Control method and device of mover module and automatic transportation system

Abstract

The invention provides a rotor module control method and device and an automatic transportation system. The at least one rotor module is controlled to move along the plurality of stator modules, the plurality of stator modules comprise at least one commutation stator module, and the method comprises the following steps: generating corresponding guiding state information according to a guiding condition between a converging end part of the commutation stator module and a plurality of shunting end parts of the commutation stator module; when it is detected that one mover module drives into the reversing stator module, the mover module is controlled to move between the converging end and the shunting end which have the guiding relation in the reversing stator module based on the guiding state information.

Description

Technical Field

[0001] This application relates to the field of industrial automation technology, and more specifically, to a control method, device, and automated transport system for a moving submodule. Background Technology

[0002] In related technologies, the mover is configured to move along the stator. For example, Chinese patent document (application number CN201710546571.9) discloses a mover structure and a stator structure.

[0003] However, the stators in related technologies can only be spliced ​​together to form a single movement path. To address this, through structural improvements, stators (which can be simply referred to as commutator stators) have emerged that can switch the movement direction of the mover between multiple non-parallel directions. For example, Chinese patent document (application number CN202410140129.6) discloses a stator structure that can realize the non-parallel direction switching of the mover.

[0004] By using a commutating stator, the mover can move along multiple paths. However, mover movement control in related technologies occurs in scenarios where the stator does not have the capability to switch the mover's direction of movement between multiple non-parallel directions (referred to as a non-commutating stator), and does not involve mover movement control for commutating stators. Because the movement of the mover in a commutating stator is more complex, mover movement control strategies related to non-commutating stators cannot be fully applied to commutating stators. The lack of a mover movement control strategy specifically designed for commutating stators leads to safety hazards in mover movement control within commutating stators.

[0005] There is still no effective solution to the problem of low safety in the movement control of the mover in the commutating stator in related technologies. Summary of the Invention

[0006] The main objective of this application is to provide a control method, device, and automatic transport system for a mover module, in order to solve the problem of low safety in the movement control of the mover in the commutating stator in related technologies.

[0007] According to one aspect of this application, a control method for a moving submodule is provided. At least one moving submodule is controlled to move along a plurality of stator modules, the plurality of stator modules including at least one commutating stator module. The method includes: generating corresponding guidance state information based on the guidance relationship between a confluence end of the commutating stator module and a plurality of branch ends of the commutating stator module; and, upon detecting that a moving submodule enters the commutating stator module, controlling the moving submodule to move between the confluence end and branch ends of the commutating stator module where a guidance relationship exists, based on the guidance state information.

[0008] According to another aspect of this application, a control device for a moving submodule is provided. The device includes a processor and a memory, wherein the processor is configured to run the program, wherein the program, when running, executes the control method for the moving submodule described in any of the preceding claims.

[0009] According to another aspect of this application, an automated transportation system is provided, including multiple real movers, a real stator, and a control device, wherein: the control device is used to control a real mover to enter a real commutating stator; when a commutating command is detected, the control device controls the real mover to stay on the real commutating stator and controls the real commutating stator to perform a commutating operation so that the real mover exits the real commutating stator in the direction of movement after commutation; and when no commutating command is detected, the control device controls the real mover to exit the commutating stator in the direction of movement in which it entered the real commutating stator; and, by acquiring the operating information of the real mover and the layout information of the real stator, the control device displays the movement status of the corresponding virtual mover in the virtual stator.

[0010] According to another aspect of this application, an automated transportation system is provided, including at least one control device and at least one visualization device, wherein the control device is connected to the at least one visualization device, wherein: the control device is configured to construct a plurality of virtual movers and a plurality of virtual stators, and control the plurality of virtual movers to move along the plurality of virtual stators; generate corresponding guidance state information based on the guidance situation between a merging end and a plurality of diverging ends of a virtual commutating stator in the plurality of virtual stators; when a virtual mover is detected to enter a virtual commutating stator, based on the guidance state information, control the virtual mover to move between the merging end and the diverging end in the virtual commutating stator where there is a guidance relationship; the visualization device is configured to display a virtual operation screen, the virtual operation screen including the virtual movers and virtual stators constructed by the control device.

[0011] In some embodiments of this application, guidance state information can be obtained based on the guidance situation between the merging end and multiple branching ends of the commutation stator module. This guidance state information can determine the ends of the commutation stator module currently having a guiding relationship. When a moving submodule is detected entering the commutation stator module, the moving submodule can be controlled to move between the merging and branching ends within the commutation stator module based on the guidance state information. Therefore, based on the guidance state information of the commutation stator module, accurate movement control of the moving submodule located within the commutation stator module can be achieved, ensuring that the movement of the moving submodule matches the guidance situation of the commutation stator module. This ensures that the moving submodule moves smoothly through the commutation stator module in the direction matching the guidance state information, reducing the probability of adverse effects such as collisions between the moving submodule and the commutation stator module due to improper control, or collisions with other moving submodules due to deviations in the moving direction. This improves the safety of the moving submodule's movement within the commutation stator module, thereby ensuring the moving submodule performs its tasks continuously and reliably, and ensuring that the task execution meets expectations. Attached Figure Description

[0012] 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:

[0013] Figure 1 A hardware block diagram of a computer terminal for implementing a control method for a moving submodule is shown.

[0014] Figure 2 This is a flowchart of a control method for a moving submodule provided according to an embodiment of this application;

[0015] Figure 3 This is a schematic diagram of a commutation stator module provided according to an embodiment of this application;

[0016] Figure 4 This is a schematic diagram of setting the detection interval according to the embodiments of this application. Figure 1 ;

[0017] Figure 5 This is a schematic diagram of setting the detection interval according to the embodiments of this application. Figure 2 ;

[0018] Figure 6 This is a schematic diagram of setting the detection interval according to the embodiments of this application. Figure 3 ;

[0019] Figure 7 This is a schematic diagram of setting the detection interval according to the embodiments of this application. Figure 4 ;

[0020] Figure 8 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 1 ;

[0021] Figure 9 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 2 ;

[0022] Figure 10 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 3 ;

[0023] Figure 11 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 4 ;

[0024] Figure 12 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 5 ;

[0025] Figure 13 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 6 ;

[0026] Figure 14 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 7 ;

[0027] Figure 15 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 8 ;

[0028] Figure 16 This is a schematic diagram of the positional equivalence provided in the embodiments of this application. Figure 1 ;

[0029] Figure 17 This is a schematic diagram of the positional equivalence provided in the embodiments of this application. Figure 2 ;

[0030] Figure 18 This is a schematic diagram of the positional equivalence provided in the embodiments of this application. Figure 3 ;

[0031] Figure 19 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 1 ;

[0032] Figure 20 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 2 ;

[0033] Figure 21 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 3 ;

[0034] Figure 22 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 4 ;

[0035] Figure 23 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 5 ;

[0036] Figure 24 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 6 ;

[0037] Figure 25 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 7 ;

[0038] Figure 26 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 8 ;

[0039] Figure 27 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 9 ;

[0040] Figure 28 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 10 ;

[0041] Figure 29 This is a schematic diagram of the address parameter configuration provided in the embodiments of this application. Figure 10 one;

[0042] Figure 30 This is a schematic diagram of an automated transportation system according to an embodiment of this application. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0045] In industrial automation technology, at least one moving submodule can be controlled to move along multiple non-commutating stator modules. To increase the number of movement paths, commutating stator modules are added among the multiple non-commutating stator modules. However, because the movement control strategies for moving submodules related to non-commutating stator modules are not entirely applicable to commutating stator modules, safety hazards exist in the movement control of moving submodules within the commutating stator modules. For example, in the movement control strategy for non-commutating stator modules, controlling the moving submodules to move in a uniform direction ensures smooth movement along the non-commutating stator modules. However, since the commutating stator modules have multiple non-parallel directions, improper control can lead to adverse effects such as collisions between moving submodules located within the commutating stator modules and the commutating stator modules themselves, or deviations in the movement direction of the moving submodules causing collisions with other moving submodules.

[0046] Before describing the technical solutions provided in the embodiments of this application, some nouns or terms that appear in the description of the embodiments of this application shall be interpreted as follows:

[0047] Moving submodule: Configured to move along the stator module and interact with the operating equipment to perform different types of process tasks, such as material transfer tasks, collaborative processing tasks, etc.

[0048] Stator module: configured to be magnetically coupled to the mover module to enable the mover module to move or remain stationary relative to the stator module.

[0049] Non-commutating stator module: Used to allow the moving submodule to move in one direction or the opposite direction. The non-commutating stator module includes two ends, each end into which the moving submodule can drive or out. The moving submodule can move in a curved or linear motion between the two ends of the non-commutating stator module.

[0050] Commutating stator module: Used to allow the moving submodule to move in one direction or in another direction at an angle to that direction. The commutating stator module includes two or more ends, one of which is a confluence end and the remaining ends are flow-dividing ends. Each end allows the moving submodule to enter or exit. The moving submodule can perform curved motion between at least the confluence end and the flow-dividing end of the commutating stator module. Optionally, the moving submodule can also perform linear motion between the confluence end and one of the flow-dividing ends of the commutating stator module.

[0051] Movement path: refers to the path through which a moving submodule can move, formed by multiple stator modules. Movement paths can be categorized according to the type of stator module. Based on this categorization, a stator module may correspond entirely or partially to one movement path. For example, a non-commutating stator module may correspond entirely to one movement path. Conversely, a commutating stator module may correspond partially to one movement path, or a commutating stator module may correspond entirely to multiple movement paths.

[0052] Stator module: refers to a module formed by splicing multiple stator modules, which is configured to magnetically couple with the moving module, thereby guiding the moving module to move along a specific path.

[0053] Workstation location: refers to a virtual or physical point defined based on multiple stator modules. A workstation location is bound to at least one type of work process task, and different workstation locations can be distinguished by their identification information. After a workstation location is assigned to at least one moving submodule, it serves as the destination of the moving submodule's current movement and can affect the moving direction of the moving submodule.

[0054] It should be noted that the mover and stator involved in the background technology can be understood as real objects, i.e., real movers and real stators. The embodiments of this application provide a corresponding solution to the movement control problem of real movers within a real stator. In the embodiments of this application, unless specifically stated otherwise, the modules and units can be understood as real objects (i.e., real objects) or objects simulated by software (i.e., virtual objects). For example, the mover module can refer to a real mover (i.e., a real mover) or a mover simulated by a computer program (i.e., a virtual mover); the stator module can refer to a real stator or a virtual stator; the commutating stator module can refer to a physical commutating stator or a virtual commutating stator; and the non-commutating stator module can refer to a physical non-commutating stator or a virtual non-commutating stator, etc. Other modules and units related to the mover module and stator module in the embodiments of this application can be deduced similarly and will not be elaborated further.

[0055] It should also be noted that the modules and units in the embodiments of this application may be real or virtual objects, and some related control operations in the embodiments of this application may also be real or virtual operations. For example, when the mover module is a real mover and the stator module is a real stator, one of the real mover and the real stator is provided with a winding, and the other is provided with a permanent magnet. By energizing the winding current, a traveling wave magnetic field is generated, and the traveling wave magnetic field is magnetically coupled with the permanent magnet to control the movement of the mover. As another example, when the mover module is a virtual mover and the stator module is a virtual stator, the magnetic coupling between the virtual mover and the virtual stator can be simulated by a software program, and the movement of the virtual mover along the virtual stator, the status data of the virtual stator, and the status data of the virtual mover can be displayed on the interface for user reference.

