Control method and device for automated transport equipment, automated transport system

Abstract

The application provides a control method and device of an automatic transportation equipment, and an automatic transportation system. The control method comprises the following steps: when a mobile module reaches a reversing track module, according to the movement direction information of the mobile module, a matched address configuration parameter is selected from a plurality of address configuration parameters of the reversing track module; the movement direction information of the mobile module corresponds to the end of the reversing track module into which the mobile module drives, or the movement direction information of the mobile module corresponds to the end of the reversing track module from which the mobile module is ready to drive out after reversing; one address configuration parameter of the reversing track module corresponds to two ends of the reversing track module; and based on the selected address configuration parameter of the reversing track module, real-time position data of the mobile module in the reversing track module is determined. The technical scheme of the application effectively solves the problem that in the related art, the position of the mobile module in the reversing track module cannot be accurately obtained in the scene of multiple mobile paths.

Description

Technical Field

[0001] This application relates to the field of transportation control technology, and more specifically, to a control method and apparatus for automated transportation equipment and an automated transportation system. Background Technology

[0002] In automated transport equipment, the transport track comprises multiple track modules. These modules are joined together to form a movement path for the mobile module. Common track modules have only two ends, forming a single movement path with low space utilization. Improving the mechanical structure of the transport line can increase the number of movement paths. In multi-path scenarios, the mobile module can switch paths at the reversing track module, allowing it to move along different paths. However, the movement conditions become more complex. Since the control methods for single-path scenarios in related technologies do not consider path switching, the positioning methods used in single-path scenarios cannot accurately identify the mobile module's position at the reversing track module, posing a safety hazard. Summary of the Invention

[0003] The main objective of this application is to provide a control method and apparatus for automated transportation equipment and an automated transportation system to solve the problem in related technologies where the position of the moving module on the reversing track module cannot be accurately obtained in scenarios with multiple movement paths.

[0004] To achieve the above objectives, according to one aspect of this application, a control method for an automated transport device is provided. The automated transport device includes a moving module and multiple track modules, the multiple track modules including at least one reversing track module, the reversing track module having at least three ends, and the reversing track module being configured to guide the moving module to perform linear movement in at least one direction. The method includes: upon detecting that the moving module has arrived at the reversing track module, selecting a matching address configuration parameter from multiple address configuration parameters of the reversing track module based on the moving direction information of the moving module; wherein the moving direction information of the moving module corresponds to the end of the moving module entering the reversing track module, or the moving direction information of the moving module corresponds to the end of the moving module preparing to exit the reversing track module after reversing direction; one address configuration parameter of the reversing track module corresponds to two ends of the reversing track module; and determining real-time position data of the moving module on the reversing track module based on the selected address configuration parameter of the reversing track module.

[0005] To achieve the above objectives, according to another aspect of the embodiments of this application, a control device for an automated transport device is also provided. The automated transport device includes a moving module and multiple track modules, the multiple track modules including at least one reversing track module, the reversing track module having at least three ends, and the reversing track module being configured to guide the moving module to perform linear movement in at least one direction. The control device includes: an address configuration parameter selection unit, used to select a matching address configuration parameter from multiple address configuration parameters of the reversing track module based on the moving direction information of the moving module when the moving module is detected to have arrived at the reversing track module; wherein the moving direction information of the moving module corresponds to the end of the moving module entering the reversing track module, or the moving direction information of the moving module corresponds to the end of the moving module preparing to exit the reversing track module after reversing direction; one address configuration parameter of the reversing track module corresponds to two ends of the reversing track module; and a position determination unit, used to determine the real-time position data of the moving module on the reversing track module based on the selected address configuration parameter of the reversing track module.

[0006] To achieve the above objectives, according to another aspect of the embodiments of this application, an automated transportation system is also provided, including an automated transportation device and an operating device. The automated transportation device includes: a moving module and a plurality of track modules, the plurality of track modules including at least one reversing track module, the reversing track module having at least three ends, and the reversing track module being configured to guide the moving module to perform linear motion in at least one direction; the operating device includes: a memory storing an executable program; and a processor for running the program, wherein the program, when running, executes the control method of the automated transportation device described in any one of the above embodiments.

[0007] To achieve the above objectives, according to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the control method of the automated transport device described in any one of the above claims. Attached Figure Description

[0008] 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:

[0009] Figure 1 This is a hardware structure block diagram of a computer terminal (mobile device or control device) for implementing a control method for automated transportation equipment according to an embodiment of this application;

[0010] Figure 2 This is a flowchart of a control method for an automated transportation device according to an embodiment of this application;

[0011] Figure 3 This is a schematic diagram of a track module performing path identifier allocation according to an embodiment of this application. Figure 1 ;

[0012] Figure 4 This is a schematic diagram illustrating path identifier allocation using another track module provided in an embodiment of this application. Figure 2 ;

[0013] Figure 5 This is a schematic diagram illustrating path identifier allocation using another track module provided in an embodiment of this application. Figure 3 ;

[0014] Figure 6 This is a schematic diagram illustrating path identifier allocation using another track module provided in an embodiment of this application. Figure 4 ;

[0015] Figure 7 This is a schematic diagram of a track module performing path identifier allocation according to an embodiment of this application. Figure 5 ;

[0016] Figure 8 This is a schematic diagram illustrating the distribution area division of address configuration parameters for a track module according to an embodiment of this application. Figure 1 ;

[0017] Figure 9 This is a schematic diagram illustrating the distribution area of ​​address configuration parameters for another track module provided in an embodiment of this application. Figure 2 ;

[0018] Figure 10 This is a schematic diagram illustrating address offset allocation when configuring address parameters for a track module according to an embodiment of this application;

[0019] Figure 11 This is a schematic diagram illustrating the configuration of a first limit switch parameter according to an embodiment of this application;

[0020] Figure 12 This is a schematic diagram of a control device for an automated transportation equipment according to an embodiment of this application;

[0021] Figure 13 This is a schematic diagram of an automated transportation system provided according to an embodiment of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0023] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

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

[0026] Mobile module: This refers to the transport vehicle in automated transport equipment, capable of moving along a track module and responsible for transporting goods. Mobile modules can be active or passive. They may be self-driving or require external power. In specific subfields of automated transport, mobile modules may have different names, such as Automated Guided Vehicle (AGV) or moving submodule.

[0027] Track module: At least for guiding the moving module in linear motion, it can further act as a drive provider for the moving module, controlling its movement. For example, one of the track module and the moving module has an excitation unit, and the other has a magnetic unit. When energized, the excitation unit can magnetically couple with the magnetic unit to achieve movement or stationary position of the moving module relative to the track module. Based on whether it has a commutation function, track modules can be divided into non-commutation track modules and commutation track modules.

[0028] Non-reversible track module: Used to construct a single movement path. The non-reversible track module includes two ends, each allowing the moving module to enter or exit. The non-reversible track module can guide the moving module to move in a curved or straight line between the two ends, and can guide the moving module to move in one direction or the opposite direction.

[0029] Reversing track module: Used to construct multiple movement paths. The reversing track module has three or more ends, each end allowing the moving module to enter or exit. The reversing track module can guide the moving module to move in a straight line between multiple ends, and can also guide the moving module to move in different directions at included angles, thereby realizing the reversal of moving modules between multiple paths.

[0030] Address configuration parameters: These are parameters obtained from the track module configuration and are used to achieve accurate control and positioning of the mobile module in a multi-path environment. Address configuration parameters include at least the address value range information and may further include path identification information. Based on whether path identification information is included, address configuration parameters can be divided into one-dimensional address configuration parameters and two-dimensional address configuration parameters. A track module can be configured with at least one of one-dimensional and two-dimensional address configuration parameters.

[0031] Address value range information: Used to define the distribution of address values ​​for the track module.

[0032] Path identification information: Used to distinguish different movement paths and avoid movement paths being unrecognizable.

[0033] Address mapping parameters: used to map the real-time location of mobile modules located on different mobile paths to a unified reference, enabling mobile modules on different mobile paths to perform effective relative position comparisons.

[0034] Limit parameters: These are parameters configured based on the track module and are used to prevent or allow the moving module to move. Configuring limit parameters on other track modules connected around the reversing track module allows management of when the moving module enters the reversing track module.

[0035] 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.

[0036] The methods provided in some embodiments of this application can be executed in a mobile terminal, a computer terminal, or a similar computing device (such as a control device). Figure 1 A hardware structure block diagram of a computer terminal (mobile device or control device) for implementing a mobile module control method is shown. Figure 1 As shown, computer terminal 10 (mobile device or control 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) or a programmable gate array (FPGA), etc.), a memory 104 for storing data, a BUS bus, and a communication device 106 for communication functions. In addition, computer terminal 10 may also include: a display, an input / output interface (I / O interface), a network interface, and a power supply. 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 diagram shows more components (such as cursor control devices, keyboard) or fewer components, or has the same... Figure 1 The different configurations shown.

[0037] The memory 104 can be used to store program code, such as the program code corresponding to the steps of the mobile module control method provided in the embodiments of this application. The processor 102, by calling and running the program code stored in the memory 104, can execute various functional applications and data processing, thereby realizing the mobile module control method provided in the embodiments of this application. 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.

[0038] The communication 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 communication 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 communication device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet. For example, control commands can be issued via the communication device 106 to the mobile module or track module in this application to control the movement of the mobile module among multiple track modules.

