, if the query threshold condition is set to only query work sites within a 10-meter range around the second work site, then along the movement path where the second work site is located and the other movement paths connected to it, the work sites located on the movement path and the other movement paths connected to it and within a 10-meter range are searched, and the work sites with the work mode information of non-independent mode are designated as the third work sites.

[0147] By using at least one of the following thresholds—the number of workstations, the workstation serial number, and the workstation distance—the query scope is limited. This allows for scenarios where multiple workstations exist for different types of processes, eliminating the need to identify which specific process each workstation corresponds to. Instead, workstations are set to independent modes, and the scope is limited based on the query threshold conditions. The workstation number threshold limits the total number of workstations considered in a single query, avoiding the time-consuming and resource-wasting process of checking every single workstation. The workstation serial number threshold narrows the search target by limiting the range of serial numbers, ensuring that only workstations logically related to the second workstation are considered. The workstation distance threshold prioritizes physically close workstations by setting a maximum allowed distance to the second workstation. This not only accelerates the search for workstations but also promotes rapid movement of sub-modules, saving time and costs.

[0148] Optionally, in this embodiment of the application, querying whether the third work site exists based on preset query rule parameters further includes: determining the query direction based on at least one of the work site number information, location information, and movement path information of the second work site, so as to query whether the third work site exists based on the query direction.

[0149] In some embodiments, the query direction can be determined first based on at least one of the workstation number, location, and movement path information of the second workstation. For example, based on the workstation number information of the second workstation, the query can be performed to determine whether a third workstation exists in an ascending and / or descending direction. Alternatively, based on the location information of the second workstation, the query can be performed to determine whether a third workstation exists between the second workstation and the first workstation in an ascending and / or descending distance direction. Furthermore, based on the movement path information, the query can be performed to determine whether a third workstation exists along the movement path of the second workstation and other corresponding connected movement paths. It should be noted that the workstation number, location, and movement path information of the second workstation can be considered as preset query rule parameters.

[0150] For example, a search direction can be preset by comparing the workstation number of the second workstation with the maximum number in the entire workstation set. Assuming the second workstation's number is 10 and the maximum number is 20, the search direction can be set to search from high numbers (e.g., 20) to low numbers (decreasing), or from the second workstation's number to higher numbers (increasing). This search strategy helps to quickly locate the third workstation with the same process type as the second workstation.

[0151] For example, the query direction can be determined by the location information of the second workstation, either increasing or decreasing in distance. For instance, if the goal is to reduce local congestion, a decreasing distance query would start from the furthest workstation to avoid searching for alternative workstations in congested areas. A increasing distance query would start from the location information of the second workstation.

[0152] For example, queries can also be performed along the movement path where the second work station is located and other connected movement paths. This query strategy can fully utilize the advantages of multiple paths to quickly locate available work stations of the same type on the path, ensuring the flexibility of the moving submodule in selecting processes.

[0153] By determining the query direction and the first candidate work site for target location, an available third work site can be found in a shorter time, significantly improving scheduling efficiency.

[0154] Optionally, in the moving submodule control method provided in this application embodiment, determining the query direction based on at least one of the workstation number information, location information, and movement path information of the second workstation includes: when the second workstation is the workstation farthest from the first workstation among multiple workstations corresponding to the same type of process, the query direction is determined to be the direction of approaching the first workstation starting from the second workstation.

[0155] In some embodiments, if the work point ranking and work point distribution are linearly related, there is a predictable relationship between the work point number and its physical location. For example, a work point with a higher number usually corresponds to a later executed process; that is, according to the movement direction of the moving submodule, a work point with a higher number is farther from the starting position of the moving submodule. Therefore, when the work point ranking and distribution are linearly related, and multiple work points of the same type are configured, if the work point that can be used as the first work point is configured to point to the work point farthest away among the multiple work points of the same type, that is, when the second work point is the work point farthest away from the first work point among the multiple work points corresponding to the same type of process, the query direction is determined to be the direction from the second work point towards the first work point.