[0056] It should also 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.

[0057] 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 submodule control method is shown. Figure 1 As shown, the 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, and a communication device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a keyboard, a cursor control device, and a network interface. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0058] The memory 104 can be used to store program code, such as the program code corresponding to the steps of the moving submodule 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 moving submodule 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 the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The communication device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks 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 be connected to other network devices via a base station to communicate with the Internet. In one example, the communication device 106 can be a radio frequency (RF) module for wireless communication with the Internet. For instance, control commands can be issued via the communication device 106 to the moving or stator modules in this application to control the movement of the moving module among multiple stator modules. 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 position and speed information of the moving module.

[0059] To achieve accurate control of the moving submodule within the commutation stator module, embodiments of this application provide a control method for the moving submodule. For example... Figure 2 As shown, Figure 2 This is a flowchart of a control method for a moving submodule provided according to an embodiment of this application. The control method for the moving submodule includes:

[0060] Step S201: Generate corresponding guidance status information based on the guidance situation between one confluence end of the commutation stator module and multiple shunting ends of the commutation stator module.

[0061] In some embodiments, a merging end of the commutation stator module can selectively establish a guiding relationship with one of a plurality of shunting ends. That is, the commutation stator module has multiple selectable guiding relationships. Based on the guiding situation between a merging end and a plurality of shunting ends of the commutation stator module, corresponding guiding state information can be generated. Thus, the guiding state information of the commutation stator module indicates whether a guiding relationship exists between the merging end and the shunting end of the commutation stator module.

[0062] For example, such as Figure 3 The diagram shown is of the commutation stator module. Figure 3 The commutation stator module 31 includes end A1, end B1, and end B2, where end A1 is the confluence end, and ends B1 and B2 are the divergence ends. End A1 can selectively establish a guiding relationship with one of ends B1 and B2, meaning the commutation stator module 31 has two selectable guiding relationships. Based on the guiding status of ends A1, B1, and B2, if end A1 and end B1 of the commutation stator module establish a guiding relationship, the generated guiding status information at least indicates that end A1 and end B1 of the commutation stator module have a guiding relationship; optionally, the generated guiding status information can also indicate that end A1 and end B2 of the commutation stator module do not have a guiding relationship. Similarly, if end A1 and end B2 of the commutation stator module establish a guiding relationship, the generated guiding status information at least indicates that end A1 and end B2 of the commutation stator module have a guiding relationship; optionally, the generated guiding status information can also indicate that end A1 and end B1 of the commutation stator module do not have a guiding relationship.

[0063] It should be noted that there are multiple ways to establish a guiding relationship between the confluence end and the shunt end of the commutation stator module. For example, the guiding relationship between the confluence end and the shunt end can be established through software control. The software control method can be: using software programs to set the corresponding shunt end information (such as setting the shunt end's identification information) in the guiding attribute information of the confluence end, thereby establishing the guiding relationship between the two. For example, a guiding relationship between a merging end and a branching end can be established through a combination of hardware and software control. This hardware-software control method not only uses software programs to set the guiding relationship but also incorporates hardware limits. For instance, the commutation stator module may include guiding units. By using these guiding units (such as raising a guide unit for limiting and lowering a guide unit not used for limiting, or changing the angle or position of the currently used guide unit), the movement trend of the moving sub-module within the commutation stator module can be restricted to ensure that the moving sub-module moves in the expected direction. Depending on whether the commutation stator module is a real or virtual commutation stator, the guiding unit can be a physical or virtual guiding component. The software program settings and the limiting states of the guiding units are matched. This can be achieved by the software program setting the branching end with which a guiding relationship should be established with the merging end, triggering the adjustment of the guiding unit, or by the adjustment of the guiding unit triggering the corresponding software program setting of the branching end with which a guiding relationship should be established with the merging end. This application does not impose specific limitations on these aspects.

[0064] Step S202: When a moving submodule is detected to enter the commutation stator module, based on the guidance status information, the moving submodule is controlled to move between the merging end and the splitting end in the commutation stator module where there is a guiding relationship.

[0065] In some embodiments, by real-time detection of the moving submodules surrounding the commutating stator module, real-time position data and direction of movement of the moving submodules around the commutating stator module can be obtained to determine whether any moving submodule has entered the commutating stator module. It should be noted that the moving submodule can move linearly in different directions through the commutating stator module, where angles exist between multiple directions. The linear motion of the moving submodule within the commutating stator module can at least include curvilinear motion, and further, it can also include linear motion. For example, the moving submodule can move curvilinearly in different directions through the commutating stator module. Or, for example, the moving submodule can move curvilinearly in one direction or in another direction through the commutating stator module.

[0066] In some embodiments, the presence of a moving submodule approaching the commutation stator module can be detected by a position sensing unit. When the position sensing unit is a physical sensor, it can be a contact position sensing unit or a non-contact position sensing unit. The position sensing unit can detect the position information of the moving submodule using one or more combinations of optical, electrical, and magnetic methods.

[0067] In some embodiments, when the position sensing unit is a physical sensor, it can be a sensor that directly outputs the position data of the moving submodule, or it can be a sensor that provides raw data for position analysis. For example, the position sensing unit can be an image sensor, which acquires image data of the moving submodule's location on the stator module. By analyzing the image data, it can detect whether a moving submodule has entered at any end of the commutating stator module. As another example, the position sensing unit can also be a magnetic scale and a reader, with one of the magnetic scale and the reader located on the moving submodule and the other on the stator module. Taking the magnetic scale set on the moving submodule and the reader set on the stator module as an example, one or more readers can be distributed along a stator module. After the reader reads the information of the magnetic scale set on the moving submodule, the reader will output data. Since it is known which stator module the reader is located on and the part of the stator module covered by the reader's reading range is known, by identifying whether the reader whose reading range covers the end of the commutation stator module outputs data, it is possible to detect whether there is a moving submodule entering at each end of the commutation stator module.

[0068] In summary, based on the guidance conditions between the merging ends and multiple branching ends of the commutation stator module, guidance status information can be obtained. This information allows for the identification of the ends of the commutation stator module with existing guidance relationships. When a moving submodule is detected entering the commutation stator module, the guidance status information enables control over its movement between the merging and branching ends within the commutation stator module. Therefore, by accurately controlling the movement of the moving submodule within the commutation stator module according to its guidance status information, the movement of the moving submodule matches the guidance conditions of the commutation stator module. This ensures the moving submodule moves smoothly through the commutation stator module in the direction matching the guidance status information, reducing the probability of collisions between the moving submodule and the commutation stator module due to improper control, or collisions with other moving submodules due to deviations in the moving direction. This improves the safety of the moving submodule's movement within the commutation stator module, ensuring continuous and reliable task execution and meeting expected performance.

[0069] In real-world scenarios, the solution provided in this application, based on guidance state information, allows for accurate movement of the real mover within the real commutating stator, thereby improving the safety of movement control of the real mover within the real commutating stator. In virtual scenarios, the solution provided in this application, based on guidance state information, allows for accurate movement of the virtual mover within the virtual commutating stator. This allows for the verification of the rationality and reliability of the control logic using the virtual mover. Only after successful verification can the virtual mover be deployed in real-world scenarios, improving the safety of movement control of the real mover within the real commutating stator while reducing hardware costs. Furthermore, when both virtual and real scenarios exist simultaneously, the virtual mover can reflect the movement of the real mover, enabling remote monitoring.

[0070] Optionally, in the control method of the moving submodule provided in the embodiments of this application, the moving submodule is controlled to move between the confluence end and the shunt end of the commutation stator module where there is a guiding relationship based on the guiding state information, including: determining a winding unit corresponding to the guiding state information among the multiple winding units of the commutation stator module; and performing energizing timing control on the winding unit corresponding to the guiding state information according to the motion control parameters of the moving submodule.

[0071] In some embodiments, the commutation stator module may include multiple winding units. A transmission channel exists between one confluence end and any one shunt end of the commutation stator module, allowing the moving submodule to move. Each winding unit corresponds to one transmission channel. By controlling the energizing sequence of the winding units, the moving submodule can be driven to move along its corresponding transmission channel within the commutation stator module. It should be noted that a winding unit consists of multiple coil subunits. A winding unit is deployed between one confluence end and one shunt end of the commutation stator module. Two winding units may share a coil subunit, or the two winding units may be independently and cross-arranged. The energizing sequence of the winding units may include, but is not limited to, the energizing duration of the coil subunits, the energizing order of the coil subunits, the magnitude of the energizing current of the coil subunits, and the direction of the energizing current of the coil subunits. By controlling the energizing sequence of the winding unit, the moving submodule located in the commutation stator module can be moved in the direction of movement when it enters the module, or the direction of movement of the moving submodule located in the commutation stator module can be deflected compared to when it enters the module, and the moving submodule can be controlled to move in the direction of movement after the deflection.

[0072] When controlling the movement of the moving submodule based on the guidance status information, the confluence and shunt ends with a guiding relationship in the commutation stator module can be determined based on the guidance status information. From the multiple winding units of the commutation stator module with the guiding relationship, a winding unit used to control the movement of the moving submodule can be identified. Based on the data fed back from the position sensing unit, the end of the commutation stator module that the moving submodule actually enters can be determined, thus generating entry end information. Then, based on the motion control parameters of the moving submodule (e.g., target velocity parameters, target acceleration parameters, target position parameters, etc.) and the entry end information, the energizing timing control of the winding units deployed between the confluence and shunt ends with the guiding relationship is performed to control the movement of the moving submodule in the corresponding transmission channel.

[0073] For example, continue to combine Figure 3 A winding unit may be deployed between end A1 and end B1. Figure 3 (Not shown in the image) Another winding unit may be deployed between end A1 and end B2. Figure 3 (Not explicitly shown) Assuming a guiding relationship exists between ends A1 and B1 of the commutation stator module, and the moving submodule enters from end A, the winding unit between ends A1 and B1 is energized starting from the coil subunit corresponding to end A1. This energization timing control controls the movement of the moving submodule along the transmission channel between ends A1 and B1, and ultimately controls the moving submodule's movement from end A1 to end B1. If we assume a guiding relationship exists between ends A1 and B2 of the commutation stator module, and the moving submodule enters from end B2, the winding unit between ends A1 and B2 is energized starting from the coil subunit corresponding to end B2. This energization timing control controls the movement of the moving submodule along the transmission channel between ends A1 and B2, and ultimately controls the moving submodule's movement from end B2 to end A1.

[0074] In some embodiments, multiple energizing parameters can be configured for the commutation stator module. Each energizing parameter indicates the energizing timing control process of a winding unit corresponding to a guiding relationship within the commutation stator module. Alternatively, a correspondence can be considered between an energizing parameter and a winding unit. When a moving submodule is detected entering the commutation stator module, a corresponding winding unit and an energizing parameter are determined based on the guiding state information. Therefore, the energizing timing of the corresponding winding unit is controlled according to the moving submodule's motion control parameters and the energizing parameter.

[0075] In practical applications, if a non-commutated stator module moving control strategy is adopted, the commutated stator module can only be controlled as multiple non-commutated stator modules. When a moving module is detected entering, all winding units of the commutated stator module need to be energized. However, if the moving module enters from the confluence end, it may be misguided due to the force generated by magnetic coupling, causing the moving module to enter the wrong transmission channel. If the commutated stator module has a guide unit, the moving module will collide with the guide unit. If the commutated stator module does not have a guide unit, the moving module moves from the wrong transmission channel to the wrong shunt end and may collide with other moving modules. Furthermore, in actual operating scenarios, since all winding units of the commutated stator module are energized, it is easy to cause power waste and overheating of the commutated stator module.