[0039] The display can be a touchscreen or a non-touchscreen display, allowing the user to interact with the user interface of the computer terminal 10 (or mobile device). For example, the display can show the location information, speed information, etc. of the mobile module.

[0040] It should be understood that the accompanying drawings in this application are for illustrative purposes only and do not limit the number of moving modules, the number of track modules, the shape of the moving path, etc.

[0041] In the field of automation control technology, for automated transportation systems involving automated transportation, the transportation line includes multiple track modules. These track modules are spliced ​​together to form a movement path for the moving module. In scenarios with multiple movement paths, the moving module can switch paths at the reversing track module, allowing it to move along different paths. However, the movement conditions are also more complex. Since the control methods for single movement path scenarios in related technologies do not consider the path switching situation, the positioning methods for single movement path scenarios in related technologies cannot accurately identify the position of the moving module at the reversing track module.

[0042] To address the aforementioned problems, this application provides a control method for an automated transport device. In some embodiments, the automated transport device includes a moving module and multiple track modules, the multiple track modules including at least one reversing track module, the reversing track module having at least three ends, and the reversing track module being configured to guide the moving module to perform linear motion in at least one direction.

[0043] Figure 2 This is a flowchart of a control method for an automated transportation device according to an embodiment of this application, such as... Figure 2 As shown, the control method includes:

[0044] Step S201: Upon detecting that the moving module has arrived at the reversing track module, a matching address configuration parameter is selected from multiple address configuration parameters of the reversing track module based on the moving direction information of the moving module. Specifically, the moving direction information of the moving module corresponds to the end of the moving module that it enters the reversing track module, or the moving direction information of the moving module corresponds to the end of the moving module that it is preparing to exit the reversing track module after reversing; one address configuration parameter of the reversing track module corresponds to two ends of the reversing track module.

[0045] In some embodiments, the automated transport system has a detection capability (achieved through position measurement sensors) to identify moving modules approaching or entering the reversing track module. Upon detecting that a moving module has arrived at the reversing track module, address configuration parameters are selected based on the moving module's direction of movement information. The direction of movement information indicates the current direction of movement of the moving module. Since the moving module can change its direction of movement within the reversing track module, the current direction of movement can be either the direction in which the moving module entered the reversing track module, or the direction in which the moving module prepares to exit the reversing track module after changing direction.

[0046] The reversing track module is configured with multiple address configuration parameters. Each address configuration parameter is configured according to the different extension directions between the ends of the reversing track module. Therefore, one address configuration parameter of the reversing track module corresponds to two ends of the reversing track module, and the multiple address configuration parameters of the reversing track module are different, which can be used to distinguish the straight track sections between the multiple ends of the reversing track module. Among them, the two ends of the reversing track module corresponding to one address configuration parameter are two ends with a relative positional relationship. After the moving module enters from one end of the reversing track module, it moves in a straight line according to the direction of movement when entering, that is, the moving module does not change direction, and then the moving module can exit from the other end with the opposite position.

[0047] Specifically, after the moving module enters the reversing track module, since the moving module moves in a straight line within the reversing track module, if the moving module does not reverse direction, the end of the moving module that is opposite to one end of the reversing track module is the end of the moving module that is about to exit the reversing track module. That is, the moving direction indicated by the moving direction information is the direction in which the end of the moving module enters the reversing track module points to the end opposite to the position. Since there is a correspondence between the address configuration parameters and the ends of the reversing track module, the address configuration parameters obtained according to the moving direction information correspond to the end of the moving module that the moving module enters the reversing track module, and the obtained address configuration parameters correspond to the end opposite to the position of the end of the moving module that the moving module enters the reversing track module.

[0048] After the moving module reverses direction, its direction of movement changes, and there is an angle between the reversed direction and the original direction. The moving module moves in a straight line according to the reversed direction, and the direction of movement information is updated accordingly. Since the end of the reversing track module that the moving module is about to exit changes after the reversal, the end of the reversing track module that the reversing direction points to is not the same as the end of the reversing track module when the moving module entered. The address configuration parameters selected according to the updated direction of movement information correspond to the end of the reversing track module that the moving module is about to exit after the reversal.

[0049] Since the movement direction information is associated with the end of the reversing track module that the moving module enters or exits, and the address configuration parameters of the reversing track module correspond to the two ends of the reversing track module, the matching address configuration parameter movement direction can be accurately obtained from the multiple address configuration parameters of the reversing track module through the movement direction information, regardless of whether the moving module is reversing in the reversing track module.

[0050] Step S202: Based on the address configuration parameters of the selected reversing track module, determine the real-time position data of the moving module on the reversing track module.

[0051] The selection of address configuration parameters is related to whether the mobile module is commutating. The address configuration parameters selected when the mobile module is not commutating are different from those selected after the mobile module is commutating. Different real-time position data can be obtained based on different address configuration parameters. Thus, the specific position of the mobile module on the commutating track module can be identified based on the real-time position data. For example, based on the real-time position data, it can be determined which straight track segment of the commutating stator module the mobile module is located on, and the position of the mobile module relative to the straight track segment, thereby achieving accurate positioning of the mobile module on the commutating track module.

[0052] It should be noted that motion state data of the moving module, such as real-time speed and acceleration data, can be calculated based on real-time location data. Therefore, after obtaining the real-time location data of the moving module on the reversing track module, its motion state can be monitored in real time, enabling timely control decisions. This includes not only the moving module's coordinates on the reversing track module but also its dynamic parameters such as speed and acceleration. This comprehensive data collection helps the automated transport system monitor the moving module's movement status in real time and make timely control decisions. For example, if the moving module suddenly decelerates near the reversing point, the automated transport system can react quickly and adjust its subsequent movement control strategy to adapt to this change, thereby avoiding the potential collision risk of the moving module on the reversing track module. This facilitates dynamic and flexible path management in multi-path transport systems, effectively reducing waiting time or conflicts caused by improper path planning, and thus improving the smoothness of the overall logistics or production process.

[0053] By applying the technical solution provided in the embodiments of this application, the address parameters corresponding to the end of the reversing track module into which the mobile module enters can be determined through the movement direction information of the mobile module, or the address configuration parameters corresponding to the end of the reversing track module out of which the mobile module has reversed direction can be determined. This accurately identifies the position of the mobile module in the reversing track module, effectively solving the problem in related technologies where the position of the mobile module in the reversing track module cannot be accurately obtained in scenarios with multiple movement paths. This improves the positioning accuracy of the mobile module in the reversing track module. When determining the end of the reversing track module into which the mobile module enters through the movement direction information of the mobile module, the address parameters corresponding to the entry of the mobile module can be obtained. Alternatively, after the mobile module reverses direction, the end of the mobile module out of which it reverses direction can be determined based on the movement direction information, thereby obtaining the address configuration parameters corresponding to the reversal. This accurately identifies the position of the mobile module in the reversing track module, improving the positioning accuracy in the reversing track module and solving the problem in related technologies where the position of the mobile module in the reversing track module cannot be accurately obtained in scenarios with multiple movement paths.

[0054] Furthermore, the control method for the automated transport equipment also includes: acquiring the target position parameters and entry direction information of the moving module that is preparing to enter or has already entered the reversing track module; wherein, the entry direction information is used to indicate the direction in which the moving module enters the reversing track module; matching the target position parameters with the entry direction information; if the target position parameters of the moving module match the entry direction information of the moving module, determining that the moving module does not perform a reversing operation when it reaches the reversing position of the reversing track module, otherwise, determining that the moving module performs a reversing operation when it reaches the reversing position of the reversing track module.

[0055] In some embodiments, the target location parameter refers to the address value of the final destination or next path node set for the mobile module, which can be used to plan the travel path of the mobile module and determine whether it has reached the predetermined reversing point. The entry direction information provides the direction information when the mobile module enters the reversing track module. This direction information is directly related to the current path of the mobile module and the access port of the reversing track module, thereby helping to determine the current position of the mobile module and its relative relationship with the reversing track module.

[0056] In this embodiment, the target position parameters and the direction of travel information can be compared and analyzed to determine whether the travel path of the mobile module is consistent with the expectation and whether a direction change is required at the reversing track module, so as to better coordinate the actions of the mobile module, ensure that it can reach the target position smoothly, and avoid path conflicts or other safety issues.

[0057] If the target position parameters match the incoming direction information, it means the mobile module can directly reach its destination by continuing along the current path without needing to change direction at the reversing track module. In this case, it is determined that the mobile module will not perform a reversing operation when it reaches the reversing position of the reversing track module, thus maintaining the mobile module's direction of movement. This helps simplify movement control and accelerate the transportation process. Conversely, if the target position parameters do not match the incoming direction information, it indicates that the mobile module needs to change its direction of movement via the reversing track module to reach the target location. In this case, it is determined that the mobile module needs to perform a reversing operation when it reaches the reversing position of the reversing track module. Executing the reversing operation helps adjust the mobile module's route, ensuring it moves towards the predetermined goal. Furthermore, by avoiding unnecessary straight travel, path efficiency can be optimized, reducing energy consumption.

[0058] Since the existing address configuration method for a single mobile path scenario does not take into account the case of path switching, the address configuration method for the existing single mobile path scenario can only configure the address of the track module related to each mobile path sequentially, and it is necessary to consider the requirement that the addresses of the track modules of multiple mobile paths do not overlap. As the number of mobile paths increases, the address configuration efficiency is low.