[0156] In some embodiments, if the work site ranking and distribution are positively linearly correlated, then the sequence number of the second work site is the largest among multiple work sites corresponding to the same type of process. Alternatively, the query direction can be considered to be in the direction of decreasing sequence numbers. From the perspective of movement path information, one can start from the second work site and query for the existence of a third work site along the movement path where the second work site is located and other connected movement paths, moving towards the first work site. It should be noted that the query from the second work site towards the first work site can be a query for some or all work sites between the second and first work sites.

[0157] For example, first, the location of the first workstation P1 is identified. Based on the usage status information and the target information of P1, the second workstation P2, which P1 points to, is checked. If P2 is the workstation farthest from P1 among multiple workstations performing the same type of process, P2 is used as the query reference point. Since P2 is the workstation farthest from P1, the default query direction is to start from P2 and proceed towards P1. That is, the search will start from the area far away from P1 and gradually move closer to P1 to query whether a third workstation P3 exists.

[0158] Therefore, by querying the third work station according to the decreasing direction of the sequence number, the decreasing direction of the distance, or the decreasing direction of the position, the query range can be narrowed and the amount of data processing can be reduced. Furthermore, since the queried third work station is gradually closer to the first work station, it can be ensured that among the work stations of the same process type, the work stations that are far away from the first work station and are free are prioritized as the target work stations. This reduces the impact of the work station used by the preceding moving module on the following moving module, thereby reducing the risk of local congestion and ensuring the smooth movement of the moving sub-modules.

[0159] It should be noted that, from the perspective of the second workstation, the search for the existence of a third workstation proceeds from near to far, gradually moving away from the second workstation. That is, when searching for the next workstation, the workstation found is the one closest to the second workstation. From the perspective of the first workstation, the search for the existence of a third workstation proceeds from far to near, gradually moving closer to the first workstation.

[0160] In some embodiments, a third workstation can be queried by combining query cutoff conditions and work mode information. First, the location of the first workstation P1, as well as its usage status information and the object it points to, are identified. If the second workstation P2 pointed to by P1 is the workstation farthest from P1 among multiple workstations performing the same type of process, the query direction is set to a decreasing sequence number, i.e., from far to near, gradually approaching the first workstation P1. During the query process, it is checked whether the query cutoff conditions have been met, such as whether the number or distance of the queried workstations exceeds a preset threshold, or whether a usable P3 has been found. If the query cutoff conditions have been met, the workstation in the non-independent mode can be identified as the third workstation.

[0161] By combining query cutoff conditions and working mode information, the moving sub-module control method provided in this application embodiment can ensure that in a multi-path work point control architecture, even in the face of complex layout and high-density working environment, it can quickly and accurately identify available third work points, thereby optimizing the scheduling of moving sub-modules and overall work efficiency.

[0162] Optionally, in the moving submodule control method provided in this application embodiment, after controlling the first moving submodule to move to the next target work site, the method further includes: when it is detected that a work site has been allocated, setting the usage status information of the allocated work site to an occupied state; when it is detected that the moving submodule has arrived at the corresponding target work site, setting the usage status information of the target work site to an occupied state; when it is detected that a work site has been allocated, determining whether the usage status information of the work site has been set to an occupied state based on the movement of the moving submodule corresponding to the work site.

[0163] In some embodiments, when a workstation is identified as being assigned to a moving submodule, the usage status information of the assigned workstation is set to occupied, avoiding potential scheduling conflicts and job interference, and ensuring the smooth progress of the job flow. For example, if a workstation is pointed to by multiple other workstations, and the moving submodule stops at the pointed-to workstation, in order to reduce the blocking effect caused by multiple moving submodules being assigned the same target workstation, when it is detected that a moving submodule uses this workstation as its target workstation (i.e., when the workstation is assigned to a moving submodule), the usage status information of that workstation is set to occupied; otherwise, the current workstation is set to idle.

[0164] In some embodiments, when a moving submodule is detected to have reached the corresponding target work point, the usage status information of the target work point can be set to the occupied state. For example, if work point A is only pointed to by another work point B, when a moving submodule is detected to have work point A as its target work point and has reached work point A, the usage status information of work point A is set to the occupied state. It should be noted that if the moving submodule is not targeting work point A, work point A is not set to the occupied state when it passes through work point A.

