Scram control method, device, equipment, medium and program product

Abstract

The invention relates to an emergency stop control method, device and equipment, a medium and a program product. The method comprises the steps of generating a sudden stop area based on a measurement range of a driver corresponding to a fault signal under the condition that the fault signal exists in received signals sent by a distributed driver; and performing emergency stop marking on each magnetic driver in the emergency stop area, wherein each magnetic driver after the emergency stop marking is in an enabling disconnection state in which a mover reset instruction cannot be received. By adopting the method, partial shutdown can be realized, and the production efficiency and equipment utilization rate are improved.

Description

Technical Field

[0001] This application relates to the field of magnetic drive technology, and in particular to an emergency stop control method, device, equipment, medium, and program product. Background Technology

[0002] In the field of industrial automation, modular magnetic drive production lines are widely used in high-precision flexible production scenarios, with contactless conveying, distributed collaboration of multiple drivers, and independent movement of trolleys as their core characteristics. They achieve on-demand conveying by driving trolleys to run independently through distributed independent drivers.

[0003] To ensure safety, such production lines need to be equipped with emergency stop systems. However, the current mainstream solutions still adopt global control logic, which has three core characteristics: First, the triggering mechanism is singular. Regardless of whether the fault source is a single drive, a local track, or a specific trolley, the entire line will stop synchronously after an emergency stop is triggered. Second, the recovery process is fixed. After the fault is cleared, the entire line needs to be initialized, and partial recovery is not possible. Third, state management is lacking. It does not distinguish between trolleys affected by the fault and normal trolleys. Restarting requires replanning the paths of all trolleys.

[0004] This traditional approach is in stark contrast to the distributed and highly flexible characteristics of magnetic drive production lines. When a local failure occurs, the entire line is forced to shut down, severely limiting production efficiency and equipment utilization. Summary of the Invention

[0005] Therefore, it is necessary to provide an emergency stop control method, device, equipment, medium, and program product that can partially stop the machine and improve production efficiency and equipment utilization to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides an emergency stop control method, the method comprising:

[0007] If a fault signal is present in the signal sent by the received distributed driver, an emergency stop zone is generated based on the measurement range of the driver corresponding to the fault signal.

[0008] Each magnetic actuator within the emergency stop region is marked with an emergency stop flag, and each magnetic actuator marked with an emergency stop flag is in a disabled state where it cannot receive a mover reset command.

[0009] In one embodiment, generating the emergency stop region based on the measurement range of the driver corresponding to the fault signal includes:

[0010] Determine the measurement range of the driver corresponding to the fault signal;

[0011] Determine the boundary position of the magnetic actuator;

[0012] An emergency stop zone is generated based on the boundary location and the measurement range of the driver.

[0013] In one embodiment, determining the boundary position of the magnetic actuator includes:

[0014] Based on the feedback position and physical center position of the magnetic actuator, the feedback offset is obtained;

[0015] The boundary position of the magnetic actuator is obtained based on the feedback position of the magnetic actuator, the feedback offset, and the width of the magnetic actuator.

[0016] In one embodiment, the method further includes:

[0017] Upon receiving a region reset command for the emergency stop region, the magnetic actuator carrying the emergency stop marker is enabled;

[0018] After the magnetic actuator is successfully enabled, the magnetic actuator is started.

[0019] In one embodiment, activating the magnetic actuator includes:

[0020] Determine the direction of motion of the magnetic actuator;

[0021] Determine the first station closest to the magnetic actuator in a direction opposite to the direction of motion;

[0022] If there are no other magnetic actuators in the first workstation, and the distance between the first workstation and the magnetic actuator is less than or equal to the retraction distance, the magnetic actuator is controlled to move to the first workstation.

[0023] In one embodiment, the method further includes:

[0024] If there are other magnetic actuators in the first station, or if the distance between the first station and the magnetic actuator is greater than the retraction distance, determine the second station closest to the magnetic actuator along the movement direction, and control the magnetic actuator to move to the second station.