[0076] The method provided in this application embodiment controls the energization of one relevant winding unit based on the guidance state information, while unrelated winding units are not energized. This ensures that the moving submodule enters and moves within the correct transmission channel, thereby accurately controlling the movement of the moving submodule and effectively reducing the probability of the aforementioned collision risk. In actual operation scenarios, since unrelated winding units are not energized, unnecessary power consumption and the probability of overheating in the commutation stator module are reduced. This not only enhances the safety of the moving submodule's movement control but also significantly reduces the power consumption of the commutation stator module, achieving a dual optimization of energy saving and safety.

[0077] Optionally, in the control method for the moving submodule provided in the embodiments of this application, the method further includes: detecting the moving submodule heading towards the commutation stator module, and selecting one moving submodule to enter the commutation stator module each time; determining whether the commutation stator module performs a guidance change operation based on the real-time position data of the selected moving submodule each time; if it is determined that the commutation stator module performs a guidance change operation, controlling the motion state of the detected moving submodule heading towards the commutation stator module so that the selected moving submodule is the first to enter after the commutation stator module completes the guidance change operation; if it is determined that the commutation stator module does not perform a guidance change operation, controlling the motion state of the detected moving submodule so that the selected moving submodule is the first to enter the commutation stator module.

[0078] In some embodiments, since multiple moving submodules may move toward the same commutating stator module in practical applications, it is necessary to detect moving submodules heading toward the commutating stator module in real time and select one moving submodule from the detected moving submodules to enter the commutating stator module. In the scenario of controlling a moving submodule to enter the commutating stator module, the moving submodule selected each time is the moving submodule that is about to enter the commutating stator module, which can also be understood as the target moving submodule for that time. In other words, each time a moving submodule is selected from the detected moving submodules as the target moving submodule, and the target moving submodule is controlled to enter the commutating stator module.

[0079] In some embodiments, if the end of the commutation stator module from which the driving submodule enters is fixed, it is possible to detect only whether there is a driving submodule heading towards the commutation stator module among the other stator modules connected to that end. For example, if the driving submodule is fixed to enter from the merging end of the commutation stator module, it is possible to detect only the other stator modules connected to the merging end of the commutation stator module in real time to determine whether there is a driving submodule heading towards the commutation stator module. This can reduce the amount of data and the data processing pressure.

[0080] In some embodiments, the presence of a moving submodule approaching the commutation stator module can be detected by a position sensing unit; that is, the real-time position data and direction of movement of the moving submodule can be detected by the position sensing unit. Specific details regarding the detection method for the type of position sensing unit can be found in the relevant descriptions and will not be repeated here.

[0081] After selecting the moving submodule, based on the real-time position data of the moving submodule, analyze whether the current guiding state of the commutating stator module needs to be changed (i.e. whether a guiding change operation needs to be performed) in order to at least adapt to the driving requirements of the moving submodule.

[0082] If it is determined that the commutating stator module is performing a guidance change operation, then during this operation, the motion state of all detected moving submodules heading towards the commutating stator module needs to be controlled to ensure that no moving submodule enters before the commutating stator module completes the guidance change operation. For example, based on the data of each moving submodule (such as real-time position data and real-time speed data), it can be analyzed whether each moving submodule will arrive at the commutating stator module before the guidance change operation is completed, and deceleration control can be applied to moving submodules that will arrive before the guidance change operation is completed. After the guidance change operation is completed, based on the detected data of each moving submodule, the motion state of each detected moving submodule is controlled to ensure that each selected moving submodule is the first to enter after the commutating stator module completes the guidance change operation.

[0083] If it is determined that the commutation stator module will not perform the guidance change operation, the motion state of each detected moving submodule is controlled according to the data of each detected moving submodule to ensure that the selected moving submodule is the first to enter the commutation stator module each time.

[0084] As shown above, by controlling one moving submodule to enter the commutating stator module at a time, collisions between multiple moving submodules within the commutating stator module can be avoided. Furthermore, through real-time position data analysis and guidance state adjustment, it can be ensured that the guidance state of the commutating stator module matches at least the end where the moving submodule is about to enter. Additionally, by controlling the motion state of the detected moving submodule during the commutating stator module's guidance change operation, interference from the moving submodule's entry into the guidance change operation can be avoided, and it can be ensured that the selected moving submodule is the first to enter the commutating stator module each time. Thus, the timing of the moving submodule's entry and the commutating stator module's guidance change operation are rationally coordinated, improving control efficiency.

[0085] Optionally, in the control method for the moving submodule provided in this application embodiment, detecting the moving submodule heading towards the commutation stator module and selecting one moving submodule to enter the commutation stator module at a time includes: detecting the moving submodule heading towards the commutation stator module based on a detection interval, and setting entry sequence information for the detected moving submodule, wherein the detection interval corresponds to the end of the commutation stator module that the moving submodule can enter, and the detection interval at least covers a portion of the stator module directly connected to the commutation stator module; and controlling the moving submodule with the highest entry sequence information to enter the commutation stator module according to the entry sequence information of the moving submodule.

[0086] In some embodiments, when at least two ends of the commutating stator module are accessible to moving submodules, to avoid collisions, it is necessary to determine the entry sequence of multiple moving submodules arriving from different ends of the commutating stator module. Detection intervals can be configured around the commutating stator module, corresponding to the ends of the commutating stator module accessible to moving submodules. These detection intervals at least cover a portion of the stator modules directly connected to the commutating stator module. It should be noted that the detection intervals can cover a portion or the entirety of the stator modules directly connected to the commutating stator module, and can further cover a portion or the entirety of the indirectly connected stator modules. If multiple detection intervals are configured around the commutating stator module, the lengths of these intervals can be partially different or identical. The specific length of each detection interval can be set according to the total length of the stator modules connected in series at each end of the commutating stator module. The stator modules connected in series are other stator modules that belong to the same movement path as one end of the commutating stator module and are directly or indirectly connected to it.

[0087] In some embodiments, a position sensing unit can be used to detect moving submodules entering the detection zone in real time and configure entry sequence information for each moving submodule entering the detection zone. The entry sequence information can be bound to the identification information of the moving submodule. Then, based on the entry sequence information of the moving submodules, the moving submodule with the highest entry sequence information is controlled to enter the commutation stator module. It should be noted that after a selected moving submodule enters or exits the commutation stator module, the entry sequence information of the moving submodules that have not entered the commutation stator module (i.e., those not selected this time) can be dynamically updated. Based on the updated entry sequence information of the moving submodules that have not entered the commutation stator module, the moving submodule with the highest entry sequence information is selected as the next moving submodule to enter the commutation stator module.

[0088] As can be seen from the above, setting the entry sequence information of the moving submodules heading towards the commutation stator module based on the detection interval can effectively reduce the risk of multiple moving submodules coming from different ends of the commutation stator module colliding with the commutation stator module, and improve the safety of the moving submodules moving in the commutation stator module.

[0089] In practical implementation, there can be multiple methods for detecting moving submodules based on detection intervals. For example, detection intervals set around the commutating stator module can simultaneously or cyclically detect whether a moving submodule is approaching the commutating stator module. Furthermore, there can be multiple methods for setting the entry sequence information of moving submodules. For instance, entry sequence information can be set when a moving submodule is detected, or it can be set according to preset conditions, after the conditions are met (such as reaching a certain time or after all detection intervals have completed a round of detection), based on the level information corresponding to the detection interval. The level information corresponding to the detection interval can be the level information directly configured for the detection interval, or it can be the level information indirectly associated with the detection interval, such as the level information configured at the end of the commutating stator module corresponding to the detection interval.

[0090] Optionally, in the control method for the moving submodule provided in this application embodiment, based on the detection interval, the moving submodules heading towards the reversing stator module are detected, and entry sequence information is set for the detected moving submodules, including at least one of the following: synchronously detecting moving submodules heading towards the reversing stator module in each detection interval, and setting entry sequence information for the detected moving submodules according to the order in which they are detected; synchronously detecting moving submodules heading towards the reversing stator module in each detection interval, and setting entry sequence information for the detected moving submodules according to the level information corresponding to the detection interval in which the moving submodules are detected; cyclically detecting moving submodules heading towards the reversing stator module in each detection interval based on the order information configured for the detection interval, and setting entry sequence information for the detected moving submodules according to the order in which they are detected; cyclically detecting moving submodules heading towards the reversing stator module in each detection interval based on the order information configured for the detection interval, and after completing one round of detection in all detection intervals, setting entry sequence information for the detected moving submodules according to the level information corresponding to the detection interval in which the moving submodules are detected.

[0091] Specifically, setting entry sequence information for the detected moving submodules may include at least one of the following:

[0092] In some embodiments, moving submodules heading towards the commutation stator module in each detection interval are detected synchronously. When at least one moving submodule is detected, entry sequence information is configured for the detected moving submodule according to the detection time information and the previously configured entry sequence information, thereby ensuring that the entry sequence information is set according to the order in which the moving submodules are detected. For example, if a moving submodule MR1 is detected at time t1, the entry sequence information configured before time t1 is queried according to the detection time information of the moving submodule (i.e., time t1). Assuming that entry sequence information has been configured for other moving submodules MR0 before time t1, the entry sequence information configured for moving submodule MR1 is in a lower order than that for moving submodule MR0. Using the above scheme, the response speed is fast, and the entry sequence information of the detected moving submodules can be set in a timely manner, ensuring that the detected moving submodules can enter the commutation stator module in an orderly manner.

[0093] In some embodiments, the moving submodules heading towards the commutation stator module in each detection interval are detected synchronously. Furthermore, the level information corresponding to the detection interval is taken into consideration. That is, the entry order of the moving submodule can be adjusted according to the level information of the detection interval to which it belongs. The higher the level information, the more important the movement path of the detection interval is, and the more important the moving submodule located on the movement path is. Setting higher entry order information for moving submodules with higher level information can make more important moving submodules enter the commutation stator module first. For example, if moving submodules MR2 and MR3 are detected at time t2, and the detection interval of moving submodule MR2 corresponds to a higher priority than that of moving submodule MR3, the entry order information configured before time t2 is queried according to the time information of the moving submodule detection (i.e., time t2). Assuming that entry order information has been configured for other moving submodules MR1 ​​before time t2, the entry order information configured for moving submodule MR2 is subordinate to that of moving submodule MR1, and the entry order information configured for moving submodule MR3 is subordinate to that of moving submodule MR2. Therefore, by reasonably allocating priorities, congestion and collisions are effectively avoided, especially suitable for scenarios with complex stator module layouts, allowing for flexible adjustment of the entry order of detected moving submodules according to actual conditions.

[0094] In some embodiments, the moving submodules in each detection interval are detected cyclically according to a pre-defined detection interval order. Whenever a moving submodule heading towards the reversing stator module is detected entering the detection interval, entry sequence information is configured for these moving submodules according to the time sequence in which the stator modules were detected. For example, detection intervals J1 and J2 are set around the reversing stator module. According to the pre-defined detection interval order, the presence of a moving submodule heading towards the reversing stator module is first detected based on detection interval J1, then based on detection interval J2, and so on, for cyclic detection. The entry sequence information configuration after a moving submodule is detected can be found in the relevant description and will not be repeated here. Therefore, when multiple detection intervals exist, distributed detection can be performed, reducing data processing pressure.