[0165] In some embodiments, the usage status information of a workpoint can be determined based on the movement of the moving submodule corresponding to the workpoint. For example, if a workpoint A is pointed to by multiple other workpoints (such as workpoints B and C), and workpoints B and C each have different moving submodules (such as moving submodules M1 and M2), a prediction mechanism is activated to calculate the estimated arrival times of M1 and M2 at workpoint A and their time intervals. For example, the estimated arrival times of M1 and M2 at workpoint A can be predicted based on the actual distance between the two moving submodules, their movement speeds, and other moving submodule control parameters, and the time intervals can be calculated.

[0166] If the predicted time interval is less than the execution time of a single moving submodule at workstation A, workstation A will face pressure from multiple moving submodules accessing it simultaneously. Therefore, when any moving submodule is detected targeting workstation A and begins moving towards it, the usage status information of workstation A will be immediately set to occupied. If the predicted time interval is not less than the execution time of a single moving submodule at workstation A, the usage status information of workstation A will only be set to occupied when a moving submodule is detected targeting workstation A and arrives at workstation A.

[0167] By monitoring and adjusting the usage status information of workstations in real time, the effective use and accurate scheduling of each workstation can be ensured. By combining the update logic of occupancy status with a prediction mechanism, potential scheduling conflicts can be identified in advance, preventing workstations from being accessed by multiple sub-modules simultaneously, reducing anomalies and interruptions in the work process, and improving the continuity and safety of operations.

[0168] Optionally, in the moving submodule control method provided in the embodiments of this application, the method further includes: after the first moving submodule leaves the first work point, setting the usage status information of the first work point to an idle state.

[0169] In some embodiments, by monitoring the location information of the moving submodule in real time, when the first moving submodule is detected to have left the first work site, it means that the moving submodule no longer occupies the resources of the first work site. The usage status information of the first work site is immediately updated to an idle state, indicating that the work site has become available again and can be scheduled and used by other moving submodules.

[0170] By instantly releasing the usage status of workstations, idle workstations can be identified and utilized more quickly, avoiding waiting time caused by information lag and significantly improving scheduling efficiency and the continuity of work processes.

[0171] In some embodiments, all moving submodules M and workstations P that need to be assigned workstations are first identified. For example, if the moving submodule M1 needs to be assigned a workstation, a suitable second workstation P2 is identified as the target workstation for the next step based on the workstation parameters of the current workstation P1 of moving submodule M1. If the usage status information of P2 indicates that it is occupied, a query is performed to see if a third workstation P3 exists. P3 is a workstation with the same process type as P2 and is in an idle state. After the target workstation (P2 or P3) is determined, a target path sequence is determined based on the position of moving submodule M1, the position of the target workstation, and the connection relationship of multiple movement paths, and the optimal path of moving submodule M1 is planned. Moving submodule M1 is controlled to move towards the target workstation according to the target path sequence. When it is detected that moving submodule M1 is targeting the target workstation and starts moving, the usage status information of the target workstation is set to occupied, and is set to controlled until moving submodule M1 leaves.

[0172] The moving submodule control method provided in this application identifies a first moving submodule and a first workstation among multiple moving submodules and multiple workstations; determines a second workstation pointed to by the first workstation based on the workstation parameters; determines the next target workstation based on the workstation parameters of the second workstation; wherein the target workstation is either the second workstation or a third workstation, and the third workstation is a workstation of the same type of process as the second workstation; obtains the target path sequence corresponding to the first moving submodule moving to the next target workstation from multiple movement paths; and controls the first moving submodule to move to the next target workstation based on the target path sequence, thus solving the technical problem of low efficiency in controlling the movement of moving submodules.

[0173] In this solution, by identifying the first moving submodule and its current first workstation, and combining the workstation parameters of the first workstation to determine the second workstation, and then flexibly selecting either the second workstation or a third workstation of the same type as the next target workstation based on the workstation parameters of the second workstation, this method allows the first moving submodule to quickly move to another similar workstation (i.e., the third workstation) even if a specific workstation (such as the second workstation) is occupied due to slow progress of the process task in a multi-path environment. This effectively avoids overall process blockage caused by the occupation of a single workstation. Through the target path sequence, the first moving submodule can be ensured to move efficiently from its current workstation to the target workstation, improving the passage efficiency of the moving submodule and the overall work efficiency, overcoming the inefficiency problem caused by the sequential movement of moving submodules along a single path in existing technologies. This solution enhances the control flexibility of the moving submodule, reduces time delays caused by workstation occupancy, and achieves more coordinated and stable production line operation.