[0059] To address the aforementioned technical problems, this embodiment provides a novel address configuration method to increase address configuration efficiency. Optionally, the multiple track modules further include a non-reversing track module, which has two ends and is configured to drive the moving module to perform linear or curvilinear motion between the two ends. The method further includes: configuring at least one of a one-dimensional address configuration parameter and a two-dimensional address configuration parameter for the non-reversing track module, and configuring multiple two-dimensional address configuration parameters for the reversing track module; wherein the one-dimensional address configuration parameter includes address value range information, and the two-dimensional address configuration parameter includes address value range information and path identification information; there is no overlap between the address value range information of the one-dimensional address configuration parameter and the address value range information of the two-dimensional address configuration parameter, or the two overlap only at boundary values.

[0060] Considering the linear or curvilinear motion characteristics of non-reversing track modules, this application provides a flexible configuration scheme: configuring one-dimensional or two-dimensional address configuration parameters for the non-reversing track module. One-dimensional address configuration parameters only contain address value range information, suitable for scenarios with relatively simple movement paths. They allow for locating the moving module's position on the track using address values, simplifying calculation logic and reducing computational complexity. On the other hand, two-dimensional address configuration parameters include both address value range information and path identification information. This configuration method is more comprehensive and suitable for scenarios with more complex paths. The path identification information helps distinguish different movement paths, ensuring the moving module can be accurately located and controlled in multi-path environments, thus improving the control flexibility and safety of the moving module.

[0061] It is worth noting that the configuration management strategy between address configuration parameters in this application embodiment explicitly states that there is no overlap between the address value range information of the one-dimensional address configuration parameters and the address value range information of the two-dimensional address configuration parameters, or that the two only overlap at boundary values. This helps to ensure that the address configuration parameters of each track module are independent and clear, avoids confusion of positioning information, helps to maintain clear identification and management of mobile modules in complex multi-path environments, avoids potential path conflicts and security risks, and also helps to improve data processing efficiency.

[0062] Specifically, during the two-dimensional address configuration process, at least one of a one-dimensional address configuration parameter and a two-dimensional address configuration parameter is configured for the non-reversing track module, and multiple two-dimensional address configuration parameters are configured for the reversing track module. This includes: selecting at least one track module as the starting track module among multiple track modules, and selecting a starting part within the starting track module; configuring a starting address value for the starting part; and configuring address value range information and path identification information for the starting track module and the non-starting track module connected to the starting track module based on the starting address value of the starting part, the extension direction of the starting track module, and the extension direction of the non-starting track module connected to the starting track module, respectively, to obtain the two-dimensional address configuration parameters of the starting track module and the two-dimensional address configuration parameters of the non-starting track module. The extension direction is determined according to the end correspondence of the starting track module or according to the end correspondence of the non-starting track module. One two-dimensional address configuration parameter corresponds to one extension direction, and the multiple path identification information corresponding to the same track module are different from each other.

[0063] It should be noted that, in the embodiments of this application, a starting part is selected in the starting track module, including at least one of the following: if the starting track module is a reversing track module, the middle or end of the starting track module is selected as the starting part; if the starting track module is a non-reversing track module, the end of the starting track module is selected as the starting part.

[0064] Specifically, in the track module configuration strategy of this embodiment, a flexible address configuration method is adopted, configuring appropriate address parameters for both non-reversing track modules and reversing track modules. For the address configuration of non-reversing track modules, one-dimensional or two-dimensional address configuration parameters can be selectively configured. One-dimensional configuration is suitable for single-path movement, while two-dimensional configuration is better suited to complex scenarios with multiple intersecting paths, helping to improve the accuracy of path identification and the flexibility of module control. After determining the starting track module and its starting part, a starting address value can be configured for the starting part. Subsequently, based on the starting address value of the starting part, its extension direction, and the extension direction of the non-starting track modules connected to the starting track module, specific address value range information and path identification information can be configured for these track modules. The setting of path identification information ensures that even on the same track module, moving modules on different paths can be clearly distinguished, helping to avoid path confusion and improving the efficiency and accuracy of module scheduling.

[0065] For the address configuration of the reversing track module, multiple two-dimensional address configuration parameters can be configured, each corresponding to an extension direction. This configuration method takes into account the multi-directional connection characteristics of the reversing track module, enabling precise description of the path transition of the mobile module at the reversing track module. This helps to achieve seamless switching between different paths and reduces the uncertainty during path transitions.

[0066] It is worth noting that the path identification information of multiple track modules must be different from each other. This principle can ensure that each path identification can uniquely identify a travel path, which helps to avoid misjudgment caused by similar path identification of the mobile module and can ensure the correct guidance of the module in complex track networks.

[0067] Furthermore, in this embodiment, the address configuration strategy for the track modules can be flexibly adjusted according to the actual scenario, taking into account both simple and complex path handling. Based on actual transportation needs and track layout, one-dimensional address parameters can be configured for non-reversing track modules to simplify address management; or two-dimensional address parameters can be configured to address the challenges of multiple path intersections. This helps optimize address parameter settings and can adapt to various transportation scenarios ranging from simple to complex.

[0068] In some embodiments, serial track modules connected sequentially to the starting track module can be determined along the extension direction of the starting track module, and corresponding address value range information can be configured based on the length of the serial track modules along the extension direction until the starting part is returned.

[0069] Furthermore, based on the starting address value of the starting section, the extension direction of the starting track module, and the extension direction of the non-starting track module connected to the starting track module, address value range information and path identification information are configured for the starting track module and the non-starting track module respectively, including at least one of the following: when the starting track module is a reversing track module, corresponding address value range information and path identification information are configured according to multiple extension directions of the starting track module; when the starting track module is a non-reversing track module, one address value range information and one path identification information are configured according to one extension direction of the starting track module; when the non-starting track module is a reversing track module, corresponding address value range information and path identification information are configured according to multiple extension directions of the non-starting track module; wherein one of the configured multiple path identification information is the same as one path identification information of the starting track module; when the non-starting track module is a non-reversing track module, one address value range information and one path identification information are configured for the non-starting track module according to one extension direction of the non-starting track module; wherein one of the configured path identification information is the same as one path identification information of the starting track module.

[0070] When assigning addresses to the reversing track module, addresses are assigned to the portion from one end of the reversing track module to the center point according to one extension direction. When the center point of the reversing track module is reached, multiple extension directions are split according to the remaining guideable directions of the reversing track module, and multiple different path identification information is configured. The non-reversing track module corresponding to one end of the reversing track module is configured with the same path identification information.

[0071] During address allocation, an extension direction is first selected, starting from one end of the reversing track module and proceeding towards the center point. This helps establish address continuity for the mobile module from the entrance into the reversing track module to the central area. When address allocation reaches the center point of the reversing track module, based on the module's physical design, the remaining guideable directions are identified and treated as new extension directions. The splitting of the center point signifies a shift in address allocation from a single line to multiple lines, paving the way for path identification information allocation in different directions. Optionally, for each extension direction splitting from the center point, a unique path identification information is configured. The existence of different path identification information helps distinguish and manage mobile modules moving in different directions from the center point.

[0072] If the serial track module is a non-reversing track module, configure the corresponding address value range information according to one extension direction and the length of the non-reversing track module in the extension direction (i.e., the length between the two ends of the non-reversing track module).

[0073] If the series track module is a reversing track module, it has at least two extension directions. Based on the length of each extension direction of the reversing track module, the corresponding address value range information is configured.

[0074] Based on the connection relationships of each track module, configure corresponding path identification information. First, for non-reversing track modules with connections, configure the same path identification information. Second, for reversing track modules, there are two cases: First, the starting track module is located to one side of the reversing track module; second, the starting track module is a reversing track module, and during address allocation for the reversing track module, starting from the middle or end of the reversing track module, address allocation is performed along different extension directions, and corresponding path identification information is configured. Furthermore, the track modules corresponding to the ends of the reversing track module are configured with the same path identification information. The starting boundary values ​​for each address range can be the same. These two cases are explained in detail below.

[0075] The first scenario: The starting track module is located on one side of the reversing track module.

[0076] Optionally, when splitting into multiple extension directions, one extension direction can be selected to assign the original path identification information to the corresponding track module. For example... Figure 3 As shown, D1 to D4, DA, DB1 and DB2 are the address value ranges, R1 to R3 are the path identification information, extension directions 2 and 3 are the extension directions after the split of extension direction 1, and the track modules corresponding to extension direction 1 are all assigned the same road sign identifier R1 as the track modules corresponding to extension direction 1.

[0077] In multiple track modules corresponding to the same path identification information, the difference between the starting boundary value of the address value range information of the preceding track module and the starting boundary value of the address value range information of the following track module is the length of that track module, meaning that their numerical distributions are continuous. For example, the address value range information D1, DA, and D3 can be continuous. The boundary values ​​of DB1, DB2, DA1, and DA2 near the center point of the reversing track module are equal.

[0078] like Figure 4 As shown, the track modules pass through the reversing track module according to extension direction 1 and extension direction 2 respectively. The end boundary values ​​of the address value range information may be the same or different, depending on whether the lengths of the other track modules preceding them are the same.

[0079] like Figure 5 As shown, extension directions 0, 2, and 3 eventually converge at the reversing track module. The end boundary values ​​of the address range information may be the same or different, depending on whether the lengths of the preceding track modules are the same.