[0095] In some embodiments, combining cyclic detection and priority-based configuration, moving submodules in each detection interval are cyclically detected according to the detection interval order information. After completing one round of detection in all detection intervals, the entry order information of all detected moving submodules is comprehensively determined and configured based on the priority information of the detection interval to which the detected moving submodules belong. For details, please refer to the relevant descriptions, which will not be repeated here. Thus, by considering cyclic detection and priority information from multiple dimensions, both data processing pressure is reduced and the flexibility of the moving submodule entry order is improved.

[0096] Therefore, by setting various entry sequence information strategies, it is ensured that the moving submodule enters the commutation stator module in an orderly manner.

[0097] Optionally, in the control method for the moving submodule provided in the embodiments of this application, before detecting the moving submodule heading towards the commutation stator module based on the detection interval, at least one of the following is further included: configuring the interval boundary value of the detection interval; configuring detection points for the stator modules connected to the commutation stator module to represent the detection interval; forming the detection interval based on the detection points and detection length configured for the commutation stator module.

[0098] Specifically, the detection interval can be set based on at least one of the following: In some embodiments, when setting the detection interval around the commutation stator module, the detection range can be defined by directly setting two interval boundary values. At least one interval boundary value of each detection interval can make the corresponding interval boundary located in the series stator module of the commutation stator module. The two interval boundary values ​​of each detection interval can be determined based on the relative distance between the interval boundary of each detection interval and the same reference object (such as the end of the nearest commutation stator module), or the two interval boundary values ​​of each detection interval can be the address value corresponding to the interval boundary of each detection interval when mapped to the address value range of the stator module, wherein the address value range of the stator module is described in detail in the relevant section and will not be repeated here. Thus, it can be ensured that the detection interval is set accurately.

[0099] In some embodiments, corresponding detection points are configured on the stator modules connected to the commutation stator module. These detection points can serve as markers to distinguish between detection intervals and non-detection intervals. The area between the detection point and the commutation stator module corresponds to the detection interval, while the remaining area is the non-detection interval. The detection points can be configured with information such as a detection point identifier and detection point position coordinates. The position coordinates of the detection point can be determined based on its relative distance to a reference object (such as the end of the nearest commutation stator module), or the position coordinates of the detection point can be the address value corresponding to the address value range of the stator module to which the detection point is mapped. The address value range of the stator module is described in detail in the relevant section and will not be repeated here. The detection points can be located on stator modules (which may be commutation stator modules or non-commutation stator modules) that are directly or indirectly connected to the commutation stator module. The detection points can be located at the ends or middle of the stator modules, but the detection points cannot be located at the ends of the stator modules that are directly connected to the commutation stator module. The length from the detection point to the commutating stator module can be the length from the detection point to the nearest end of the commutating stator module, or the length from the detection point to the junction of the commutating stator modules. The lengths from multiple detection points to the commutating stator module may be the same or different. Therefore, configuring the detection points simplifies the configuration process and reduces the amount of data.

[0100] For example, such as Figure 4As shown, the system includes a non-commutating stator module 41, a non-commutating stator module 51, a non-commutating stator module 61, and a commutating stator module 31. The commutating stator module 31 includes end A1, end B1, and end B2. The non-commutating stator module 41 is connected to end A1 of the commutating stator module 31, the non-commutating stator module 51 is indirectly connected to end B1 of the commutating stator module 31, and the non-commutating stator module 61 is connected to end B2 of the commutating stator module 31. The moving submodule can enter the commutating stator module from end A1, end B1, and end B2. Therefore, a detection point T1 can be set on the non-commutating stator module 41, a detection point T2 can be set on the non-commutating stator module 51, and a detection point T3 can be set on the non-commutating stator module 61, thereby achieving accurate detection of the moving submodule entering the commutating stator module from end A1, end B1, and end B2.

[0101] In some embodiments, a corresponding detection point is configured in the commutation stator module. This detection point serves as a boundary of a detection interval. Combined with a configured detection length, the detection length extends from the detection point towards the end of the commutation stator module, and another boundary of the detection interval is defined in the stator module connected to the commutation stator module, thus forming the detection interval. The detection length is configured such that the formed detection interval covers the stator module connected to the commutation stator module. The detection point can be located in the commutation stator module or in the stator module connected to the commutation stator module.

[0102] As can be seen from the above, by flexibly applying various detection interval configuration strategies, it is possible to detect the moving submodule heading towards the reversing stator module in a timely manner, thereby improving the safety of the moving submodule.

[0103] Optionally, in the control method for the moving submodule provided in the embodiments of this application, before detecting the moving submodule driving towards the commutation stator module based on the detection interval, at least one of the following is further included: for the case where the end of the commutation stator module is fixed for the moving submodule to drive in or out, a detection interval is configured to at least cover a portion of the stator module whose end is directly connected to the end of the commutation stator module used for driving in; for the case where the end of the commutation stator module is fixed for the moving submodule to drive in or out, a detection interval is configured to at least cover the end of the commutation stator module used for driving out.

[0104] When the end of the commutation stator module is fixed for the entry or exit of the moving submodule, the configuration strategy of the detection zone can be adjusted accordingly.

[0105] In some embodiments, when at least one end of the commutation stator module is fixed for the entry of the moving submodule, the detection range is configured to at least cover a portion of the stator module directly connected to the entry end. This ensures that the moving submodule approaching the commutation stator module is detected early, providing sufficient time for subsequent motion control decisions and reducing data volume while ensuring compatibility with this fixed entry / exit configuration.

[0106] In some embodiments, when at least one end of the commutation stator module is fixed for the departure of the moving submodule, the detection range is configured to at least cover the departure end. Thus, the detection range can detect whether a moving submodule has left the commutation stator module, and after detecting that a moving submodule has left the commutation stator module, control the next moving submodule to enter the commutation stator module, ensuring that the moving submodules pass safely and orderly within the commutation stator module.

[0107] In some embodiments, if the moving submodule is fixed to enter from the shunt end of the commutation stator module and exit from the merging end, i.e., the commutation stator module is configured as multiple inlets and one outlet, a detection range can be set based on the shunt end. One end of the detection range can be located at the merging end of the commutation stator module or at a stator module connected to the merging end, and the other end of the detection range can be located at a stator module connected to the shunt end of the commutation stator module. This allows for the detection of both the presence of a moving submodule moving towards the commutation stator module and the presence of a moving submodule exiting the commutation stator module.

[0108] If the detection range is achieved through detection points, these points can be set at the merging end or on the stator module connected to the merging end. Corresponding detection lengths can be set for different guiding relationships, thus forming multiple detection ranges and detecting the presence of an approaching moving submodule at different merging ends. For example, ... Figure 5 As shown, the system includes a non-commutating stator module 41, a non-commutating stator module 51, a non-commutating stator module 61, and a commutating stator module 31. The commutating stator module 31 includes ends A1, B1, and B2. The non-commutating stator module 41 is connected to end A1 of the commutating stator module 31. The non-commutating stator module 51 is indirectly connected to end B1 of the commutating stator module 31. The non-commutating stator module 61 is connected to end B2 of the commutating stator module 31. The moving sub-module can enter the commutating stator module from ends A1, B1, and B2. A detection point T1 is set on the stator module connected to the confluence end A1 of the commutating stator module 31, i.e., a detection point T1 is set on the non-commutating stator module 41. Then, a corresponding detection length is set from the detection point T1 along different guiding relationships (or different flow splitting ends), such as... Figure 5L1 and L2 are connected, with L1 corresponding to end B2 of the commutation stator module 31 and L2 corresponding to end B1 of the commutation stator module 31. This enables the detection of whether there is an incoming moving sub-module at the shunting end of the commutation stator module 31, and the detection of whether there is an outgoing moving sub-module at the merging end of the commutation stator module 31.

[0109] Therefore, by configuring the detection range according to specific circumstances, computer resources can be effectively utilized, avoiding the waste of resources caused by excessive detection of the commutation stator module.

[0110] Optionally, in the control method for the moving submodule provided in this application embodiment, before detecting the moving submodule heading towards the commutation stator module based on the detection interval, at least one of the following is further included: constraining the first length between the intersection of the commutation stator module and the boundary of the detection interval between the stator module connected to the commutation stator module based on the maximum outer diameter of the moving submodule in the moving direction and the position of the measurement reference part of the moving submodule on the moving submodule; constraining the second length of the detection interval between the stator module connected to the commutation stator module based on the maximum outer diameter of the moving submodule in the moving direction and the position of the measurement reference part of the moving submodule on the moving submodule.

[0111] In some embodiments, if the length between the junction of the commutating stator module and the end of the commutating stator module is short, it may cause a moving submodule that enters from one end of the commutating stator module to collide with a moving submodule that has not entered from the other end during movement. Therefore, based on the maximum outer diameter of the moving submodule in the direction of movement and the position of the measuring reference part of the moving submodule in the moving submodule, a first length between the junction and the detection interval boundary of the stator module connected to the commutating stator module is constrained.

[0112] For example, such as Figure 6As shown, the commutating stator module 31 includes end A1, end B1, end B2, and a junction D. The non-commutating stator module 61 is connected to end B2 of the commutating stator module 31. A boundary JA-1 of the detection interval is located in the non-commutating stator module 61, and the length between the junction D of the commutating stator module 31 and the boundary JA-1 of the detection interval JA is the first length LA. If the reference part used for position measurement in the moving submodule is located at the front end of the moving submodule with the direction of movement as the reference, the first length LA is constrained according to the maximum outer diameter LENA of the moving submodule in the direction of movement. For example, the first length LA is at least greater than half of the maximum outer diameter LENA of the moving submodule in the direction of movement, i.e., LA > LENA / 2. If the reference part of the moving submodule used for position measurement is located at the end of the moving submodule with reference to the direction of movement, the first length LA is constrained based on the maximum outer diameter LENA of the moving submodule that has entered the movement direction and the maximum outer diameter LENB of the moving submodule that has not yet entered the movement direction. The first length LA is at least greater than the sum of half the maximum outer diameter LENA of the moving submodule that has entered the movement direction and the maximum outer diameter LENB of the moving submodule that has not yet entered the movement direction, i.e., LA > (LENA / 2 + LENB). If the reference part of the moving submodule used for position measurement is located in the middle of the moving submodule with reference to the direction of movement, the first length LA is constrained based on the maximum outer diameter LENA of the moving submodule that has entered the movement direction and the maximum outer diameter LENB of the moving submodule that has not yet entered the movement direction. The first length LA is at least greater than half the sum of the maximum outer diameter LENA of the moving submodule that has entered the movement direction and the maximum outer diameter LENB of the moving submodule that has not yet entered the movement direction, i.e., LA > (LENA + LENB) / 2.

[0113] Therefore, by imposing a minimum length constraint on the first length, the probability of collisions between moving submodules at different ends of the commutation stator module due to insufficient detection interval length can be effectively reduced, thus enhancing the safety of the moving submodule.

[0114] In some embodiments, since a buffer time for movement control needs to be reserved after detecting the moving submodule, a minimum length constraint is applied to the second length of the detection interval in the stator modules connected to the commutation stator module, based on the maximum outer diameter of the moving submodule in the movement direction and the position of the measurement reference part of the moving submodule within the moving submodule. That is, the second length of the detection sub-intervals of the detection interval in other stator modules connected to the commutation stator module is constrained. It should be noted that if the detection interval does not cover the commutation stator module, the detection sub-interval is the entire set of the detection intervals; if the detection interval covers the commutation stator module, the detection sub-interval is a subset of the detection intervals.