[0174] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0175] This application also provides a moving submodule control device. It should be noted that the moving submodule control device of this application can be used to execute the moving submodule control method provided in this application. The moving submodule control device provided in this application will be described below.

[0176] According to an embodiment of this application, a moving submodule control device for implementing the above-described moving submodule control method is also provided, such as... Figure 10 As shown, the device includes: an identification unit 1001, a target work site determination unit 1002, and a control unit 1003.

[0177] The identification unit 1001 is used to identify the first moving submodule and the first work point among multiple moving submodules and multiple work points;

[0178] The target work station determination unit 1002 is used to determine the second work station pointed to by the first work station based on the work station parameters of the first work station, and to determine the next target work station based on the work station parameters of the second work station; wherein, the target work station is the second work station or the third work station, and the third work station is the work station of the same type of process as the second work station.

[0179] The control unit 1003 is used to obtain the target path sequence corresponding to the first moving submodule moving to the next target work point in multiple moving paths, and control the first moving submodule to move to the next target work point based on the target path sequence.

[0180] In the moving submodule control method provided in this application embodiment, the identification unit 1001 identifies the first moving submodule and the first work station among multiple moving submodules and multiple work stations; the target work station determination unit 1002 determines the second work station pointed to by the first work station based on the work station parameters of the first work station, and determines the next target work station based on the work station parameters of the second work station; wherein, the target work station is the second work station or the third work station, and the third work station is the work station of the same type of process as the second work station; the control unit 1003 obtains the target path sequence corresponding to the first moving submodule moving to the next target work station in multiple movement paths, and controls the first moving submodule to move to the next target work station based on the target path sequence, thereby solving the technical problem of low efficiency in controlling the movement of moving submodules.

[0181] The technical solution provided in this application identifies the first moving submodule and its current first workstation, determines the second workstation based on the workstation parameters of the first workstation, and then flexibly selects either the second workstation or a third workstation of the same type as the next target workstation based on the workstation parameters of the second workstation. This distributes the number of moving submodules corresponding to the same type of process among the second and third workstations, reducing the process execution pressure at each workstation. In a multi-path environment, more path options can be provided for the first moving submodule to reach the target workstation, effectively avoiding the problem of moving submodules being unable to detour due to other workstations being occupied in a single movement path scenario. This reduces the overall process flow congestion. Through the target path sequence, it ensures that the first moving submodule can move smoothly from the first workstation to the target workstation, improving the passage efficiency of the moving submodule and the overall work efficiency. Therefore, the technical solution provided in this application overcomes the inefficiency problem caused by the sequential movement of moving submodules along a single path in the prior art, enhances the control flexibility of the moving submodule, reduces time delays caused by workstation occupancy, coordinates the rhythm of workstations for various types of processes, and improves the overall work efficiency of the moving module.

[0182] Optionally, in the moving submodule control device provided in the embodiments of this application, the control unit includes: a setting subunit, used to set the moving path related to the first moving submodule moving to the next target work point as the target path according to the position measurement information of the first moving submodule, the position configuration information of the next target work point and the connection relationship information of multiple moving paths, so as to obtain the target path sequence.

[0183] Optionally, in the moving submodule control device provided in this application embodiment, the setting subunit includes: a first setting module, used to set the movement path where the next target work point is located as the target path; a second setting module, used to set the movement path as the target path if there is a movement path that the first moving submodule and the next target work point must pass through; and a selection module, used to select at least one movement path as the target path according to the connection relationship information of the multiple movement paths when there are multiple movement paths that the first moving submodule and the next target work point can pass through.

[0184] Optionally, in the moving submodule control device provided in the embodiments of this application, the control unit includes: a selection subunit, used to select a target path from the detourable moving paths when the third work point is determined as the next target work point and the third work point and the second work point are on the same moving path, so as to obtain a target path sequence.