[0080] like Figure 6 As shown, since extension directions 0, 1, 2 and 3 all eventually converge to the reversing track module, the end boundary values ​​of the address range information may be the same or different, depending on whether the lengths of the preceding track modules are the same.

[0081] In the second scenario, the starting track module is a reversing track module. During address allocation in the reversing track module, if... Figure 7 As shown, starting from the middle or end of the reversing track module, addresses are allocated and corresponding path identification information is configured along different extension directions, and the track modules corresponding to the ends of the reversing track modules are configured with the same path identification information. It should be noted that the starting boundary values ​​of the various address value ranges mentioned in this embodiment can be the same.

[0082] ① If the end of the moving module entering the reversing track module is fixed, for example, two ends of the reversing track module are used for the moving module to enter and the other two ends are used for the moving module to exit (i.e., 2 in and 2 out), or one end of the reversing track module is used for the moving module to enter and the other three ends are used for the moving module to exit (i.e., 1 in and 3 out), or three ends of the reversing track module are used for the moving module to enter and the other one end is used for the moving module to exit (i.e., 3 in and 1 out), the specific direction of the extension can be determined according to the moving direction of the moving module.

[0083] ② If the end of the moving module entering the reversing track module is variable, the reversing track module can be selected as the starting track module for configuration, so as to perform relative position comparison later.

[0084] During the formal operation phase, the mobile module's two-dimensional real-time location data includes location coordinate information and location identifier information, and the execution steps may include:

[0085] S21. Based on the position measurement signal fed back by the position measurement sensor, the track module where the mobile module is located and its position in the track module can be determined. Then, based on the address value range information in the address configuration parameters corresponding to the track module where the mobile module is located, the address value is determined as the position coordinate information of the mobile module. The position coordinate information is used to represent the real-time position of the mobile module.

[0086] S22, determine the position identifier of the moving module based on the path identifier information of the address configuration parameters configured for the corresponding track module. S23, when the moving module moves to the reversing track module, based on the multiple address value ranges and multiple path identifier information configured for the reversing track module, determine whether the current moving direction of the moving module matches the target position, and then determine whether to perform a reversal.

[0087] The mobile module is accurately located by using location value range information and path identification information.

[0088] For some non-reversing track modules, one-dimensional address configuration parameters can be configured directly. That is, the address configuration parameters can only include address value range information and do not include path identification information.

[0089] For example, in multiple movement paths, in movement segments far from the reversing track module, multiple movement modules are on the same movement path. Position comparison can be performed using location coordinate information, making path identification information less useful. Therefore, one-dimensional address configuration parameters can be set for these segments. As another example, if the end of the reversing track module from which the movement module exits is known, one-dimensional address configuration parameters can be set for at least a portion of the movement segments corresponding to the connecting end of the reversing track module from which the movement module exits.

[0090] In this embodiment, a flexible strategy can be adopted to determine the extension direction of the reversing track module based on its characteristics, so as to optimize the setting of address configuration parameters and improve the passage efficiency of the mobile module. Optionally, before configuring address value range information and path identification information for the starting track module and non-starting track module based on the starting address value of the starting part, the extension direction of the starting track module, and the extension direction of the non-starting track module connected to the starting track module, at least one of the following is also included: when the end of the reversing track module used for the mobile module to enter and the end used for the mobile module to exit are fixed, the extension direction of the reversing track module is determined according to the direction from the end used for entering to the end used for exiting; for reversing track modules with address configuration parameters configured between at least two ends, the extension direction of the reversing track module is determined according to the end of the reversing track module without address configuration parameters configured.

[0091] For cases where the entry and exit ends are fixed, the extension direction of the reversing track module can be determined based on the direction from the entry end to the exit end in the reversing track module where the entry and exit ends of the mobile module are fixed. This helps to simplify the setting process of address configuration parameters, provides clear guidance for the entry and exit paths of the mobile module, avoids unnecessary path identification information configuration in fixed mode, and thus reduces complexity.

[0092] For reversing track modules with address configuration parameters configured at least at two ends, a new extension direction is determined based on the ends without configured address configuration parameters. This fully utilizes the information from existing address configuration parameters, helping to improve the overall path identification of the reversing track modules and enhance full-range coverage and effective path management. This embodiment, by flexibly determining the extension direction of the reversing track modules, helps improve the path planning efficiency of the entire automated transportation equipment and the positioning accuracy of the moving modules.

[0093] Furthermore, with a clear direction of extension, the configuration of address parameters and path identification information becomes more orderly, which helps to detect and correct abnormal behavior of mobile modules in a timely manner, improves mobile security, and reduces the risk of accidents caused by path confusion.

[0094] In some embodiments, for automated transportation equipment, a one-dimensional address configuration parameter can be configured for the non-reversing track module, and multiple two-dimensional address configuration parameters can be configured for the reversing track module to optimize the positioning and path management of the moving module. Optionally, configuring at least one of the one-dimensional and two-dimensional address configuration parameters for the non-reversing track module, and configuring multiple two-dimensional address configuration parameters for the reversing track module, further includes: when the starting track module is a non-reversing track module, configuring address value range information for at least the portion of the non-starting track module far from the starting track module based on the extension direction of the non-starting track module, to obtain the one-dimensional address configuration parameter of the non-starting track module.

[0095] It should be understood that when the starting track module is defined as a non-reversing track module, the embodiments of this application should at least configure one-dimensional address configuration parameters for the part of the non-starting track module that is connected to but not directly connected to the starting track module. Here, the part may refer to the end or middle section of the non-starting track module that is far away from the starting track module, and the configuration mainly focuses on the address value range information of these sections.

[0096] For the extension direction based on the non-starting track module, the address value range information of the part of the non-starting track module that is far away from the starting track module is configured to generate one-dimensional address configuration parameters. This helps to accurately describe the possible position of the mobile module in a specific track segment and can serve as the basis for subsequent motion control and positioning.

[0097] Since the one-dimensional address configuration parameters do not have path identifier information that can distinguish the movement path, the address value range information of the one-dimensional address configuration parameters and the address value range information of the two-dimensional address configuration parameters only have intersection at the boundary values, and there is no intersection in the rest. Therefore, the unique address value can indicate which track module the movement module is located on.

[0098] In this embodiment of the application, the distribution area of ​​one-dimensional address configuration parameters and the distribution area of ​​two-dimensional address configuration parameters can be divided according to the track module, or the distribution area can be divided by specifying a location. For example... Figure 8 and Figure 9 As shown, where, Figure 8 In the process, after reaching the reversing track along extension direction 0, three extension directions extend from the reversing track module (extension direction 1 (the synchronization direction of extension direction 0), extension direction 2, and extension direction 3). Among them, extension direction 0 is configured with a two-dimensional address configuration parameter distribution area (D1, R1). The address configuration parameter distribution area of ​​extension direction 1 includes the one-dimensional address configuration parameter distribution area shown in D5, as well as D3 and R2. The address configuration parameter distribution area of ​​extension direction 2 includes the area shown in D2 and R2. The address configuration parameter distribution area of ​​extension direction 3 includes the area shown in D4 and R3. Figure 9In Figure 8 Based on this, the distribution area D5 of the one-dimensional address configuration parameters is divided into the distribution area of ​​the two-dimensional address configuration parameters indicated by D6 and R1, and the distribution area of ​​the one-dimensional address configuration parameters by D7.

[0099] The following explains how address value range information is expressed.

[0100] Currently, the address value range information can be expressed in either of the following ways: The first way includes the start boundary value and the end boundary value, where the absolute value of the difference between the two boundary values ​​is the length of the track module's extension direction; the second way includes the start boundary value and the length of the track module's extension direction.

[0101] As can be seen from the above address allocation, when performing two-dimensional address configuration and using the reversing track module as the starting track module, the addresses of each extension direction can be allocated according to the same starting value, and the moving modules in the track modules connected to different connection ends of the reversing track module can perform position comparison under the same reference.

[0102] However, in other cases, the address value ranges of the track modules connected to different connection ends of the reversing track module are different, making it impossible for the moving modules located in these track modules to compare their positions. For example, the position coordinates of the moving module determined by D1 and the position coordinates of the moving module determined by D2 do not come from the same address value range, making position comparison impossible. This leads to the following problem: According to the control timing, it is expected that moving module 1 will enter the reversing track module before moving module 2. However, because moving module 2 moves faster, it enters the reversing track module before moving module 1, causing interference to moving module 1.

[0103] Optionally, the method further includes at least one of the following: selecting all reversing track modules as starting track modules among multiple track modules and configuring multiple two-dimensional address configuration parameters for the reversing track modules; configuring at least one of one-dimensional address configuration parameters and two-dimensional address configuration parameters for non-reversing track modules; configuring corresponding address mapping parameters for track modules connected to at least one end of the reversing track module based on the address configuration parameters of track modules respectively connected to multiple ends of the reversing track module; and configuring limit parameters for track modules connected to at least one end of the reversing track module.

[0104] To avoid the aforementioned problems, the preventive operations in the configuration phase of this application include three methods, which will be described below in conjunction with these three methods.

[0105] For Method 1, each reversing track module can be configured with at least a partial two-dimensional address as a starting track module, with the extension directions ultimately converging on the same track module. The starting address value of each reversing track module is determined based on its length with adjacent reversing track modules. Thus, the real-time positions of the moving modules around each reversing track module are at the same reference, allowing for position comparison.