[0115] For example, such as Figure 7As shown, the commutating stator module 31 includes end A1, end B1, and end B2. The non-commutating stator module 61 is connected to end B2 of the commutating stator module 31. A boundary JA-1 of the detection interval is located in the non-commutating stator module 61. The detection interval JA in the detection sub-interval of the non-commutating stator module 61 is formed by end B2 of the commutating stator module 31 and boundary JA-1 of the detection interval JA. The length between end B2 of the commutating stator module 31 and boundary JA-1 of the detection interval JA is the second length LB. If the reference part for position measurement in the moving submodule is located at the front end of the moving submodule with reference to the direction of movement, then the second length LB is at least greater than zero. If the reference part for position measurement in the moving submodule is located at the end of the moving submodule with reference to the direction of movement, the second length LB is constrained according to the maximum outer diameter LEN of the moving submodule in the direction of movement, such that the second length LB is at least greater than the maximum outer diameter LENA of the moving submodule in the direction of movement, i.e., LB > LENA. If the reference part of the moving submodule used for position measurement is located in the middle of the moving submodule with reference to the direction of movement, the second length LB is constrained according to the maximum outer diameter LEN of the moving submodule in the direction of movement. For example, the second length LB is at least greater than half of the maximum outer diameter LENA of the moving submodule in the direction of movement, i.e., LB > LENA / 2.

[0116] As can be seen from the above, by imposing a minimum length constraint on the second length, it is ensured that when the moving submodule is detected, the projections of the moving submodule and the commutating stator module in the same direction do not overlap, thereby providing sufficient movement control time for the moving submodule that has not entered the commutating stator module and ensuring the reliability of the moving submodule movement control.

[0117] Optionally, the control method for the moving submodule provided in the embodiments of this application further includes: detecting whether there are other moving submodules located in the commutation stator module before controlling the selected moving submodule to enter the commutation stator module.

[0118] In some embodiments, after determining the moving submodule that will enter the commutation stator module this time, if there are other moving submodules (such as the previously selected moving submodule) located in the commutation stator module, the selected moving submodule is prevented from entering the commutation stator module before the other moving submodules leave the commutation stator module. After determining that there are no other moving submodules in the commutation stator module (i.e., the other moving submodules have left the commutation stator module), the selected moving submodule is then controlled to enter the commutation stator module. This ensures that only one moving submodule is located in the commutation stator module at a time, avoiding the problem of moving submodule collision or blockage.

[0119] In some embodiments, the existence of other moving submodules located within the commutation stator module can be determined by the range of address values ​​among multiple address parameters configured for the commutation stator module. For example, the range of address values ​​among multiple address parameters configured for the commutation stator module can be matched with the real-time position data of each moving submodule. If no real-time position data falls within the address value range of the commutation stator module, it is determined that no other moving submodule is located within the commutation stator module; otherwise, it is determined that a moving submodule is located within the commutation stator module.

[0120] In some embodiments, the real-time position data of the previously selected moving submodule (i.e., the moving submodule that previously entered the commutating stator module) can be used to determine whether other moving submodules are located within the commutating stator module. For example, the real-time position data of the previously selected moving submodule can be obtained, and the distance between the previously selected moving submodule and the commutating stator module can be determined using this real-time position data. If the distance between the two is greater than a preset distance threshold, it is determined that no other moving submodule is located within the commutating stator module; otherwise, it is determined that a moving submodule is located within the commutating stator module. The preset distance threshold is set based on factors such as the maximum outer diameter of the moving submodule in the direction of movement and the specific location of the reference part used for position measurement within the moving submodule.

[0121] In some embodiments, the presence of other moving submodules located within the commutating stator module can be determined using preset detection points. For example, if the detection point detects the previously selected moving submodule and its movement direction is away from the commutating stator module, it is determined that no other moving submodule is located within the commutating stator module; otherwise, it is determined that a moving submodule is located within the commutating stator module. The detection points are located on other stator modules connected to the commutating stator module, and the distance from the detection point to the nearest commutating stator module is determined based on factors such as the maximum outer diameter of the moving submodule in the direction of movement and the specific location of the reference part used for position measurement within the moving submodule.

[0122] Therefore, by performing a pre-detection of the commutating stator module before the control sub-module enters the commutating stator module, collision risks and congestion problems can be effectively avoided, and the passage speed of the control sub-module can be improved.

[0123] Optionally, in the control method for the moving submodule provided in this application embodiment, determining whether the commutating stator module performs a guidance change operation based on the real-time position data of the selected moving submodule each time includes at least one of the following: when it is determined, based on the real-time position data of the selected moving submodule, that the selected moving submodule enters from the shunting end of the commutating stator module, determining whether the commutating stator module performs a guidance change operation based on the guidance status information of the commutating stator module; when it is determined, based on the real-time position data of the selected moving submodule, that the selected moving submodule enters from the merging end of the commutating stator module, determining whether the commutating stator module performs a guidance change operation based on the target position parameters of the selected moving submodule.

[0124] In some embodiments, since the commutation stator module has at least three ends, the real-time position data of the selected moving submodule can be used to determine whether the selected moving submodule intends to enter from the shunt end or the merging end of the commutation stator module. In some embodiments, since the merging end of the commutation stator module can establish a guiding relationship with different shunt ends of the commutation stator module, there are multiple guiding situations. When it is determined that the moving submodule intends to enter from the shunt end, if the guiding relationship of the commutation stator module is incorrect, after the moving submodule enters, the incorrect winding unit will be energized according to the incorrect guiding relationship, resulting in invalid energization and the moving submodule decelerating incorrectly due to a lack of driving force. Therefore, it can be determined whether the commutation stator module should perform a guiding change operation based on whether a guiding relationship exists between the shunt end and the merging end into which the moving submodule intends to enter. If there is a guiding relationship between the shunt and merging ends into which the moving submodule is about to enter, it can be determined that the commutating stator module does not need to perform a guiding change operation. Conversely, if there is no guiding relationship between the shunt and merging ends into which the moving submodule is about to enter, it can be determined that the commutating stator module needs to perform a guiding change operation. This ensures that the guiding relationship of the commutating stator module matches the shunt end into which the moving submodule is about to enter, thereby ensuring accurate movement control of the moving submodule after it enters and avoiding power waste.

[0125] In some embodiments, since the merging end of the commutation stator module can establish a guiding relationship with different branching ends of the commutation stator module, multiple guiding situations exist. When the moving submodule enters the commutation stator module from the merging end, regardless of the guiding situation of the commutation stator module, the moving submodule will exit from one branching end. However, the time it takes for the moving submodule to reach the target position after exiting from different merging ends may be different, and it may even encounter other moving submodules moving in the opposite direction, resulting in blockage or collision. Therefore, it is possible to determine whether the commutation stator module should perform a guiding change operation based on the target position parameters of the selected moving submodule. The target position parameters of the moving submodule are used to record the desired position reached by the moving submodule in this movement. This ensures that the guiding situation of the commutation stator module matches the target position parameters of the selected moving submodule, effectively reducing the time it takes for the moving submodule to reach the target position, reducing collisions and blockages, and improving the efficiency of controlling the movement of the moving submodule.

[0126] Optionally, in the control method for the moving submodule provided in this application embodiment, determining whether the commutating stator module performs a guidance change operation based on the target position parameters of the selected moving submodule includes at least one of the following: determining whether the commutating stator module performs a guidance change operation based on the target movement trajectory planned by the target position parameters of the moving submodule, wherein the target movement trajectory is the movement trajectory initially planned, or the movement trajectory adjusted according to the downstream warning situation; determining whether the commutating stator module performs a guidance change operation based on the target position parameters of the moving submodule and the work point association information of the commutating stator module, wherein the work point association information is used to indicate whether the guidance situation of the commutating stator module is related to the work point.

[0127] Specifically, it can be determined whether the commutation stator module has performed a steering change operation by including at least one of the following:

[0128] In some embodiments, a target movement trajectory can be planned based on the target position parameters of the moving submodule. This trajectory guides the moving submodule from its current position to the position indicated by the target position parameters (i.e., the target position). Controlling the moving submodule's movement according to the target trajectory allows it to reach the target position in a shorter time. Based on the target position parameters, combined with the stator module layout and address configuration, an initial movement trajectory can be planned, which serves as the target movement trajectory for the moving submodule. Optionally, based on the initial movement trajectory, the movement status of other moving submodules downstream of the moving submodule can be obtained. If a downstream warning situation is identified (such as downstream congestion, collision, or malfunction), the movement trajectory can be adjusted according to the stator module layout, and the adjusted trajectory can be used as the target movement trajectory for the moving submodule. Based on the guidance status information and movement trajectory of the commutating stator module, it can be determined whether the guidance relationship of the commutating stator module matches the target position parameters of the moving submodule, thereby determining whether the commutating stator module should perform a guidance change operation.

[0129] In some embodiments, the stator module is configured with workpoints, and the target position parameters of the moving submodule can include information about the workpoints, thereby representing the desired position reached by the moving submodule during this movement. After the workpoint configuration is completed, the association between the reversing stator module and the workpoints can be established by combining the stator module layout and the workpoint configuration. If a movement route corresponds to a workpoint, the relevant reversing stator module and the corresponding workpoint of the movement route are associated according to the movement direction in which the moving submodule can enter the movement route, thus obtaining workpoint association information. Specifically, this can be achieved by associating the guidance relationship of the reversing stator module in the movement route with the workpoint identifier to obtain workpoint association information.

[0130] For example, such as Figure 8 As shown, commutation stator module 11, commutation stator module 21, and multiple non-commutation stator modules ( Figure 8(Not shown in the image) constitute moving routes L1 and L2. The reversing stator module 11 includes a merging end 11-1, a branching end 11-2, and a branching end 11-3. The reversing stator module 21 also includes a merging end 21-1, a branching end 21-2, and a branching end 21-3. Assuming that moving route L1 corresponds to a work point P1, and the direction of movement for the powered submodule entering moving route L1 is FA or FB, then based on the direction of movement FA, the guiding relationship between the powered submodule in the reversing stator module 11 entering moving route L1 (i.e., the guiding relationship between the merging end 11-1 and the branching end 11-2) can be associated with the work point identifier of work point P1. Similarly, based on the direction of movement FB, the guiding relationship between the powered submodule in the reversing stator module 21 entering moving route L1 (i.e., the guiding relationship between the merging end 21-1 and the branching end 21-2) can be associated with the work point identifier of work point P1 to obtain work point association information.

[0131] It should be noted that if the end of the moving submodule entering the reversing stator module is fixed—for example, the merging end of the reversing stator module is used for the moving submodule to enter while the splitting end is used for the moving submodule to exit (i.e., one entry and multiple exits), or the merging end is used for the moving submodule to exit while the splitting end is used for the moving submodule to enter (i.e., multiple entries and one exit)—then the direction of movement for the moving submodule to enter the moving path is also fixed. Based on the known direction of the entering moving path, the guiding relationship and work point identification in the relevant reversing stator modules can be associated. Furthermore, the reversing stator module associated with the work point can be a reversing stator module that indirectly provides the moving submodule with the entering moving path. For example, such as... Figure 9 As shown, it includes commutating stator module 11 (11-1 is the confluence end, 11-2 and 11-3 are the shunt ends), commutating stator module 21 (21-1 is the confluence end, 21-2 and 21-3 are the shunt ends), commutating stator module 31 (31-1 is the confluence end, 31-2 and 31-3 are the shunt ends), and multiple non-commutating stator modules ( Figure 9 (Not explicitly marked) The movement paths include L1 and L2. Assuming that there is a work point P1 corresponding to movement path L1, the movement directions for the movable submodule to enter movement path L1 are FC and FA, and the direction for the movable submodule to exit movement path L1 is FD. Although the reversing stator module 31 is not directly connected to movement path L1, it is also a relevant reversing stator module for the movable submodule to enter movement path L1. Therefore, the guidance relationship of the reversing stator module 31 and the work point P1 can be associated. Since the direction FD is used to exit movement path L1, the reversing stator module 21 and the work point P1 do not need to be associated.