[0025] Secondly, this application also provides an emergency stop control device, the device comprising:

[0026] The generation module is used to generate an emergency stop zone based on the measurement range of the driver corresponding to the fault signal when a fault signal is present in the signal sent by the received distributed driver.

[0027] An emergency stop module is used to mark each magnetic actuator in the emergency stop area as an emergency stop. After the emergency stop is marked, each magnetic actuator is in a disabled state and cannot receive the actuator reset command.

[0028] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in any of the above embodiments.

[0029] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the methods in any of the above embodiments.

[0030] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0031] The aforementioned emergency stop control method, device, equipment, medium, and program products, when a fault signal is present in the signal sent by the received distributed driver, generate an emergency stop area based on the measurement range of the driver corresponding to the fault signal; mark each magnetic drive in the emergency stop area with an emergency stop mark, and each magnetic drive after the emergency stop mark is in a de-enabled state that cannot receive the mover reset command. Therefore, when the driver fails, only the magnetic drive in the emergency stop area is stopped, resulting in only a partial shutdown rather than a complete shutdown, thus improving production efficiency and equipment utilization. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a diagram illustrating the application environment of an emergency stop control method in one embodiment.

[0034] Figure 2 This is a flowchart illustrating an emergency stop control method in one embodiment;

[0035] Figure 3 This is a flowchart illustrating the steps for generating an emergency stop area in one embodiment;

[0036] Figure 4 This is a schematic diagram of the feedback point of the magnetic actuator in one embodiment;

[0037] Figure 5 This is a flowchart illustrating an emergency stop control method in another embodiment;

[0038] Figure 6This is a structural block diagram of an emergency stop control device in one embodiment;

[0039] Figure 7 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0042] The emergency stop control method provided in this application can be applied to, for example... Figure 1 The magnetic drive system shown includes a magnetic drive conveyor line, magnetic actuators running on the magnetic drive conveyor line, and a control system. The magnetic drive conveyor line can be a hybrid conveyor line or a pure magnetic drive line. The hybrid conveyor line includes a magnetic drive section and a belt section, while the pure magnetic drive line only includes a magnetic drive section. The magnetic drive section includes a driver that can acquire the position of the magnetic actuators, so that the control system can control the operation of the magnetic actuators based on the position of the magnetic actuators.

[0043] In this application, when a fault signal is present in the signal sent by the received distributed driver, an emergency stop area is generated based on the measurement range of the driver corresponding to the fault signal. Each magnetic actuator in the emergency stop area is marked for emergency stop. After being marked for emergency stop, each magnetic actuator is in a disabled state that cannot receive the mover reset command. Therefore, when the driver fails, only the magnetic actuators in the emergency stop area are stopped, resulting in only a partial shutdown rather than a complete shutdown, thereby improving production efficiency and equipment utilization.

[0044] In one exemplary embodiment, such as Figure 2 As shown, an emergency stop control method is provided, which is applied to... Figure 1 The following steps are used as an example of the control system in the example, including steps S202 to S204. Wherein:

[0045] S202: If a fault signal is present in the signal sent by the received distributed driver, an emergency stop zone is generated based on the measurement range of the driver corresponding to the fault signal.

[0046] The fault signal is sent by the distributed driver and can be an STO (Safe Torque Off) signal, which prevents the motor from restarting unexpectedly and is a reliable safety signal. The system calculates the emergency stop zone to determine the location of the fault, thus isolating the faulty area from other areas. The emergency stop marker isolates the normal magnetic actuators from the faulty area's magnetic actuators and is the basis for the faulty area recovery function.

[0047] The driver and control system employ a target transmission protocol, with the driver acting as a slave and the control system as the master. They exchange data via PDO (Process Data Object). This protocol features excellent real-time performance, high communication efficiency, and strong determinism, ensuring that safety signals and control commands are transmitted with extremely low latency and high determinism.

[0048] In some alternative embodiments, the control system processes the data transmitted via the target transmission protocol in real time, and generates an emergency stop zone if it detects that the data sent by a certain driver includes an STO signal.