[0106] For method 2, further, based on the address configuration parameters of the track modules connected to the multiple ends of the reversing track module, corresponding address mapping parameters are configured for the track modules connected to at least one end of the reversing track module, including at least one of the following: obtaining the track modules connected to the multiple ends of the reversing track module, grouping the track modules connected to the multiple ends of the reversing track module according to the correspondence with the ends of the reversing track module to obtain multiple series modules; selecting a reference module and a non-reference module among the multiple series modules; configuring a first address mapping parameter for the non-reference module according to the address value range information of the reference module and the address value range information of the non-reference module; obtaining the track modules connected to the multiple ends of the reversing track module, grouping the track modules connected to the multiple ends of the reversing track module according to the correspondence with the ends of the reversing track module to obtain multiple series modules; configuring a second address mapping parameter for the series module based on preset address reference interval information and address value range information of the series module.

[0107] Method 2 described above can configure address mapping parameters on the track module corresponding to the end of the reversing track module to facilitate position comparison of the moving module after equivalence. It should be noted that, in this embodiment of the application, in order to realize position comparison and precise control of the moving module between track modules corresponding to different connection ends of the reversing track module, two levels of address mapping parameter configuration are introduced—a first address mapping parameter based on the reference module and a second address mapping parameter based on a preset address reference.

[0108] Specifically, the first address mapping parameter may include at least: address equivalent range information, address offset information, and equivalent identification information of the non-base module.

[0109] Based on the correspondence with the ends of the reversing track modules, the track modules connected to multiple ends of the reversing track module are divided into several groups, each group forming a series module. Then, among these series modules, one is selected as the reference module, while the other modules are considered non-reference modules. Subsequently, the address value range information of the reference module and the non-reference modules is compared. Based on the difference between the two, a first address mapping parameter is configured for the non-reference modules, including the address equivalent range information, address offset information, and equivalent identification information of the non-reference modules.

[0110] It should be understood that multiple track modules directly or indirectly connected to the reversing track module are grouped according to their ends. Track modules corresponding to the same end of the reversing track module are grouped together to obtain multiple track modules. Among these multiple track modules, one can be designated as a reference object to obtain a reference module. Based on the address value range information corresponding to the reference module, address reference interval information is determined. Based on the relative position between the address reference interval information and the corresponding end of the reversing track module, address equivalent interval information with the same relative position is determined in the address value range information of non-reference modules corresponding to at least one other end of the reversing track module.

[0111] like Figure 10 As shown, the distance from the first end of the reversing track module to the interval boundary d11 indicated by the address reference interval information is X1, and the distance from the first end of the reversing track module to the interval boundary d12 indicated by the address reference interval information is X2. Then, the boundaries d21 and d22 at the distances from the second end of the reversing track module X1 and X2 are obtained to obtain the address equivalent interval information.

[0112] For example, address range information can also be represented by a boundary and a range length, including the start or end boundary value and the range length of the partitioned area, which will not be elaborated here.

[0113] This embodiment also needs to determine the address offset information between the address base interval information and the address equivalent interval information to represent the address mapping relationship between the two.

[0114] During the formal operation phase, if the address equivalent interval of the mobile module is determined based on the address equivalent interval information, the address mapping relationship indicated by the address offset information can be used to map the position coordinate information of the mobile module to the address reference interval, and the mapped address value can be used as the mapped position coordinate information of the mobile module.

[0115] To distinguish the mapped position coordinate information of mobile modules from different non-reference modules, equivalent identification information can be assigned to each address equivalent interval information. The equivalent identification information corresponds to the non-reference module, that is, the equivalent identification information is used to indicate which non-reference module the mobile module corresponding to the mapped position coordinate information comes from.

[0116] For the second address mapping parameter, unlike the configuration of the first address mapping parameter, a reference module is not selected here. Instead, an address reference range is pre-defined. The track modules are still grouped according to their correspondence with the ends of the reversing track modules, forming multiple serial modules. Next, the relationship between the address value range information of the serial modules and the preset address reference range is analyzed to configure the second address mapping parameter for the serial modules. This parameter also includes address equivalent range information and address offset information. Since there is no concept of a reference module, a mapping identifier needs to be assigned to each address equivalent range to identify the positional mapping relationship of different track sources.

[0117] The second address mapping parameter may include at least: the address equivalent range information, address offset information, and equivalent identification information of each serial module (without a reference module).

[0118] It should be noted that in this embodiment of the application, a reference module may not be selected, and the address reference range information is set separately, which is not a subset of the address value range information of any serial module.

[0119] Based on the address reference interval information and the relative positions of each end of the reversing track module, the address equivalent interval information with the same relative position is determined in the address value range information of the serial modules corresponding to each end of the reversing track module.

[0120] For example, if the distance from the interval boundary d11 indicated by the address reference interval information to each end of the reversing track module is X1, and the distance from the interval boundary d12 indicated by the address reference interval information to each end of the reversing track module is X2, then obtain the address equivalent interval information formed by the boundaries X1 and X2 at each end of the reversing track module.

[0121] Determine the address offset information between the address base interval information and the address equivalent interval information to represent the address mapping relationship between the two.

[0122] In this embodiment, a control strategy based on address mapping parameters is introduced to precisely control the relative positional relationship between moving modules at the reversing track module of an automated transportation device. Further, after configuring corresponding address mapping parameters for the track modules connected to at least one end of the reversing track module based on the address configuration parameters of the track modules connected to the multiple ends of the reversing track module, the method further includes: mapping the positions of the multiple moving modules heading towards the reversing track module according to the address mapping parameters, and controlling the relative positional relationship between the multiple moving modules heading towards the reversing track module based on the addresses mapped to the positions of the multiple moving modules.

[0123] It should be understood that by using address mapping parameters, the mapped coordinate information of multiple moving modules heading towards the reversing track module can be compared, thereby determining the relative positional relationships between these modules. This helps identify the distance and direction between modules and provides data support for dynamically adjusting the module's travel path and speed. Based on the relative positional information obtained from the mapping, the paths and speeds of multiple moving modules heading towards the reversing track module can be intelligently adjusted, ensuring reasonable spacing between modules. This helps prevent collisions or congestion between modules and can improve the overall efficiency and safety of the transportation network.

[0124] During the formal operation phase, if the mobile module enters the address equivalent range based on the address equivalent range information, the position coordinate information of the mobile module can be mapped to the address equivalent range according to the address mapping relationship indicated by the address offset information, and the mapped address value can be used as the mapped position coordinate information of the mobile module.

[0125] To reduce computational load, in this embodiment, the corresponding serial modules at the end of the reversing track module used for the moving module to exit may not undergo coordinate mapping operations. Furthermore, the first address mapping parameter or the second address mapping parameter may also include equivalent status information indicating whether the address equivalent range is enabled.

[0126] For method 3, limit parameters are configured on the track module corresponding to the end of the reversing track module to facilitate subsequent limit control of unexpected moving modules.

[0127] Regarding the configuration of limit parameters, further, limit parameters are configured for at least one end of the reversing track module, including any one of the following: configuring a waiting interval for at least one end of the reversing track module to obtain a first limit configuration parameter; wherein the waiting interval is used to control the moving module heading towards the reversing track module to stay or move in the waiting interval; configuring a limit point for at least one end of the reversing track module to obtain a second limit configuration parameter; wherein the limit point is used to prevent or allow the moving module heading towards the reversing track module to pass through.

[0128] Optionally, when the first maximum outer diameter of the moving module in the direction perpendicular to the moving direction exceeds the second maximum outer diameter of the reversing track module in the same direction, the distance between the boundary of the waiting interval indicated by the first limit configuration parameter near the reversing track module and the end of the reversing track module near the waiting interval is greater than half the difference between the first maximum outer diameter and the second maximum outer diameter; when the first maximum outer diameter of the moving module in the direction perpendicular to the moving direction exceeds the second maximum outer diameter of the reversing track module in the same direction, the distance between the point indicated by the second limit configuration parameter and the end of the reversing track module near the limit point is greater than half the difference between the first maximum outer diameter and the second maximum outer diameter.

[0129] This application embodiment configures limit parameters for a track module connected to at least one end of a reversing track module to improve the safety control capability of the moving module during automated transportation. The limit parameters can be a first limit configuration parameter, i.e., waiting interval information, or a second limit configuration parameter, i.e., limit point information.

[0130] The first limit configuration parameter may include: waiting interval information and waiting status information (if any).

[0131] Specifically, the boundary of the waiting interval information near the reversing track module can be located on an adjacent track module. However, if the dimension of the moving module perpendicular to the direction of movement exceeds the dimension of the reversing track module in the same direction, the distance between the boundary of the waiting interval information near the reversing track module and the end of the reversing track module must be greater than half the difference between the dimension of the moving module perpendicular to the direction of movement and the dimension of the reversing track module in the same direction. This is to prevent collisions between the moving module in the waiting interval information and the moving module entering the reversing track module.

[0132] It should be noted that during the formal operation phase, for some path segments, the real-time location data of the mobile module includes location coordinate information and location identification information, while for other path segments, the real-time location data of the mobile module includes location coordinate information.

[0133] Based on the position measurement signal fed back by the position measurement sensor, it can be determined which track module the mobile module is located on and its position within the track module. Then, based on the address value range information in the address configuration parameters of the track module where the mobile module is located, the address value is determined as the position coordinate information of the mobile module. The position coordinate information can represent the real-time position of the mobile module.