[0132] Therefore, based on the workpoint association information, combined with the guiding status information of the commutating stator module and the target position parameters of the moving submodule, it can be determined whether the commutating stator module has performed a guiding change operation. Since the workpoint association information can indicate whether the guiding relationship of the commutating stator module is related to the workpoint, it can be determined whether the current guiding relationship of the commutating stator module affects the time required for the moving submodule to move to the target workpoint indicated by the target position parameters, thereby determining whether the commutating stator module has performed a guiding change operation.

[0133] By precisely matching the target location parameters, unnecessary guidance changes can be avoided, the movement path of the moving submodule can be optimized, and the system's operating efficiency and energy utilization efficiency can be improved. The introduction of workpoint association information ensures that the moving submodule can arrive at the target workpoint on time, and the dynamic decision-making of guidance change operations effectively prevents collision risks and ensures the safe operation of the system.

[0134] Optionally, in the control method for the moving submodule provided in this application embodiment, determining whether the commutating stator module should perform a guidance change operation based on the target position parameters of the moving submodule and the work point association information of the commutating stator module includes at least one of the following: if, based on the work point association information of the commutating stator module, it is determined that the commutating stator module is associated with the target work point indicated by the target position parameters of the moving submodule, and if, based on the guidance status information of the commutating stator module, it is determined that the guidance relationship of the commutating stator module matches the target guidance information, then it is determined that the guidance change operation should not be performed; otherwise, it is determined that the guidance change operation should be performed; if, based on the work point association information of the commutating stator module, it is determined that the commutating stator module is not associated with the target work point indicated by the target position parameters of the moving submodule, it is determined whether to perform a guidance change operation based on the downstream warning status of the commutating stator module.

[0135] In some embodiments, during the process of determining whether there is an association between the target work point indicated by the target position parameter of the commutating stator module and the target work point of the moving submodule based on the work point association information of the commutating stator module, if it is determined that there is an association between the target work point indicated by the target position parameter of the moving submodule and the commutating stator module, then the target guidance information corresponding to the target work point indicated by the target position parameter is obtained. Based on the guidance status information of the commutating stator module, it is determined that the current guidance relationship of the commutating stator module matches the target guidance information, and then it is determined that the guidance change operation is not performed; otherwise, it is determined that the guidance change operation is performed.

[0136] For example, such as Figure 10As shown, the commutator stator module 11 (11-1 is the merging end, 11-2 and 11-3 are the splitting ends) and the commutator stator module 21 have a work point P1 located on the movement path L1. Assuming that the target work point of the moving submodule preparing to enter the commutator stator module 11 is work point P1, the target guidance information corresponding to the target work point P1 (i.e., the guidance relationship between the merging end 11-1 and the splitting end 11-2) can be determined based on the work point association information of the commutator stator module 11. If the guidance status information of the commutator stator module 11 indicates that the current guidance relationship of the commutator stator module 11 is the guidance relationship between the merging end 11-1 and the splitting end 11-3 (e.g., ... Figure 10 (1) As shown in the gray-filled part), it is determined that the current guiding relationship of the commutating stator module 11 does not match the target guiding information, and a guiding transformation operation is performed to change the guiding situation of the commutating stator module 11 from a guiding relationship between the confluence end 11-1 and the branch end 11-3 to a guiding relationship between the confluence end 11-1 and the branch end 11-2 (as shown in the gray-filled part of the figure). Figure 10 (2) The shaded area is shown in the diagram.

[0137] In some embodiments, during the process of determining whether the target work point indicated by the target position parameter of the commutating stator module and the moving part module are associated based on the work point association information of the commutating stator module, if it is determined that the target work point indicated by the target position parameter of the moving part module and the commutating stator module are not associated (the commutating stator module may be associated with other work points or unassociated work points), it can be determined that the commutating stator module does not need to perform the guidance change operation. Alternatively, it can be determined whether the commutating stator module performs the guidance change operation based on the downstream warning situation.

[0138] Therefore, by dynamically analyzing the correlation information between the target position parameters of the moving submodule and the working point of the commutation stator module, and selectively combining the downstream early warning situation, intelligent decision-making for the guidance change operation is realized.

[0139] Optionally, in the control method for the moving submodule provided in the embodiments of this application, after determining that a guidance change operation is to be performed, the method further includes at least one of the following: generating a guidance change instruction based on the guidance relationship of the commutating stator module that matches the target movement trajectory of the moving submodule; generating a guidance change instruction based on the target guidance information.

[0140] The guidance change instruction contains information describing how to adjust the guidance of the commutator stator module. For example, the guidance change instruction may include at least one of guidance relationship information matching the target movement trajectory and target guidance information, to ensure that the moving submodule can move to the position indicated by the target position parameters within a short period of time. Based on the generated guidance change instruction, the commutator stator module can be controlled to perform a guidance change operation matching the target movement trajectory, and / or, based on the generated guidance change instruction, the commutator stator module can be controlled to perform a guidance change operation matching the target guidance information.

[0141] Therefore, by generating guidance change instructions in a timely manner, the time spent by the moving submodule on invalid movement routes is reduced, the overall movement time of the moving submodule is shortened, and thus the operating efficiency of the moving submodule is improved.

[0142] Optionally, in the control method for the moving submodule provided in this application embodiment, determining whether the commutating stator module should perform a guidance change operation based on the target movement trajectory planned by the target position parameters of the moving submodule includes at least one of the following: if the guidance relationship of the commutating stator module matches the target movement trajectory of the moving submodule based on the guidance state information of the commutating stator module, then it is determined that the guidance change operation should not be performed; if the guidance state information of the commutating stator module does not match the target movement trajectory of the moving submodule based on the guidance state information of the commutating stator module, then it is determined that the guidance change operation should be performed.

[0143] In some embodiments, for the reversing stator module along the path before the moving submodule reaches the target position, the target movement trajectory (specifically, the initially planned movement trajectory or the adjusted planned movement trajectory) planned from the target position information of the moving submodule matches a specific guidance relationship of the reversing stator module along the path. The guidance state information can represent the current guidance relationship of the reversing stator module. Therefore, based on the guidance state information of the reversing stator module, it is possible to determine whether the guidance relationship of the reversing stator module matches the target movement trajectory of the moving submodule, thereby determining whether to perform a guidance change operation. For example, as... Figure 11 As shown, the moving submodule MR1 passes through the commutation stator module 31. The commutation stator module 31 includes a confluence end A1, a divergence end B1, and a divergence end B2. Gray fill indicates the guiding relationship between the ends. The dotted line represents the target movement trajectory of the moving submodule. According to the target movement trajectory, the moving submodule MR1 should enter from the confluence end A1 and exit from the divergence end B2. Figure 11 In (1), the guidance status information of the commutation stator module 31 indicates that the current guidance relationship of the commutation stator module 31 is the confluence end A1 and the split end B1. The guidance status information of the commutation stator module does not match the target movement trajectory of the moving sub-module, and it is determined to perform a guidance change operation. Figure 11(2) The guidance status information of the commutation stator module 31 indicates that the current guidance relationship of the commutation stator module 31 is the confluence end A1 and the split end B2. The guidance status information of the commutation stator module matches the target movement trajectory of the moving sub-module, and it is determined that the guidance change operation will not be performed.

[0144] In practice, since the movement trajectory of the moving submodule may be adjusted in conjunction with the warning situation downstream of the commutation stator module, it is possible to discuss whether to perform a guiding change operation based on whether the movement trajectory can be adjusted and whether the downstream warning situation is taken into account.

[0145] In some embodiments, if downstream warning conditions are not considered, the target movement trajectory is the movement trajectory obtained from the initial planning. Based on the guidance status information of the commutation stator module, it is determined whether the guidance relationship of the commutation stator module matches the movement trajectory obtained from the initial planning. If the current guidance relationship of the commutation stator module matches the movement trajectory obtained from the initial planning, it can be determined that the commutation stator module does not need to perform a guidance change operation. Otherwise, it is determined that a guidance change operation should be performed, thereby controlling the commutation stator module to perform the corresponding guidance change operation based on the movement trajectory obtained from the initial planning.

[0146] When considering downstream early warning scenarios, if the number of moving submodules in the downstream stator module of the commutation stator module exceeds a certain threshold, the system first determines whether the moving submodule's trajectory can be adjusted. If it can, the trajectory is adjusted, and the target trajectory becomes the adjusted planned trajectory. Then, based on the commutation stator module's guidance status information, the system determines whether the commutation stator module's guidance relationship matches the adjusted planned trajectory. If the current guidance relationship matches the adjusted planned trajectory, the commutation stator module does not need to undergo guidance change; otherwise, a guidance change operation is performed. Based on the adjusted planned trajectory, the system controls the commutation stator module to execute the corresponding guidance change operation. For example, ... Figure 12 As shown, the moving submodule MR1 passes through the commutating stator module 31. The commutating stator module 31 includes a confluence end A1, a split end B1, and a split end B2. The gray fill indicates that there is a guiding relationship between the ends. Figure 12 The dotted line in (1) represents the target movement trajectory, which is the movement trajectory obtained from the initial planning. According to the initial planned movement trajectory, the moving submodule MR1 should enter from the merging end A1 and exit from the diverging end B2. However, there are moving submodules MR2 and MR3 downstream of the diverging end B2. Therefore, the movement trajectory of the moving submodule MR1 can be adjusted, such as... Figure 12The dotted line in (2) indicates that the target movement trajectory is changed to the movement trajectory obtained by the adjustment plan. According to the movement trajectory of the adjustment plan, the moving submodule MR1 should enter from the merging end A1 and exit from the split end B1. The guidance status information of the reversing stator module matches the target movement trajectory of the moving submodule, and it is determined that the guidance change operation is not performed.

[0147] When considering downstream early warning scenarios, there may be situations where the current guidance relationship of the commutation stator module matches the target movement trajectory, but it is necessary to change the target movement trajectory. For example, ... Figure 13 As shown, moving submodules MR1 ​​and MR2 are in a state of opposite motion, that is, both moving submodules MR1 ​​and MR2 are moving towards the commutating stator module 31. The commutating stator module 31 includes a confluence end A1, a split end B1, and a split end B2. Gray fill is used to indicate that there is a guiding relationship between the ends of the commutating stator module 31. The dotted line represents the target movement trajectory of the moving submodule MR1, as shown. Figure 13 In (1), the movement trajectory of the moving submodule MR1 matches the current guiding relationship (merging end A1 and splitting end B2) of the commutation stator module 31. However, due to the presence of the moving submodule MR2, to avoid the collision of the two moving submodules moving in opposite directions within the same commutation stator module, or to prevent both moving submodules from stopping under the control of the safety anti-collision mechanism, causing congestion of the moving submodules, if the target movement trajectory of the moving submodule can be adjusted, the movement trajectory of the moving submodule MR1 can be adjusted, such as... Figure 13 The target movement trajectory shown in (2) is adjusted so that the movement trajectory of the moving submodule MR1 is to enter from the merging end A1 and exit from the splitting end B1. Based on the adjusted movement trajectory, the commutation stator module 31 is determined to perform a guiding change operation, such as... Figure 13 (2) shows that the guiding relationship is switched to the confluence end A1 and the split end B1.