[0049] The emergency stop area is not the entire conveyor line, but rather the area corresponding to the driver associated with the fault signal. This emergency stop area is a logical control region generated when a specific driver triggers a safety signal. Specifically, this emergency stop area is determined based on the measurement range of the driver corresponding to the fault signal; that is, this emergency stop area is a portion isolated to prevent the faulty driver from affecting the operation of the entire conveyor line.

[0050] In some optional embodiments, the control system can communicate with multiple drivers simultaneously and then process the signals sent by each driver in parallel or serially to determine if a fault signal exists in the driver's signal. Therefore, the result processed by the control system includes: no driver fault, one driver fault, and multiple driver faults. When no driver fault is found, the control system operates normally. When one driver faults, the control system generates an emergency stop region based on that faulty driver. When multiple driver faults are found, the controller determines the emergency stop region corresponding to each faulty driver. In some optional embodiments, if the faulty drivers are adjacent, the emergency stop regions can be merged. This reduces the number of emergency stop regions traversed when controlling the magnetic actuators within the emergency stop regions, improving processing efficiency.

[0051] S204: Mark each magnetic actuator in the emergency stop area as an emergency stop. After the emergency stop is marked, each magnetic actuator is in a disabled state and cannot receive the mover reset command.

[0052] The emergency stop flag refers to the flag carried by the magnetic actuator that is deactivated due to entering the emergency stop zone. These magnetic actuators carrying the emergency stop flag are then handled independently from the control system, remain in the deactivated state, and no longer accept system reset commands, thus avoiding erroneous control caused by driver failure.

[0053] This method uses the STO signal of the drive as a trigger to control the opening and closing of the emergency stop zone, and manages the state of the magnetic drive units through emergency stop flags, thus isolating the faulty area from the normal area. It should also be noted that all magnetic drive units and drives outside the emergency stop zone continue to operate normally and are unaffected.

[0054] The aforementioned emergency stop control method generates an emergency stop zone based on the measurement range of the driver corresponding to the fault signal when a fault signal is received from the distributed driver. Each magnetic actuator within the emergency stop zone is marked for emergency stop. After being marked, each magnetic actuator is in a de-enabled state and cannot receive the mover reset command. Therefore, when the driver fails, only the magnetic actuators within the emergency stop zone are stopped, resulting in only a partial shutdown rather than a complete shutdown, thus improving production efficiency and equipment utilization. The driver triggers an STO signal, and the system activates the emergency stop zone. The magnetic actuators within the zone are de-enabled and marked, while normal operation continues outside the zone.

[0055] In some alternative embodiments, combined with Figure 3 As shown, an emergency stop region is generated based on the measurement range of the driver corresponding to the fault signal, including:

[0056] S302: Determine the measurement range of the driver corresponding to the fault signal.

[0057] The driver measurement range is preset and can be determined based on the driver's installation location. The measurement range includes the start and end points of the range.

[0058] S304: Determine the boundary position of the magnetic actuator.

[0059] The boundary position of the magnetic actuator includes the front and rear edges of the magnetic actuator. Taking the left and right movement of the magnetic actuator as an example, it includes the left edge and the right edge.

[0060] In some optional embodiments, determining the boundary position of the magnetic actuator includes: obtaining a feedback offset based on the feedback position and physical center position of the magnetic actuator; and obtaining the boundary position of the magnetic actuator based on the feedback position, feedback offset, and width of the magnetic actuator.

[0061] For ease of understanding, combined with Figure 4 As shown, Figure 4 This is a schematic diagram of the feedback point of the magnetic actuator in one embodiment. In this embodiment, the position point of the magnetic actuator measured by the driver is neither the edge of the magnetic actuator nor the physical center of the magnetic actuator, but is located between the edge and the physical center of the magnetic actuator, and is called the magnetic actuator feedback point.

[0062] Wherein, the magnetic actuator feedback offset = magnetic actuator feedback position - magnetic actuator physical center position; the magnetic actuator feedback offset is a factory configuration parameter, and all magnetic actuators have the same specifications.