[0185] Optionally, in the moving submodule control device provided in this application embodiment, multiple movement paths include a main path and branch paths, with at least one main path and multiple branch paths connected. The main path is used for multiple moving submodules to move uniformly, and the multiple branch paths are used for multiple moving submodules to move selectively. The selection module includes at least one of the following: a first selection submodule, used to select one branch path as the target path from among the multiple branch paths connected to the same main path, based on at least one of the following: the distribution of moving submodules, the distribution of work points, and the path length; and a second selection submodule, used to select one branch path as the target path from among the multiple branch paths connected to the same main path, based on the preset priority information of the branch paths.

[0186] Optionally, in the moving submodule control device provided in the embodiments of this application, the device further includes one of the following: a first detection unit, used to detect that the operating device has completed the process operation before identifying the first moving submodule and the first operating point among multiple moving submodules and multiple working points; a second detection unit, used to detect that the moving submodule has reached the target working point, wherein the target working point is a non-operating working point or an operating working point, the non-operating working point is configured in the track area of ​​the stator module that does not correspond to the operating device, and the operating working point is configured in the track area of ​​the stator module that corresponds to the operating device.

[0187] Optionally, in the moving submodule control device provided in the embodiments of this application, the first detection unit includes at least one of the following: a first detection subunit, used to detect that at least one operating device has completed the process operation; and a second detection subunit, used to detect that operating devices of the same type of process have all completed the process operation.

[0188] Optionally, in the moving submodule control device provided in the embodiments of this application, the second detection unit includes at least one of the following: a third detection subunit, used to detect that the moving submodule has moved to the corresponding target work point; and a fourth detection subunit, used to detect that the moving submodule has stopped at the corresponding target work point.

[0189] Optionally, in the sub-module control device provided in this application embodiment, the target work station determination unit includes at least one of the following: a determination subunit, used to determine the second work station as the next target work station when the usage status information of the second work station indicates an idle state; a query subunit, used to query whether a third work station exists based on preset query rule parameters when the usage status information of the second work station indicates an occupied state, and, if a third work station is found, to obtain the usage status information of the third work station to determine the next target work station; wherein, the query rule parameters are determined according to the layout and pointing relationship of multiple work stations of the same process type; the third work station is a work station pointed to only by the first work station, or the third work station is a work station not pointed to by other work stations.

[0190] Optionally, in the moving module control device provided in the embodiments of this application, the device further includes: a first setting unit, used to, after obtaining the usage status information of the third work site when a third work site is found, set the third work site whose usage status information indicates an idle state as the next target work site; and a second setting unit, used to, if there is no third work site whose usage status information indicates an idle state, select one of the second work site and the third work site as the next target work site.

[0191] Optionally, in the moving module control device provided in the embodiments of this application, the device further includes: a third setting unit, used to set the second work site as the next target work site if no third work site is found after querying whether a third work site exists.

[0192] Optionally, in the motion module control device provided in the embodiments of this application, the query subunit includes at least one of the following: a first query module, used to query whether a third work station exists based on at least one of the work station number information, location information and movement path information of the second work station; and a second query module, used to query whether a third work station exists based on the pointing object information of the first work station.

[0193] Optionally, in the sub-module control device provided in the embodiments of this application, the device further includes: a triggering unit, used to stop the query operation when a query cutoff condition is triggered when querying whether a third work station exists; wherein, the query cutoff condition includes at least a first cutoff condition or a second cutoff condition, the first cutoff condition is used to indicate that the query is stopped when a third work station with an idle status is found; the second cutoff condition is used to stop the query when no third work station is found or when all third work stations have been found.

[0194] Optionally, in the motion module control device provided in the embodiments of this application, the first query module includes at least one of the following: a first determination submodule, used to determine, based on at least one of the work station number information, location information, and movement path information of the second work station, the work station whose process type information is the same as that of the second work station as the third work station; and a second determination submodule, used to determine, based on at least one of the work station number information, location information, and movement path information of the second work station, the work station that meets the query threshold condition information and whose working mode information is non-independent as the third work station.

[0195] Optionally, in the motion module control device provided in this application embodiment, the query subunit further includes: a determination module, used to determine the query direction based on at least one of the workstation number information, location information and movement path information of the second workstation, so as to query whether the third workstation exists based on the query direction.