[0134] Determine whether there is a location identifier for the mobile module based on whether the address configuration parameters corresponding to the track module include path identifier information.

[0135] When the mobile module moves to the reversing track module, based on the multiple address value ranges and multiple path identifiers configured in the reversing track module, it can be determined whether the current moving direction of the mobile module matches the target position, and then determine whether to perform a reversal.

[0136] After the reversal, the corresponding address configuration parameters are obtained to determine the real-time location data of the mobile module.

[0137] In this embodiment of the application, a limit parameter configuration scheme is also provided for the reversing track module in the automated transportation equipment, which aims to prevent unexpectedly entering mobile modules from interfering with or causing safety hazards to the normally operating mobile modules.

[0138] Optionally, after configuring a limit parameter for a track module connected to at least one end of the reversing track module, the method further includes: if an unexpectedly entering moving module is detected, adjusting the address value indicated by the target position parameter of the unexpectedly entering moving module to the address value corresponding to the limit parameter based on the limit parameter, so as to control the unexpectedly entering moving module to be located outside the reversing track module.

[0139] The waiting area information is close to the boundary of the reversing track module, but its position setting needs to take into account the relationship between the size of the moving module and the size of the reversing track module in order to avoid potential physical collisions. This helps to provide a safe stopping area for the moving module in the event of an unexpected entry event, which can reduce the risk of collision between moving modules and maintain the operation order of the transport line.

[0140] Once an unexpectedly entering mobile module is detected—that is, a mobile module that should not have entered the reversing track module according to the control timing but has entered prematurely due to factors such as speed differences—the limit control mechanism is immediately activated. Then, based on the configured limit parameters, the address value indicated by the target position parameter of the unexpectedly entering mobile module is automatically adjusted to match the address value corresponding to the limit parameters. This adjustment operation repositions the location information of the unexpectedly entering mobile module to a limit area outside the reversing track module, helping to physically isolate this module from contact with mobile modules on the normal travel path, effectively avoiding collisions and protecting the safety of the equipment and the mobile module.

[0141] like Figure 11 As shown, the movement of each moving module is controlled according to the operating sequence of sequence number 1, sequence number 2, sequence number 3, sequence number 4, and sequence number 5. During the operation phase, when moving module 1 needs to move from the left track to the right track of waiting interval 1, if an unexpected moving module 2 enters, the address value indicated by the target position parameter of moving module 1 is adjusted to the address value corresponding to the waiting interval information outside the reversing track module, so as to control it to be located in the waiting interval outside the reversing track module. Figure 11As shown in numbers 1-3, the control module 1 waits in waiting interval 1; then, the control module moves out of the track position by changing direction through the reversing track module according to the movement sequence of numbers 2-4. The control module 1 in waiting interval 1 is identified as the expected moving module, the address value indicated by the target position parameter of the moving module 1 is changed to the address value originally expected to be reached by the moving module, and the control module 1 moves into the reversing track module (corresponding to number 5).

[0142] The second limit configuration parameters may include: limit point information and limit status information. Specifically, limit points are configured for track modules connected to at least one end of the reversing track module, and corresponding limit points are configured for each reversing track module. These limit points are used to prevent or allow the moving module to move. The limit points have a higher priority than the target position parameters, which helps to accurately manage the dynamic trajectory of the moving module and improves the safety and smoothness of the reversing track area.

[0143] After the limit point status indicates that the limit point is activated, the movement of the module entering the reversing track is prevented, causing the module to stop at or before the limit point. Once the module corresponding to the limit point is identified as the expected module to enter, the limit point status is updated to indicate that the limit point is deactivated, and the movement of the module into the reversing track module is not prevented.

[0144] Furthermore, when the first maximum outer diameter of the moving module perpendicular to the direction of movement exceeds the second maximum outer diameter of the reversing track module in the same direction, this embodiment of the application needs to ensure the dimensional adaptability of the limit parameters. For the waiting interval indicated by the first limit configuration parameter, the distance between the boundary of the waiting interval near the reversing track module and the end of the reversing track module is set to a safe distance exceeding half the difference between their outer diameters. This helps ensure that even when the moving module is large, it can safely stay within the waiting interval, avoiding collisions or jams caused by size issues. Similarly, for the limit point indicated by the second limit configuration parameter, the distance between the limit point and the end of the reversing track module must also exceed half the difference between the first and second maximum outer diameters. This helps the limit point effectively prevent unnecessary entry during actual operation while also enabling the moving module to safely stay at the limit point. This helps improve the reliability of the limit point as a safety barrier and ensures the smoothness and safety of the moving module during the reversing process.

[0145] Through the embodiments of this application, by configuring two-dimensional address and path identification information, the mobile module can be accurately located in a complex and ever-changing path network. This facilitates real-time monitoring of the module's position, effectively avoids collisions or congestion between modules, and enhances the operational safety of the equipment. One-dimensional address configuration parameters are used for non-reversing track modules, while multiple two-dimensional address configuration parameters are used for reversing track modules. This reduces the control complexity of non-reversing track modules, helps optimize resource allocation, and improves data processing efficiency.

[0146] Furthermore, this application introduces address mapping parameters, including a first address mapping parameter and a second address mapping parameter. This enables unified comparison of the position information of moving modules on different tracks, simplifies path switching logic, and improves the passage speed of modules at reversing track modules. By configuring limit parameters, such as waiting intervals and limit points, unexpectedly entering moving modules can be flexibly controlled, avoiding interference caused by module speed mismatch. This helps maintain the stable operation of the transport line and ensures the transport efficiency of the equipment and the safety of the modules.

[0147] This application embodiment also considers the size difference between the moving module and the reversing track module. By setting safe distances for waiting intervals and limit points, it ensures the smooth passage of modules of different sizes, which helps to broaden the application range of the equipment and can adapt to more types of transportation needs.

[0148] By configuring the reversing track module as the starting track module and configuring address mapping parameters for non-baseline and baseline modules, this embodiment simplifies path planning and control logic, which helps to flexibly adjust and expand when facing complex and ever-changing transportation scenarios, thereby improving the overall adaptability and competitiveness of the equipment.

[0149] 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.

[0150] This application also provides a control device for automated transport equipment. It should be noted that the control device for automated transport equipment in this application can be used to execute the control method for automated transport equipment provided in this application. The control device for automated transport equipment provided in this application is described below.

[0151] To achieve the above objectives, according to another aspect of the embodiments of this application, a control device for an automated transport device is also provided. The automated transport device includes a moving module and a plurality of track modules. The plurality of track modules include at least one reversing track module. The reversing track module includes at least three ends and is configured to guide the moving module to perform linear motion in at least one direction.

[0152] According to an embodiment of this application, a control device for an automated transport equipment is provided for implementing the control method of the above-described automated transport equipment, such as... Figure 12 As shown, the device includes: an address configuration parameter selection unit 1201 and a location determination unit 1202.

[0153] The address configuration parameter selection unit 1201 is used to select a matching address configuration parameter from multiple address configuration parameters of the reversing track module based on the moving direction information of the moving module when the moving module is detected to have arrived at the reversing track module. The moving direction information of the moving module corresponds to the end of the moving module that enters the reversing track module, or the moving direction information of the moving module corresponds to the end of the moving module that is about to leave the reversing track module after reversing. One address configuration parameter of the reversing track module corresponds to two ends of the reversing track module.

[0154] The position determination unit 1202 is used to determine the real-time position data of the moving module on the reversing track module based on the address configuration parameters of the selected reversing track module.

[0155] By applying the technical solution provided in this application, when the address configuration parameter selection unit detects that the moving module has arrived at the reversing track module, it selects a matching address configuration parameter from multiple address configuration parameters of the reversing track module based on the moving direction information of the moving module. The position determination unit then determines the real-time position data of the moving module on the reversing track module based on the selected address configuration parameter. The moving direction information of the moving module corresponds to the end of the moving module that it enters the reversing track module, or the moving direction information of the moving module corresponds to the end of the moving module that it is about to exit the reversing track module after reversing. One address configuration parameter of the reversing track module corresponds to two ends of the reversing track module. Therefore, by using the moving direction information of the moving module, the address parameter corresponding to the end of the reversing track module that the moving module enters can be determined, or the address configuration parameter corresponding to the end of the reversing track module that the moving module exits after reversing can be determined. This accurately identifies the position of the moving module on the reversing track module, effectively solving the problem in related technologies where the position of the moving module on the reversing track module cannot be accurately obtained in scenarios with multiple movement paths, and improving the positioning accuracy of the moving module on the reversing track module.

[0156] Optionally, the control device of the automated transport equipment further includes: a position and direction acquisition unit, used to acquire the target position parameters and entry direction information of the moving module that is preparing to enter or has already entered the reversing track module; wherein the entry direction information is used to indicate the direction of the moving module when entering the reversing track module; an information matching unit, used to match the target position parameters with the entry direction information; and a reversing determination unit, used to determine that when the target position parameters of the moving module match the entry direction information of the moving module, no reversing operation is performed when the moving module reaches the reversing position of the reversing track module; otherwise, the reversing operation is performed when the moving module reaches the reversing position of the reversing track module.