[0063] To prevent the magnetic actuator from entering the driver's measurement range, the position of the magnetic actuator boundary needs to be calculated first, then compared with the driver's measurement range to finally determine the anti-collision boundary. The formula for converting the magnetic actuator feedback position into the edge position is as follows (the feedback is specified to increase from left to right):

[0064] Left edge = Magnetic actuator feedback position - Magnetic actuator feedback offset - Magnetic actuator half-width

[0065] Right edge = Magnetic actuator feedback position - Magnetic actuator feedback offset + Magnetic actuator half-width

[0066] S306: Generate emergency stop zone based on boundary position and driver measurement range.

[0067] To bring a moving magnetic drive to a safe stop, the left edge must be greater than the start point of the measurement range or the right edge must be less than the end point of the measurement range.

[0068] Therefore, the formula for calculating the emergency stop zone can be obtained as follows:

[0069] Range start point = Driver measurement range start point - Magnetic actuator half-width + Magnetic actuator feedback offset

[0070] Range endpoint = Driver measurement range endpoint + Magnetic actuator half-width + Magnetic actuator feedback offset

[0071] The above range ensures that the magnetic actuator, which is operating normally, will not mechanically interfere with the equipment within the area.

[0072] In some alternative embodiments, during actual collision avoidance, considering the existence of following errors, the system does not compare the actual position of the magnetic actuator with the edge of the region, but instead uses the commanded position of the magnetic actuator. Using the actual position results in less deceleration time, but may cause jitter during deceleration.

[0073] In the above embodiments, data is processed in real time to generate an emergency stop zone containing the faulty driver, and anti-collision nodes are set to achieve local isolation of the fault. During emergency stop, anti-collision ranges are set on both sides of the emergency stop zone to prevent external magnetic actuators from entering, and the de-enabled magnetic actuators entering and exiting the zone are marked.

[0074] In some optional embodiments, the method further includes: a startup process that includes enabling a magnetic actuator carrying an emergency stop marker upon receiving a region reset command for an emergency stop region; and starting the magnetic actuator after successful enabling.

[0075] After the fault of the drive is repaired, the control system receives the area reset command of the emergency stop area. At this time, the controller enables the magnetic drive carrying the emergency stop mark, that is, deletes the emergency stop mark, and then starts the magnetic drive after the magnetic drive is successfully enabled.

[0076] In some optional embodiments, when there are at least two emergency stop regions, the control system determines the emergency stop region corresponding to the reset command, and then deletes the emergency stop mark of the magnetic drive corresponding to the determined emergency stop region to enable that part of the magnetic drive. Therefore, in this application, the reset process can also be partial, without all emergency stop regions needing to be reset together.

[0077] In some optional embodiments, the startup of the magnetic actuator can be a warm start, which is the startup logic of the magnetic actuator finding the nearest process.

[0078] In some optional embodiments, activating the magnetic actuator includes: determining the direction of movement of the magnetic actuator; determining a first station closest to the magnetic actuator along a direction opposite to the direction of movement; and, if there are no other magnetic actuators at the first station and the distance between the first station and the magnetic actuator is less than or equal to the retraction distance, controlling the magnetic actuator to move to the first station.

[0079] In some optional embodiments, the method further includes: if there are other magnetic actuators in the first station, or if the distance between the first station and the magnetic actuator is greater than the retraction distance, determining the second station closest to the magnetic actuator along the direction of motion, and controlling the magnetic actuator to move to the second station.

[0080] The process involves searching for the first station closest to the current magnetic actuator in the opposite direction of motion. If there are no other magnetic actuators at the first station and the station is within the retraction distance, the magnetic actuator will move to that first station. It should be noted that the retraction distance is a configurable parameter.

[0081] In addition, if there are other magnetic actuators in the first station, or if the distance between the first station and the magnetic actuator is greater than the retraction distance, then the system will move along the direction of motion to find the second station that is closest to the current magnetic actuator and proceed to the second station.