[0148] Therefore, based on the guidance change decision of the target movement trajectory of the moving submodule, the timing of the guidance change operation can be reasonably judged, reducing the probability of useless operations and thus ensuring the efficient and orderly movement of the moving submodule.

[0149] Optionally, in the control method for the moving submodule provided in the embodiments of this application, after determining whether the commutating stator module performs a guidance change operation based on the real-time position data of the selected moving submodule each time, the method further includes: when two commutating stator modules are spliced ​​together, if each of the two commutating stator modules has a moving submodule that is ready to enter, then the movement state of each moving submodule that is ready to enter is controlled according to the guidance state information of the two commutating stator modules.

[0150] When two commutator stator modules are joined, one end of one commutator stator module is joined to one end of the other commutator stator module. The end of one commutator stator module used for joining with the other can be a merging end or a splitting end. When the ends of the two commutator stator modules used for joining each other have a guiding relationship within their respective commutator stator modules, a moving submodule can move from one commutator stator module to the other. Each commutator stator module can detect incoming moving submodules using relevant methods and select one as the moving submodule to be entered. Therefore, it is possible that each of the two commutator stator modules has a moving submodule to be entered. In this case, if the ends of the two commutator stator modules used for joining each other have a guiding relationship within their respective commutator stator modules, both moving submodules can move between the two commutator stators, resulting in a collision or congestion. To avoid the above problems, by adjusting the guiding relationship between the two commutator stator modules and controlling the motion state of the two moving sub-modules, it is possible to enable the two moving sub-modules to move and avoid obstacles, thereby improving the safety and flexibility of the moving sub-module movement control.

[0151] In some embodiments, when two commutator stator modules are joined together, when determining whether a commutator stator module performs a guidance change operation based on the real-time position data of each selected moving submodule, in addition to determining whether the commutator stator module into which the selected moving submodule is about to enter has performed a guidance change operation, it is also necessary to determine whether the other commutator stator module joined to which the selected moving submodule is about to enter has performed a guidance change operation. This ensures that the guidance relationship between the two commutator stator modules is configured to allow at least one of the two selected moving submodules to pass. Specifically, the guidance relationship between the two commutator stator modules is configured to allow the two selected moving submodules to pass simultaneously, or the guidance relationship between the two commutator stator modules is configured to allow one of the two moving submodules to pass first.

[0152] When the guidance relationship between the two commutating stator modules is configured to allow the two selected moving submodules to pass simultaneously, based on the guidance status information of the two commutating stator modules, each selected moving submodule can be controlled to enter its corresponding commutating stator module. When the guidance relationship between the two commutating stator modules is configured to allow one of the two moving submodules to pass first, the moving submodule that can pass first can be controlled to enter its corresponding commutating stator module first, while the non-priority moving submodule slows down or even waits. Then, when the priority moving submodule exits the two commutating stator modules and the guidance status of the corresponding commutating stator modules matches, the other moving submodule is controlled to enter its corresponding commutating stator module.

[0153] For example, such as Figure 14 As shown, it includes moving submodules MR1 ​​and MR2, commutating stator module 11 (merging end 11-1, splitting end 11-2, and splitting end 11-3), and commutating stator module 21 (merging end 21-1, splitting end 21-2, and splitting end 21-3). Figure 14 As shown in (1), moving submodules MR1 ​​and MR2 are in a state of moving towards each other. The gray fill indicates that there is a guiding relationship between their ends. The guiding relationship between commutating stator module 11 and commutating stator module 21 is configured so that one of the two moving submodules can pass through moving submodule MR1 first to prepare to enter commutating stator module 11, and moving submodule MR2 prepares to enter commutating stator module 21. Moving submodules MR1 ​​and MR2 enter the corresponding commutating stator module at the same time, which is prone to collision. Based on this, one of the moving submodules MR1 ​​and MR2 can be controlled to decelerate to ensure that the other of the moving submodules MR1 ​​and MR2 can pass through the corresponding commutating stator module smoothly. After one of the moving submodules MR1 ​​and MR2 leaves the commutating stator module, the other of the moving submodules MR1 ​​and MR2 is then controlled to move, as shown in the figure. Figure 14 As shown in (2), the moving submodule MR2 is first controlled to pass through the commutating stator module 21 first. Before the moving submodule MR2 leaves the commutating stator module 21, the moving submodule MR1 is controlled not to enter the commutating stator module 11. It should be understood that before the moving submodule MR2 leaves the commutating stator module 21, the moving submodule MR1 can also be controlled not to leave the commutating stator module 11.

[0154] For example, such as Figure 14 As shown in (3), although stator modules MR1 ​​and MR2 are in a state of moving towards each other, the moving path of stator module MR1 is from the confluence end 11-1 of the commutation stator module 11 to the split end 11-2, and the moving path of stator module MR2 is from the confluence end 12-1 of the commutation stator module 12 to the split end 12-2. There will be no blockage problem between the two stator modules. Therefore, it is not necessary to control the moving speed of stator modules MR1 ​​and MR2.

[0155] For example, such as Figure 14As shown in (4), stator modules MR1 ​​and MR2 are in a state of moving towards each other. The moving path of stator module MR1 is from the confluence end 11-1 of the commutation stator module 11 to the split end 11-3. The moving path of stator module MR1 is from the split end 12-2 of the commutation stator module 12 to the split end 12-3. The split end 11-3 is connected to the confluence end 12-1 of the commutation stator module 12. If stator module MR1 is decelerated, stator modules MR2 and MR1 will be blocked in the commutation stator module 21. Therefore, stator module MR2 is decelerated to ensure that MR1 can pass smoothly, and then stator module MR2 is controlled to drive out of the commutation stator module 21.

[0156] This allows for reasonable avoidance of two moving submodules in scenarios where two commutating stator modules are joined, ensuring smooth movement of the moving submodules within the commutating stator modules and preventing collisions and congestion caused by opposing movements.

[0157] Optionally, in the control method for the moving submodule provided in the embodiments of this application, if it is determined that the commutating stator module performs a guidance change operation, the motion state of the detected moving submodule heading towards the commutating stator module is controlled, including: determining whether there is a moving submodule decelerating based on the current motion state of each moving submodule, the distance between each moving submodule and the commutating stator module, and the single guidance change time of the commutating stator module.

[0158] In some embodiments, if it is determined that the commutating stator module is performing a guidance change operation, the commutating stator module needs a certain amount of time to perform the guidance change operation (i.e., the single guidance change time of the commutating stator module). During the guidance change operation, if the moving sub-module enters the commutating stator module, a collision is likely to occur. Therefore, it is necessary to determine whether the moving sub-modules heading towards the commutating stator module need to decelerate based on the current motion state of each moving sub-module (such as real-time speed, real-time acceleration, etc.), the distance between each moving sub-module and the commutating stator module, and the single guidance change time of the commutating stator module (especially in scenarios where guidance switching is achieved through the lifting and lowering of guide members), so as to avoid the moving sub-modules entering before the guidance change stator module completes the guidance change operation and reduce the risk of collision.

[0159] In some embodiments, if it is determined that there is a moving submodule that needs to decelerate among the moving submodules heading towards the commutation stator module, the motion control curve of the moving submodule can be determined based on the current motion state of the moving submodule, the distance between the moving submodule and the commutation stator module, and the single guidance change time of the commutation stator module. Then, according to the motion control curve, the moving submodule is controlled to decelerate for at least a period of time. Optionally, the moving submodule can also be controlled according to the motion control curve to perform uniform motion and / or accelerated motion for a period of time.

[0160] In some embodiments, commutation limit parameters can also be configured for the commutation stator module. These parameters include at least an address value, which indicates the restricted position of the mover outside the commutation stator module. After determining that the commutation stator module is performing a guidance change operation, the mover module heading towards the commutation stator module is prevented from passing the restricted position indicated by the commutation limit parameters. This ensures that no mover module enters the commutation stator module before the guidance change operation is completed. Optionally, the commutation stop parameters can also include a limit point identifier and a limit point usage status. The limit point corresponds to the restricted position; that is, the address value can also be used to indicate the position of the limit point.

[0161] Therefore, by monitoring the motion state of the moving submodule heading towards the commutation stator module during the commutation stator module's guidance change operation, the possibility of the moving submodule entering the commutation stator module before the guidance change operation is completed can be effectively avoided, significantly reducing the risk of collision and improving safety and reliability.

[0162] Optionally, in the control method for the moving submodule provided in the embodiments of this application, the method further includes: after detecting that multiple moving submodules are moving toward the commutation stator module, controlling the relative positional relationship between the detected multiple moving submodules so that the detected moving submodules pass through the commutation stator module in the expected order.

[0163] In some embodiments, after the commutating stator module completes the guidance change operation, or after determining that the commutating stator module does not need to perform a guidance change operation, a moving submodule is controlled to enter the commutating stator module. If there are multiple moving submodules heading towards the commutating stator module, the multiple moving submodules should enter the commutating stator module sequentially according to the assigned entry order information. However, in some cases, a normally moving moving submodule may be interfered with by other moving submodules. For example, a moving submodule with a later entry order information may be faster, causing it to overtake a moving submodule with a earlier entry order information and enter the commutating stator module ahead of time, thus affecting the moving submodule that is normally entering the commutating stator module. Another example is when two moving submodules enter the commutating stator module sequentially according to the entry order information, and the two moving submodules enter from different ends of the commutating stator module. Because the transmission channel length corresponding to the end of the commutating stator module into which the moving submodule enters in the later order is shorter, a collision occurs at the intersection with the moving submodule with the earlier order. To solve this problem, the motion state of the detected moving submodules heading towards the commutation stator module can be controlled (e.g., acceleration control, deceleration control), thereby controlling the timing of each moving submodule entering the commutation stator module and ensuring that multiple moving submodules pass through the commutation stator module in the expected order.

[0164] Therefore, by controlling the relative positional relationship between the detected multiple moving submodules, interference from other moving submodules can be avoided in the normally moving moving submodules, reducing the risk of collision between multiple moving submodules in the commutation stator and enhancing the safety of the moving submodules during the movement of the commutation stator module.

[0165] Optionally, in the control method for the moving submodule provided in the embodiments of this application, controlling the motion state of the unselected moving submodule among the detected moving submodules heading towards the commutation stator module includes at least one of the following: when multiple detected moving submodules correspond to different ends of the commutation stator module, performing position equivalence operations on at least some moving submodules based on the real-time position data of the detected moving submodules to obtain the relative positional relationship between the multiple moving submodules, and adjusting the motion state of at least one moving submodule when determining that the relative positional relationship between the multiple moving submodules needs to be adjusted; and performing a limit operation on the unselected moving submodules other than the commutation stator module.