[0196] Optionally, in the sub-module control device provided in this application embodiment, the determining module includes: a determining module sub-module, used to determine the query direction as the direction from the second work point toward the first work point when the second work point is the work point farthest from the first work point among multiple work points corresponding to the same type of process.

[0197] Optionally, in the moving submodule control device provided in this application embodiment, the device further includes: a third setting unit, used to set the usage status information of the assigned work site to an occupied state when the first moving submodule moves to the next target work site and the work site is identified as being assigned; a fourth setting unit, used to set the usage status information of the target work site to an occupied state when the moving submodule is detected to have arrived at the corresponding target work site; and a judging unit, used to judge whether the usage status information of the work site is set to an occupied state based on the movement of the moving submodule corresponding to the work site when the work site is identified as being assigned.

[0198] Optionally, in the moving submodule control device provided in the embodiments of this application, the device further includes: a fifth setting unit, used to set the usage status information of the first working point to an idle state after the first moving submodule leaves the first working point.

[0199] It should be noted that the identification unit 1001, target work site determination unit 1002, and control unit 1003 mentioned above correspond to steps S301 to S305 in Embodiment 1. The three units and their corresponding steps implement the same instances and application scenarios, but are not limited to the content disclosed in Embodiment 1. It should be noted that the above modules or units can be hardware or software components stored in memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n). The above modules can also be part of a device and run in the computer terminal 10 provided in Embodiment 1.

[0200] This application also provides a linear motor device. It should be noted that the linear motor device of this application can be used to execute any of the moving module control methods provided in this application. The linear motor device provided in this application is described below.

[0201] According to an embodiment of this application, a linear motor device for implementing the above-described moving submodule control method is also provided, such as... Figure 11 As shown, the linear motor device 1100 includes: a moving submodule 1101, a stator module 1102, and a control device 1103, wherein: the moving submodule is disposed on the stator module; the stator module is used to provide multiple movement paths for the moving submodule and to configure multiple work points, at least two work points corresponding to the same type of process; the control device is used to execute any of the above methods to control the movement of the moving submodule in the stator module.

[0202] In some embodiments, when the linear motor equipment starts up, the control device dynamically allocates a target workstation to the moving submodule based on the moving submodule control method. If the current workstation is occupied, the control device will query and allocate other available workstations with matching process types as alternatives to ensure the continuity of the work process. After the target workstation is determined, the control device uses the path planning algorithm in the moving submodule control method to plan the optimal path sequence from the current position to the target workstation for the moving submodule, thereby controlling the moving submodule to move to the target workstation.

[0203] Embodiments of this application can provide an automated system. Figure 12 This is a structural block diagram of an automation system 1200 according to an embodiment of this application. Figure 12As shown, the automation system 1200 may include: a moving submodule 1101, a stator module 1102, a control device 1103, and an operating device 1204. The operating device 1204 is used to perform at least one type of process among loading, unloading, and processing. The control device 1103 includes: a memory 11032 storing an executable program; and a processor 11031 for running the program, wherein the program executes any of the above-mentioned moving submodule control methods during runtime.

[0204] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the methods and apparatus in the embodiments of this application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby implementing the methods provided in any of the above embodiments. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to the terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0205] Those skilled in the art will understand that Figure 12 The structure shown is for illustrative purposes only. The control device can also be a smartphone, tablet, handheld computer, mobile internet device (MID), PAD, or other terminal device. Figure 12 This does not impose limitations on the structure of the aforementioned automated systems. For example, automated systems may also include components that are more complex than... Figure 12 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 12 The different configurations shown.

[0206] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0207] Embodiments of this application also provide a computer-readable storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the submodule control method provided in Embodiment 1.

[0208] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0209] This application also provides a computer program product, which, when executed on a data processing device, is adapted to perform the steps of a submodule control method.