[0082] Optionally, a warm-start strategy can provide flexibility for restarting the magnetic actuator. The final target workstation depends on the operating conditions and the position of the magnetic actuator. Technicians can manually adjust the position of the magnetic actuator so that the target workstation after restarting meets the requirements.

[0083] In the above embodiments, after the fault is cleared, a reset command is triggered, which only restores the enable of the marker magnetic actuator and guides it to warm-start and return to normal operation.

[0084] For ease of understanding, the following is combined Figure 5 As shown, the core working principle of this application is: to use the STO signal of the driver as an event trigger to control the opening and closing of the emergency stop area, and to manage the state of the magnetic drive sub-state through the emergency stop flag.

[0085] The STO (Stop-to-Start) signal prevents the motor from restarting unexpectedly and is a reliable safety signal. The system calculates the emergency stop zone to determine the location of the fault, thus isolating the faulty area from other areas. The emergency stop marker isolates the normal magnetic actuators from the faulty area's magnetic actuators and is also the basis for the faulty area recovery function.

[0086] When a driver on the production line triggers an STO signal, the control system receives the signal and immediately executes the following process:

[0087] Area Isolation and Control: The control system immediately activates the emergency stop zone. For all magnetic actuators located within this zone, an enable deactivation command is immediately issued, stopping their operation, and their status is managed via an emergency stop flag. Meanwhile, all magnetic actuators and drives outside the zone remain operational and unaffected.

[0088] Safety controls during zone activation: During emergency stop zone activation, a collision avoidance zone will be generated on both sides of the zone to prevent external magnetic drive vehicles from entering. If an external magnetic drive vehicle with its enable disabled is towed into the zone, it will also be marked with an emergency stop sign. If a magnetic drive vehicle within the zone is towed out, the emergency stop sign will still be retained. Magnetic drive vehicles with emergency stop signs still have collision avoidance detection capabilities and will not collide with normally operating magnetic drive vehicles.

[0089] Area Reset and Recovery: After the fault is cleared, the operator can trigger a reset command for the emergency stop area. The control system only enables and restores the magnetic actuators marked with an emergency stop flag in that area, guiding them to perform a warm start, allowing them to quickly reintegrate into the normal operating rhythm of the production line, thus achieving seamless insertion.

[0090] Compared with the prior art, this application has the following significant advantages and beneficial effects:

[0091] 1. Improved equipment utilization and production efficiency: By setting up an emergency stop area, the faulty drive is isolated from the production line, realizing the localization of the fault and avoiding the huge time waste and economic losses caused by the downtime of the entire line.

[0092] 2. Enhanced system flexibility and adaptability: The range of the emergency stop zone is automatically generated based on the location of the drive, which can accurately match the physical impact range of the actual fault point, achieving more intelligent and precise safety protection.

[0093] 3. Simplified operation and maintenance recovery process and shortened downtime: It provides a standardized regional reset process, which only needs to restore the affected part, rather than restarting the entire line, so that the system can recover from the fault quickly, reduce the complexity of operation and improve production continuity.

[0094] 4. Provides a core security foundation for modular magnetic drive pipelines: This application is highly compatible with the modular and distributed architecture of magnetic drive systems, providing a key security mechanism for achieving high availability and high flexibility in "hot-swappable" operation and maintenance.

[0095] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0096] Based on the same inventive concept, this application also provides an emergency stop control device for implementing the emergency stop control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more emergency stop control device embodiments provided below can be found in the limitations of the emergency stop control method described above, and will not be repeated here.

[0097] In one exemplary embodiment, such as Figure 6As shown, an emergency stop control device is provided, including: a generation module 601 and an emergency stop module 602, wherein:

[0098] The generation module 601 is used to generate an emergency stop area based on the measurement range of the driver corresponding to the fault signal when a fault signal is present in the signal sent by the received distributed driver.

[0099] The emergency stop module 602 is used to mark each magnetic actuator in the emergency stop area as an emergency stop. After the emergency stop is marked, each magnetic actuator is in a disabled state and cannot receive the actuator reset command.