[0157] Optionally, the multiple track modules further include a non-reversing track module, which has two ends and is configured to drive the moving module to perform linear or curvilinear motion between the two ends. The control device of the automated transport equipment further includes: an address configuration unit, used to configure at least one of a one-dimensional address configuration parameter and a two-dimensional address configuration parameter for the non-reversing track module, and to configure multiple two-dimensional address configuration parameters for the reversing track module; wherein the one-dimensional address configuration parameter includes address value range information, and the two-dimensional address configuration parameter includes address value range information and path identification information; there is no intersection between the address value range information of the one-dimensional address configuration parameter and the address value range information of the two-dimensional address configuration parameter, or the two only have an intersection at boundary values.

[0158] Optionally, the address configuration unit includes: a starting track module selection module, used to select at least one track module as the starting track module from multiple track modules, and select a starting part from the starting track module; configure a starting address value for the starting part; and an address configuration module, used to configure address value range information and path identification information for the starting track module and non-starting track modules respectively based on the starting address value of the starting part, the extension direction of the starting track module, and the extension direction of the non-starting track modules connected to the starting track module, to obtain two-dimensional address configuration parameters for the starting track module and two-dimensional address configuration parameters for the non-starting track modules; wherein, the extension direction is determined according to the end correspondence of the starting track module or according to the end correspondence of the non-starting track modules, one two-dimensional address configuration parameter corresponds to one extension direction, and the multiple path identification information corresponding to the same track module are different from each other.

[0159] Optionally, the address configuration module includes at least one of the following: a first address value range configuration submodule, used to configure corresponding address value range information and path identification information according to multiple extension directions of the starting track module when the starting track module is a reversing track module; a second address value range configuration submodule, used to configure an address value range information and a path identification information according to one extension direction of the starting track module when the starting track module is a non-reversing track module; a third address value range configuration submodule, used to configure corresponding address value range information and path identification information according to multiple extension directions of the non-starting track module when the non-starting track module is a reversing track module; wherein, one of the configured multiple path identification information is the same as one path identification information of the starting track module; a fourth address value range configuration submodule, used to configure an address value range information and a path identification information for the non-starting track module according to one extension direction of the non-starting track module when the non-starting track module is a non-reversing track module; wherein, the configured path identification information is the same as one path identification information of the starting track module.

[0160] Optionally, the starting track module selection module includes at least one of the following: a first starting part selection submodule, used to select the middle or end of the starting track module as the starting part if the starting track module is a reversing track module; and a second starting part selection submodule, used to select the end of the starting track module as the starting part if the starting track module is a non-reversing track module.

[0161] Optionally, the control device of the automated transport equipment further includes at least one of the following: a first track module extension direction determination unit, configured to determine the extension direction of the reversing track module according to the direction from the end for entering to the end for exiting, before configuring address value range information and path identification information for the starting track module and the non-starting track module respectively based on the starting address value of the starting part, the extension direction of the starting track module, and the extension direction of the non-starting track module connected to the starting track module; and a second track module extension direction determination unit, configured to determine the extension direction of the reversing track module according to the end of the reversing track module that has not been configured with address configuration parameters for at least two ends of the reversing track module.

[0162] Optionally, the address configuration unit further includes: an address value range configuration module, used to configure address value range information for at least the portion of the non-starting track module that is far from the starting track module, based on the extension direction of the non-starting track module, when the starting track module is a non-reversing track module, so as to obtain one-dimensional address configuration parameters of the non-starting track module.

[0163] Optionally, the control device of the automated transport equipment further includes at least one of the following: a starting track module selection unit, configured to select all reversing track modules as starting track modules from a plurality of track modules, and configure a plurality of two-dimensional address configuration parameters for the reversing track modules, and configure at least one of one-dimensional address configuration parameters and two-dimensional address configuration parameters for the non-reversing track modules; an address mapping parameter configuration unit, configured to configure corresponding address mapping parameters for a track module connected to at least one end of the reversing track module based on the address configuration parameters of the track modules respectively connected to the plurality of ends of the reversing track module; and a limit parameter configuration unit, configured to configure limit parameters for a track module connected to at least one end of the reversing track module.

[0164] Optionally, the address mapping parameter configuration unit includes at least one of the following: a series grouping module, used to acquire the rail modules connected to multiple ends of the reversing rail module respectively, and group the rail modules connected to multiple ends of the reversing rail module according to the correspondence with the ends of the reversing rail module to obtain multiple series modules; a module selection module, used to select a reference module and a non-reference module from the multiple series modules; and configure a first address mapping parameter for the non-reference module according to the address value range information of the reference module and the address value range information of the non-reference module; a rail module grouping module, used to acquire the rail modules connected to multiple ends of the reversing rail module respectively, and group the rail modules connected to multiple ends of the reversing rail module according to the correspondence with the ends of the reversing rail module to obtain multiple series modules; and a second address mapping parameter configuration module, used to configure a second address mapping parameter for the series modules based on preset address reference interval information and address value range information of the series modules.

[0165] Optionally, the control device of the automated transport equipment further includes: a relative position relationship control unit, used to configure address parameters of track modules connected to multiple ends of the reversing track module, configure corresponding address mapping parameters for track modules connected to at least one end of the reversing track module, map the positions of multiple moving modules heading towards the reversing track module according to the address mapping parameters, and control the relative position relationship between the multiple moving modules heading towards the reversing track module according to the positions of the multiple moving modules mapped to the addresses.

[0166] Optionally, the limit parameter configuration unit includes any one of the following: a first limit configuration parameter configuration module, used to configure a waiting interval for a track module connected to at least one end of the reversing track module to obtain a first limit configuration parameter; wherein the waiting interval is used to control the moving module heading towards the reversing track module to stay or move in the waiting interval; a second limit configuration parameter configuration module, used to configure a limit point for a track module connected to at least one end of the reversing track module to obtain a second limit configuration parameter; wherein the limit point is used to prevent or allow the moving module heading towards the reversing track module to pass through.

[0167] Optionally, when the first maximum outer diameter of the moving module in the direction perpendicular to the moving direction exceeds the second maximum outer diameter of the reversing track module in the same direction, the distance between the boundary of the waiting interval indicated by the first limit configuration parameter near the reversing track module and the end of the reversing track module near the waiting interval is greater than half the difference between the first maximum outer diameter and the second maximum outer diameter; when the first maximum outer diameter of the moving module in the direction perpendicular to the moving direction exceeds the second maximum outer diameter of the reversing track module in the same direction, the distance between the point indicated by the second limit configuration parameter and the end of the reversing track module near the limit point is greater than half the difference between the first maximum outer diameter and the second maximum outer diameter.

[0168] Optionally, the control device of the automated transport equipment further includes: an address value adjustment module, which, after configuring limit parameters for a track module connected to at least one end of a reversing track module, adjusts the address value indicated by the target position parameter of the unexpectedly entering moving module to the address value corresponding to the limit parameters based on the limit parameters when an unexpectedly entering moving module is detected, so as to control the unexpectedly entering moving module to be located outside the reversing track module.

[0169] It should be noted that the address configuration parameter selection unit 1201 and the location determination unit 1202 mentioned above correspond to steps S201 to S202 in Embodiment 1. The two units and the 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.

[0170] This application also provides an automated transportation device. It should be noted that the linear motor device in this application can be used to execute any of the control methods for automated transportation devices provided in this application. The automated transportation system provided in this application is described below.

[0171] To achieve the above objectives, according to another aspect of the embodiments of this application, an automated transportation system is also provided, such as... Figure 13 As shown, the automated transportation system 130 includes an automated transportation device 1301 and an operating device 1302. The automated transportation device 1301 includes a moving module and multiple track modules, the multiple track modules including at least one reversing track module, the reversing track module having at least three ends, and the reversing track module being configured to guide the moving module to perform linear motion in at least one direction. The operating device 1302 includes a memory storing an executable program and a processor for running the program, wherein the program executes the control method of the automated transportation device as described above during operation.

[0172] To achieve the above objectives, according to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein, when the computer program is running, a control method for controlling the device where the computer-readable storage medium is located to perform any of the above-mentioned automatic transport equipment is provided.

[0173] 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.

[0174] 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.

[0175] 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.

[0176] 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.

[0177] 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.

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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 control method for an automated transport device, characterized in that, The automated transport device includes a moving module and multiple track modules. The multiple track modules include at least one reversing track module and a non-reversing track module. The reversing track module has at least three ends and is configured to guide the moving module in linear motion in at least one direction. The non-reversing track module has two ends and is configured to drive the moving module in linear or curvilinear motion between the two ends. The method includes: When the arrival of the moving module at the reversing track module is detected, a matching address configuration parameter is selected from multiple address configuration parameters of the reversing track module based on the moving direction information of the moving module; wherein, the moving direction information of the moving module corresponds to the end of the moving module that enters the reversing track module, or, the moving direction information of the moving module corresponds to the end of the moving module that is about to exit the reversing track module after reversing; one address configuration parameter of the reversing track module corresponds to two ends of the reversing track module; Based on the address configuration parameters of the selected reversing track module, the real-time position data of the mobile module on the reversing track module is determined; The method further includes: configuring at least one of a one-dimensional address configuration parameter and a two-dimensional address configuration parameter for the non-reversing track module, and configuring multiple two-dimensional address configuration parameters for the reversing track module; wherein the one-dimensional address configuration parameter includes address value range information, and the two-dimensional address configuration parameter includes address value range information and path identification information; there is no intersection between the address value range information of the one-dimensional address configuration parameter and the address value range information of the two-dimensional address configuration parameter, or the two only have an intersection at boundary values.