[0210] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0211] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0212] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0213] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0214] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0215] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0216] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for controlling a moving submodule, characterized in that, The moving submodule is located within the stator module. The stator module provides multiple movement paths for the moving submodule and configures multiple workstations, with at least two workstations corresponding to the same type of operation, including: Identify the first moving submodule and the first working point among multiple moving submodules and multiple work points; Based on the work station parameters of the first work station, determine the second work station to which the first work station points; Determining the next target workstation based on the workstation parameters of the second workstation includes: when the usage status information of the second workstation indicates occupancy, querying whether a third workstation exists based on preset query rule parameters; and if the third workstation is found, obtaining the usage status information of the third workstation to determine the next target workstation; wherein the target workstation is either the second workstation or the third workstation, the third workstation is a workstation of the same type of process as the second workstation, and the query rule parameters are determined based on the layout and pointing relationship of multiple workstations of the same process type; the third workstation is a workstation only pointed to by the first workstation, or... The third workstation is a workstation not pointed to by other workstations. The step of querying whether the third workstation exists based on preset query rule parameters includes: determining a query direction based on at least one of the workstation number information, location information, and movement path information of the second workstation, and then querying whether the third workstation exists based on the query direction; determining the query direction based on at least one of the workstation number information, location information, and movement path information of the second workstation includes: when the second workstation is the workstation furthest from the first workstation among multiple workstations corresponding to the same type of process, determining the query direction as a direction approaching the first workstation from the second workstation. Among multiple movement paths, obtain the target path sequence corresponding to the first moving submodule moving to the next target work point; Based on the target path sequence, the first moving submodule is controlled to move towards the next target work point.

2. The method according to claim 1, characterized in that, Among multiple movement paths, the target path sequence corresponding to the first moving submodule moving to the next target work station is obtained, including: Based on the position measurement information of the first moving submodule, the position configuration information of the next target work site, and the connection relationship information of multiple moving paths, the moving path related to the first moving submodule moving to the next target work site is set as the target path, thus obtaining the target path sequence.

3. The method according to claim 2, characterized in that, Setting the movement path associated with moving the first moving submodule to the next target workstation as the target path includes: Set the movement path of the next target work site as the target path; If there is a necessary movement path between the first moving submodule and the next target work point, it is set as the target path; If there are multiple movement paths available for the first moving submodule and the next target work point, then, based on the connection information of the multiple movement paths, at least one movement path is selected from the multiple movement paths available for the moving submodule and set as the target path.

4. The method according to claim 1, characterized in that, Obtaining the target path sequence corresponding to the first moving submodule moving to the next target work point includes: When the third work station is determined as the next target work station, and the third work station and the second work station are on the same movement path, if there is a detourable movement path, the target path is selected from the detourable movement paths to obtain the target path sequence.

5. The method according to claim 3, characterized in that, The multiple movement paths include a main path and branch paths, with at least one main path and multiple branch paths connected. The main path is used for the unified movement of multiple moving submodules, and the multiple branch paths are used for the selective movement of multiple moving submodules. Based on the connection information of the multiple movement paths, at least one movement path is selected as the target path from among the multiple movement paths that the moving submodules can take, including at least one of the following: Among multiple branch paths connecting the same main path, one branch path is selected as the target path based on at least one of the following: the distribution of moving sub-modules, the distribution of work sites, and the path length. Among multiple branch paths that connect to the same main path, one branch path is selected as the target path according to the preset priority information of the branch paths.

6. The method according to claim 1, characterized in that, Before identifying the first moving submodule and the first workstation among multiple moving submodules and multiple workstations, the method further includes one of the following: The operating equipment has been detected to have completed the process operation; The moving submodule is detected to have reached the target work point, wherein the target work point is either a non-operation work point or an operation work point. The non-operation work point is configured in the track area of ​​the stator module that does not correspond to an operation device, and the operation work point is configured in the track area of ​​the stator module that corresponds to an operation device.

7. The method according to claim 6, characterized in that, The detection indicates that the operating equipment has completed at least one of the following processes: At least one operating device was detected to have completed the process operation; All operating equipment of the same type of process was detected to have completed the process operation.

8. The method according to claim 6, characterized in that, The detection of the moving submodule reaching the target work point includes at least one of the following: The movement of the submodule to the corresponding target work point has been detected. The moving submodule was detected to be stationed at the corresponding target work point.

9. The method according to claim 1, characterized in that, Determine the next target work station based on the work station parameters of the second work station, including: When the usage status information of the second work station indicates that it is idle, the second work station is determined as the next target work station.

10. The method according to claim 9, characterized in that, After obtaining the usage status information of the third work site upon its location, the method further includes: Set the third work station, which uses status information to indicate an idle state, as the next target work station; If there is no third work station indicating an idle status using status information, select one of the second work station and the third work station as the next target work station.