[0100] In some optional embodiments, the generation module 601 is specifically used to determine the measurement range of the driver corresponding to the fault signal; determine the boundary position of the magnetic actuator; and generate an emergency stop region based on the boundary position and the measurement range of the driver.

[0101] In some optional embodiments, the generation module 601 is specifically used to obtain the feedback offset based on the feedback position and physical center position of the magnetic actuator; and to obtain the boundary position of the magnetic actuator based on the feedback position, feedback offset and width of the magnetic actuator.

[0102] In some optional embodiments, the above-described apparatus further includes: a startup module, configured to enable a magnetic actuator carrying an emergency stop marker upon receiving a region reset command for an emergency stop region; and to start the magnetic actuator after successful enabling.

[0103] In some optional embodiments, the above-mentioned startup module is specifically used to determine the movement direction of the magnetic drive; determine the first station closest to the magnetic drive in the opposite direction to the movement direction; and control the magnetic drive to move to the first station when there are no other magnetic drives in the first station and the distance between the first station and the magnetic drive is less than or equal to the retraction distance.

[0104] In some optional embodiments, the above-mentioned starting module is specifically used to determine the second station closest to the magnetic drive in the direction of movement when there are other magnetic drive in the first station, or when the distance between the first station and the magnetic drive is greater than the retraction distance, and control the magnetic drive to move to the second station.

[0105] Each module in the aforementioned emergency stop control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0106] In one exemplary embodiment, a computer device is provided, which may be a control system, and its internal structure diagram may be as follows: Figure 7 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores the data and signals involved in the emergency stop processing method described above. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements an emergency stop control method.

[0107] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0108] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0109] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0110] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0111] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0112] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0114] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An emergency stop control method characterized by comprising: The method comprises: In the case that a fault signal exists in the received signal sent by the distributed driver, generating an emergency stop area based on the measurement range of the driver corresponding to the fault signal; Each magnetic driver in the emergency stop area is marked with an emergency stop mark, and each magnetic driver after the emergency stop mark is in a disabled state and cannot receive a mover reset instruction.

2. The method of claim 1, wherein, The generating of the emergency stop area based on the measurement range of the driver corresponding to the fault signal comprises: Determining the measurement range of the driver corresponding to the fault signal; Determining the boundary position of the magnetic driver; Generating an emergency stop area based on the boundary position and the measurement range of the driver.

3. The method of claim 2, wherein, The determining of the boundary position of the magnetic driver comprises: Based on the feedback position and the physical center position of the magnetic driver, obtaining a feedback offset; Based on the feedback position of the magnetic driver, the feedback offset, and the width of the magnetic driver, obtaining the boundary position of the magnetic driver.

4. The method according to any one of claims 1 to 3, characterized in that, The method further comprises: In the case that a region reset instruction of the emergency stop area is received, enabling the magnetic driver carrying the emergency stop mark; After the magnetic driver is successfully enabled, starting the magnetic driver.

5. The method of claim 4, wherein, The starting of the magnetic driver comprises: Determining the movement direction of the magnetic driver; Determining a first station closest to the magnetic driver in a direction opposite to the movement direction; In the case that there is no other magnetic driver in the first station, and the distance between the first station and the magnetic driver is less than or equal to a fallback distance, controlling the magnetic driver to move to the first station.

6. The method of claim 5, wherein, The method further comprises: In the case that there is another magnetic driver in the first station, or the distance between the first station and the magnetic driver is greater than the fallback distance, determining a second station closest to the magnetic driver in the movement direction, and controlling the magnetic driver to move to the second station.

7. An emergency stop control device characterized by comprising: The device comprises: A generating module configured to, in the case that a fault signal exists in the received signal sent by the distributed driver, generate an emergency stop area based on the measurement range of the driver corresponding to the fault signal; An emergency stop module configured to mark each magnetic driver in the emergency stop area with an emergency stop mark, and each magnetic driver after the emergency stop mark is in a disabled state and cannot receive a mover reset instruction.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method of any one of claims 1 to 6.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.

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