2. The control method for automated transport equipment according to claim 1, characterized in that, Also includes: The target position parameters and entry direction information of the moving module that is preparing to enter or has already entered the reversing track module are obtained; wherein, the entry direction information is used to indicate the direction in which the moving module enters the reversing track module; The target position parameters are matched with the driving direction information; If the target position parameter of the moving module matches the driving direction information of the moving module, the moving module will not perform a reversing operation when it reaches the reversing position of the reversing track module; otherwise, the moving module will perform a reversing operation when it reaches the reversing position of the reversing track module.

3. The control method for automated transport equipment according to claim 1, characterized in that, The provision of configuring at least one of a one-dimensional address configuration parameter and a two-dimensional address configuration parameter for the non-reversing track module, and the provision of configuring multiple two-dimensional address configuration parameters for the reversing track module, include: Among the plurality of track modules, at least one track module is selected as the starting track module, and a starting section is selected from the starting track module; Configure a starting address value for the starting part; Based on the starting address value of the starting part, the extension direction of the starting track module, and the extension direction of the non-starting track module connected to the starting track module, address value range information and path identification information are configured for the starting track module and the non-starting track module respectively, to obtain the two-dimensional address configuration parameters of the starting track module and the two-dimensional address configuration parameters of the non-starting track module; wherein, the extension direction is determined according to the end correspondence of the starting track module or according to the end correspondence of the non-starting track module, one two-dimensional address configuration parameter corresponds to one extension direction, and the multiple path identification information corresponding to the same track module are different from each other.

4. The control method for automated transport equipment according to claim 3, characterized in that, The configuration of address value range information and path identification information for the starting track module and the non-starting track module based on the starting address value of the starting part, the extension direction of the starting track module, and the extension direction of the non-starting track module connected to the starting track module includes at least one of the following: When the starting track module is a reversing track module, the corresponding address value range information and path identification information are configured according to the multiple extension directions of the starting track module. When the starting track module is a non-reversing track module, an address value range and a path identifier are configured according to one of the extension directions of the starting track module. When the non-starting track module is a reversing track module, the corresponding address value range information and path identification information are configured according to the multiple extension directions of the non-starting track module; wherein, one of the configured multiple path identification information is the same as one of the path identification information of the starting track module; When the non-starting track module is a non-reversing track module, an address value range and a path identifier are configured for the non-starting track module according to one of its extension directions; wherein the configured path identifier is the same as the path identifier of the starting track module.

5. The control method for automated transport equipment according to claim 3, characterized in that, The selection of a starting section in the starting track module includes at least one of the following: If the starting track module is a reversing track module, the middle or end of the starting track module is selected as the starting part; If the starting track module is a non-reversing track module, the end of the starting track module is selected as the starting part.

6. The control method for automated transport equipment according to claim 3, characterized in that, Before configuring address range information and path identification information for the starting track module and the non-starting track module respectively, based on the starting address value of the starting part, the extension direction of the starting track module, and the extension direction of the non-starting track module connected to the starting track module, at least one of the following is also included: When the end for the moving module to enter and the end for the moving module to exit in the reversing track module are fixed, the extension direction of the reversing track module is determined according to the direction in which the end for entering extends to the end for exiting. For a reversing track module with address configuration parameters configured between at least two ends, the extension direction of the reversing track module is determined based on the ends of the reversing track module that do not have address configuration parameters configured.

7. The control method for automated transport equipment according to claim 3, characterized in that, The provision of configuring at least one of a one-dimensional address configuration parameter and a two-dimensional address configuration parameter for the non-reversing track module, and configuring multiple two-dimensional address configuration parameters for the reversing track module, further includes: When the starting track module is a non-reversing track module, based on the extension direction of the non-starting track module, at least the part of the non-starting track module that is far away from the starting track module is configured with address value range information to obtain the one-dimensional address configuration parameters of the non-starting track module.

8. The control method for automated transport equipment according to claim 1, characterized in that, The method further includes at least one of the following: Among the plurality of track modules, all reversing track modules are selected as starting track modules, and multiple two-dimensional address configuration parameters are configured for the reversing track modules. In addition, at least one of one-dimensional address configuration parameters and two-dimensional address configuration parameters is configured for the non-reversing track modules. Based on the address configuration parameters of the track modules connected to the multiple ends of the reversing track module, corresponding address mapping parameters are configured for the track modules connected to at least one end of the reversing track module. Limiting parameters are configured for the track module connected to at least one end of the reversing track module.

9. The control method for automated transport equipment according to claim 8, characterized in that, The address configuration parameters based on the track modules connected to the multiple ends of the reversing track module, which configure corresponding address mapping parameters for the track module connected to at least one end of the reversing track module, include at least one of the following: Obtain the rail modules connected to the multiple ends of the reversing rail module respectively. According to the correspondence with the ends of the reversing rail module, group the rail modules connected to the multiple ends of the reversing rail module respectively to obtain multiple series modules. Among the multiple series modules, select a reference module and a non-reference module. Based on the address value range information of the reference module and the address value range information of the non-reference module, configure the first address mapping parameter for the non-reference module; The track modules connected to the multiple ends of the reversing track module are obtained. According to the correspondence with the ends of the reversing track module, the track modules connected to the multiple ends of the reversing track module are grouped to obtain multiple series modules. Based on the preset address reference interval information and the address value range information of the series modules, a second address mapping parameter is configured for the series modules.

10. The control method for automated transport equipment according to claim 8, characterized in that, After configuring corresponding address mapping parameters for the track modules connected to at least one end of the commutation track module based on the address configuration parameters of the track modules respectively connected to multiple ends of the commutation track module, the method further includes: According to the address mapping parameters, the positions of multiple mobile modules heading towards the reversing track module are address mapped, and the relative positional relationship between the multiple mobile modules heading towards the reversing track module is controlled according to the positions of the multiple mobile modules mapped to the addresses.

11. The control method for automated transport equipment according to claim 8, characterized in that, The provision of limiting parameters for the track module connected to at least one end of the reversing track module includes any one of the following: A waiting interval is configured for a track module connected to at least one end of the reversing track module to obtain a first limit configuration parameter; wherein, the waiting interval is used to control the moving module heading toward the reversing track module to stay or move in the waiting interval; A limit point is configured for a track module connected to at least one end of the reversing track module to obtain a second limit configuration parameter; wherein the limit point is used to prevent or allow a moving module heading toward the reversing track module to pass through.

12. The control method for automated transport equipment according to claim 11, characterized in that, When the first maximum outer diameter of the moving module in the direction perpendicular to the moving direction exceeds the second maximum outer diameter of the reversing track module in the same direction, the distance between the boundary of the waiting interval indicated by the first limit configuration parameter near the reversing track module and the end of the reversing track module near the waiting interval is greater than half the difference between the first maximum outer diameter and the second maximum outer diameter. When the first maximum outer diameter of the moving module in the direction perpendicular to the moving direction exceeds the second maximum outer diameter of the reversing track module in the same direction, the distance between the point indicated by the second limit configuration parameter and the end of the reversing track module near the limit point is greater than half the difference between the first maximum outer diameter and the second maximum outer diameter.

13. The control method for automated transport equipment according to claim 11, characterized in that, After configuring limit parameters for the track module connected to at least one end of the reversing track module, the method further includes: If an unexpectedly entering mobile module is detected, the address value indicated by the target position parameter of the unexpectedly entering mobile module is adjusted to the address value corresponding to the limit parameter based on the limit parameter, so as to control the unexpectedly entering mobile module to be located outside the reversing track module.

14. A control device for an automated transport system, characterized in that, The automated transport device includes a moving module and multiple track modules. The multiple track modules include at least one reversing track module and a non-reversing track module. The reversing track module has at least three ends and is configured to guide the moving module in linear motion in at least one direction. The non-reversing track module has two ends and is configured to drive the moving module in linear or curvilinear motion between the two ends. The control device includes: The address configuration parameter selection unit is used to select a matching address configuration parameter from multiple address configuration parameters of the reversing track module based on the movement direction information of the moving module when the moving module is detected to have arrived at the reversing track module; wherein, the movement direction information of the moving module corresponds to the end of the moving module that enters the reversing track module, or the movement direction information of the moving module corresponds to the end of the moving module that is about to exit the reversing track module after reversing; one address configuration parameter of the reversing track module corresponds to two ends of the reversing track module; The position determination unit is used to determine the real-time position data of the mobile module on the reversing track module based on the address configuration parameters of the selected reversing track module. The address configuration unit is used to configure at least one of a one-dimensional address configuration parameter and a two-dimensional address configuration parameter for a non-reversing track module, and to configure multiple two-dimensional address configuration parameters for a reversing track module; wherein the one-dimensional address configuration parameter includes address value range information, and the two-dimensional address configuration parameter includes address value range information and path identification information; there is no intersection between the address value range information of the one-dimensional address configuration parameter and the address value range information of the two-dimensional address configuration parameter, or the two only have an intersection at boundary values.

15. An automated transportation system, characterized in that, The system includes an automated transport device and an operating device. The automated transport device includes a moving module and multiple track modules. The multiple track modules include at least one reversing track module. The reversing track module has at least three ends and is configured to guide the moving module to perform linear motion in at least one direction. The operating device includes: a memory storing an executable program; and a processor for running the program, wherein the program executes the control method of the automated transport equipment according to any one of claims 1 to 13 when it runs.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the control method of the automated transport device according to any one of claims 1 to 13.

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