11. The method according to claim 9, characterized in that, After querying whether the third work site exists, the method further includes: If the third work site is not found, the second work site will be set as the next target work site.

12. The method according to claim 9, characterized in that, Based on preset query rule parameters, query whether the third work site exists, including at least one of the following: Based on at least one of the workstation number information, location information, and movement path information of the second workstation, query whether the third workstation exists; Based on the target information of the first work site, query whether the third work site exists.

13. The method according to claim 9, characterized in that, When querying whether the third work site exists, the method further includes: When the query cutoff condition is triggered, the query operation is stopped; wherein, the query cutoff condition includes at least a first cutoff condition or a second cutoff condition, the first cutoff condition is used to indicate that the query is stopped when a third workstation with an idle status is found; the second cutoff condition is used to stop the query when no third workstation is found or when all third workstations have been found.

14. The method according to claim 12, characterized in that, Based on at least one of the following information from the second workstation: workstation number, location, and movement path, query whether the third workstation exists, including at least one of the following: Based on at least one of the work station number information, location information, and movement path information of the second work station, the work station whose process type information is the same as that of the second work station is designated as the third work station. Based on at least one of the workstation number information, location information, and movement path information of the second workstation, the workstation that meets the query threshold condition information and the work mode information is in non-independent mode is designated as the third workstation.

15. The method according to claim 1, characterized in that, After controlling the first moving submodule to move towards the next target work station, the method further includes: When a work site is identified as being assigned, the usage status information of the assigned work site is set to occupied status. When the moving submodule is detected to have arrived at the corresponding target work site, the usage status information of the target work site is set to occupied status; When a workstation is identified as being assigned, the system determines whether the workstation's usage status is set to occupied based on the movement of the corresponding submodule.

16. The method according to claim 1, characterized in that, The method further includes: After the first moving submodule leaves the first workstation, the usage status information of the first workstation is set to idle.

17. A moving submodule control device, characterized in that, The moving submodule is located within the stator module. The stator module provides multiple movement paths for the moving submodule and configures multiple workstations, with at least two workstations corresponding to the same type of operation, including: The identification unit is used to identify the first moving submodule and the first work point among multiple moving submodules and multiple work points; The target workstation determination unit is used to determine a second workstation pointed to by the first workstation based on the workstation parameters of the first workstation, and to determine the next target workstation based on the workstation parameters of the second workstation. When the usage status information of the second workstation indicates occupancy, it queries whether a third workstation exists based on preset query rule parameters, and if the third workstation is found, it obtains the usage status information of the third workstation to determine the next target workstation. The target workstation is either the second workstation or the third workstation, and the third workstation is a workstation of the same type of process as the second workstation. The query rule parameters are based on the layout of multiple workstations of the same process type. The situation and pointing relationship are determined; the third work station is a work station that is only pointed to by the first work station, or the third work station is a work station that is not pointed to by any other work station; the query direction is determined based on at least one of the work station number information, location information, and movement path information of the second work station, so as to query whether the third work station exists based on the query direction; determining the query direction based on at least one of the work station number information, location information, and movement path information of the second work station includes: when the second work station is the work station farthest from the first work station among multiple work stations corresponding to the same type of process, the query direction is determined to be the direction of approaching the first work station from the second work station; The control unit is used to acquire the target path sequence corresponding to the first moving submodule moving to the next target work point in multiple moving paths, and control the first moving submodule to move to the next target work point based on the target path sequence.

18. A linear motor device, characterized in that, include: The moving part module, the stator module, and the control device, wherein: The moving part module is located in the stator module; The stator module is used to provide multiple movement paths for the moving module and to configure multiple work points, with at least two work points corresponding to the same type of process; The control device is used to execute the method described in any one of claims 1 to 16 to control the movement of the moving submodule in the stator module.

19. An automated system, characterized in that, It includes a moving module, a stator module, a control device, and an operating device, wherein one of the operating devices is used to perform at least one type of process among loading, unloading, and processing; The control device includes: a memory storing an executable program; and a processor for running the program, wherein the program executes the method according to any one of claims 1 to 16 when it runs.

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