[0166] In some embodiments, when multiple moving submodules detected heading towards the commutation stator module correspond to different ends of the commutation stator module, it indicates that the multiple moving submodules are located on different movement paths. Moving submodules located on different movement paths cannot be directly compared in position. In order to enable position comparison between moving submodules corresponding to different ends of the commutation stator module, it is necessary to perform a position equivalence operation on the moving submodules corresponding to at least one end of the commutation stator module to obtain the relative positional relationship between the multiple moving submodules. Then, it is analyzed whether adjustment is needed based on the current relative positional relationship between the multiple moving submodules. When it is determined that the relative positional relationship between the multiple moving submodules needs to be adjusted, the motion state of at least one moving submodule is adjusted. That is, it is determined which moving submodules need to decelerate based on the relative positional relationship to avoid potential interference problems and ensure that the moving submodules that enter first can pass through the commutation stator module without obstruction.

[0167] It should be noted that if all detected moving submodules correspond to the same end of the commutating stator module, meaning the detected moving submodules are located on the same moving path, then a position equivalence operation is not required, and the relative positional relationship between multiple moving submodules can be directly calculated. If some detected moving submodules correspond to the same end of the commutating stator module, then the relative positional relationship between multiple moving submodules corresponding to the same end of the commutating stator module can be determined directly based on their real-time position data, or it can be determined based on the data obtained after the position equivalence operation.

[0168] In some embodiments, after equivalencing the positions of the unselected and selected moving submodules at different shunt ends of the commutation stator module, the relative positional relationship between them is used to determine whether the unselected moving submodule has overtaken the selected moving submodule, or whether the unselected moving submodule has a tendency to overtake the selected moving submodule. For example, predictive analysis can be performed based on the motion states of the unselected and selected moving submodules (specifically, analysis and prediction can be performed according to the equivalent distance between them and their current motion curves). For example, the overtaking condition can be determined based on whether the equivalent distance between the unselected moving submodule and the selected moving submodule meets the overtaking condition (specifically, whether the equivalent distance between them is less than or equal to the equivalent distance threshold). If it is determined that the unselected moving submodule has overtaken the selected moving submodule, or if it is determined that the unselected moving submodule has a tendency to overtake the selected moving submodule, then the relative positional relationship between multiple moving submodules is adjusted, thereby adjusting the motion state of at least one of the unselected moving submodule and the selected moving submodule. For example, the unselected moving submodule is controlled to decelerate, and / or the selected moving submodule is controlled to accelerate.

[0169] In some embodiments, after the detected moving submodules corresponding to different shunt ends of the commutation stator module are positionally equivalent, if the moving submodules at the corresponding different ends are selected sequentially, it is determined, based on the relative positional relationship between the sequentially selected moving submodules, whether the later-selected moving submodule has overtaken the earlier-selected moving submodule, or whether the later-selected moving submodule has a tendency to overtake the earlier-selected moving submodule. For details, please refer to the above description, which will not be repeated here. If it is determined that the later-selected moving submodule has overtaken the earlier-selected moving submodule, or that the later-selected moving submodule has a tendency to overtake the earlier-selected moving submodule, then the relative positional relationship between the multiple moving submodules is adjusted, thereby adjusting the motion state of at least one of the later-selected and earlier-selected moving submodules. For example, the later-selected moving submodule is controlled to decelerate, and / or the earlier-selected moving submodule is controlled to accelerate.

[0170] It should be noted that the movement control of the moving submodule needs to be based on the real-time position data of the moving submodule. The real-time position data of the moving submodule prior to the position equivalence can be traced back based on the position equivalence parameters.

[0171] In some embodiments, when multiple ends of the commutation stator module are detected to correspond to moving submodules that are moving towards the commutation stator module, it can be determined whether to trigger a position equivalence operation of the moving submodule based on equivalent triggering conditions. For example, based on position equivalence parameters, if at least one moving submodule is identified to have entered the address equivalence range, it is determined to trigger a position equivalence operation. Another example is determining that a moving submodule has been selected to enter the commutation stator module, and then triggering a position equivalence operation.

[0172] In practical applications, when the unselected moving submodule decelerates to zero, the relative positional relationship between the two obtained through position equivalence operations may still be: the unselected moving submodule is in front of the selected moving submodule, thus creating an equivalent obstruction to the unselected moving submodule, preventing the selected moving submodule from entering the commutating stator module. At this time, it can be determined based on the speed of the unselected moving submodule whether to control the selected moving submodule to continue entering the commutating stator module, or to perform a limit operation on the unselected moving submodule.

[0173] In some embodiments, after a moving submodule is selected to enter the commutating stator module, a limiting operation can be performed on the unselected moving submodules outside the commutating stator module until the selected moving submodule exits the commutating stator module. Then, the next moving submodule to enter the commutating stator module is selected from the remaining moving submodules (including those subject to the limiting operation). If the selected moving submodule is one of those subject to the limiting operation, the limiting operation on that moving submodule is released. This ensures that only one moving submodule moves within the commutating stator module at a time, avoiding the aforementioned problems.

[0174] In some embodiments, a limit operation can be performed on an unselected moving submodule corresponding to the end of the commutation stator module according to preset limit parameters, causing the unselected moving submodule to stop at or before the limit boundary. After the moving submodule corresponding to the limit boundary is determined to be the moving submodule to be prepared to enter the commutation stator module, the limit operation is released when the limit release condition is met (e.g., the moving submodule located in the commutation stator module at least partially or completely exits the commutation stator module), and the moving submodule is controlled to enter the commutation stator module.

[0175] In some embodiments, when performing a limit operation, the address value of the limit boundary indicated by the limit parameter is set to the target position parameter of the moving submodule; alternatively, an address value before the limit boundary indicated by the limit parameter is set to the target position parameter of the moving submodule according to the direction of movement, thereby controlling the moving submodule to stop at or before the limit boundary. When the limit operation is released, the target position parameter of the moving submodule is restored to the position originally expected to be reached by the moving submodule in this movement.

[0176] In some embodiments, when performing a limit operation, the limit boundary is enabled based on the limit boundary identifier and boundary coordinates included in the limit parameters. The boundary usage status indicates the enabled state, and the limit boundary has a higher priority than the target position parameter. When releasing the limit operation, the limit boundary is disabled, and the boundary usage status indicates the disabled state.

[0177] For example, such as Figure 15 As shown, the commutation stator module 31 includes a confluence end A1, a split end B1, and a split end B2. Both moving submodules MR1 ​​and MR2 move towards the commutation stator module 31. Moving submodule MR1 will enter the commutation stator module 31 from the confluence end B1, while moving submodule MR2 will enter from the confluence end B2. When moving submodule MR1 is selected to enter the commutation stator module 31, a limit operation can be performed on the unselected moving submodule MR2 outside the commutation stator module 31, activating the limit boundary P1. Figure 15 The dashed line in the middle indicates that the limit boundary is enabled. Figure 15 In (1), after the moving submodule MR1 is selected, it prepares to enter from the shunt end B1 of the commutation stator module 31. The limit boundary P1 is activated to prevent the moving submodule MR2 from passing through the position of the limit boundary P1. According to the guiding situation of the commutation stator module 31, the moving submodule MR1 is controlled to move along the shunt end B1 to the merging end A1 and exit from the merging end A1, as shown. Figure 15 (2) As shown. After the moving submodule MR1 is detected to have exited the commutation stator module 31, the moving submodule MR2 is selected as the next moving submodule to enter. The limit boundary P1 is deactivated, and the guiding state of the commutation stator module 31 changes from the guiding state between the merging end A1 and the splitting end B1 to the guiding state between the merging end A1 and the splitting end B2, as shown. Figure 15 As shown in (3), the control submodule MR2 passes through the commutation stator module 31, as follows: Figure 15 As shown in (4).

[0178] Therefore, the positional inconsistency between moving submodules at different ends of the commutation stator module is eliminated by positional equivalence operation. The relative positional relationship between moving submodules located on different movement routes can be dynamically adjusted according to actual needs, while taking into account the movement efficiency of multiple moving submodules through the commutation stator module. Limit operation restricts the entry of unselected moving submodules, which is easier to control, easier to implement, and more reliable.

[0179] Optionally, in the control method for the moving submodule provided in this application embodiment, a position equivalence operation is performed on at least a portion of the moving submodules based on the detected real-time position data of the moving submodules, including at least one of the following: address mapping of the detected real-time position data of at least a portion of the moving submodules based on a preset address offset; coordinate transformation of the detected real-time position data of at least a portion of the moving submodules based on a preset plurality of equivalent coordinate systems, wherein the plurality of equivalent coordinate systems are coordinate systems of the same scale constructed based on the origin of the same reference or the origin of an equivalent reference; determining the relative distance from at least a portion of the moving submodules to the corresponding reference point based on a preset reference point and the detected real-time position data of the moving submodules, wherein the number of reference points is one or more, and when there are multiple reference points, one reference point corresponds to one end of the commutation stator module.

[0180] Specifically, performing positional equivalence operations includes at least one of the following:

[0181] In some embodiments, when at least some moving submodules are detected to have entered a pre-configured address equivalent interval, the position coordinates of the moving submodules in the address equivalent interval can be mapped to the same address reference interval according to the address mapping relationship indicated by the address offset. The mapped address values ​​are used as the mapped position coordinates of the moving submodules, thereby determining the relative positional relationship between multiple moving submodules. The address reference interval corresponds to one end of the commutating stator module, or the address reference interval is set separately. If the address reference interval corresponds to one end of the commutating stator module, i.e., the address reference interval comes from the address value range of the commutating stator module and the stator modules connected in series at one end, then the address equivalent interval comes from the address value range of the commutating stator module and the stator modules connected in series at the remaining ends. The moving submodules undergoing address mapping correspond to the remaining ends of the commutating stator module that do not correspond to the address reference interval. If the address reference interval is an additionally set interval, i.e., the address reference interval does not belong to the address value range of the stator modules connected to any end of the commutating stator module, then the moving submodules undergoing address mapping may correspond to any end of the commutating stator module.

[0182] For example, such as Figure 16As shown in (1), the commutation stator module 31 includes a merging end A1, a shunting end B1, and a shunting end B2. The address reference interval is [d21, d22]. The address reference interval corresponds to the part between the merging end A1 and the shunting end B2 in the commutation stator module 31, as well as the non-commutation stator module 32 connected to the shunting end B2. The interval boundary value d21 in the address reference interval comes from the address value range corresponding to the merging end A1 and the shunting end B2 in the commutation stator module 31. The interval boundary value d22 in the address reference interval comes from the address value range of the non-commutation stator module 32 connected to the shunting end B2. The relationship between the address equivalent interval [d11, d12] and the commutation stator module 31 and the stator module connected to the shunting end B1 can be referred to the relevant description of the address reference interval, which will not be repeated here. For a moving submodule (such as moving submodule MR2) located within the address equivalent interval [d11, d12], in order to compare its position with that of a moving submodule (such as moving submodule MR1) located within the address reference interval [d21, d22], the position of moving submodule MR2 needs to be mapped to the address reference interval [d21, d22]. Figure 16 As shown in (2), in order to schematically show the equivalent positional relationship between the moving submodule MR1 and the moving submodule MR2, the moving submodule MR2 is mapped to the address reference interval [d21, d22]. Thus, the relative positional relationship between the moving submodule MR1 and the moving submodule MR2 can be determined.

[0183] In some embodiments, coordinate transformation is performed using coordinate systems with a unified reference and the same scale. Specifically, based on multiple preset equivalent coordinate systems, the real-time position data of at least some of the detected moving submodules are transformed. These multiple equivalent coordinate systems are coordinate systems of the same scale constructed from the origin of the same reference or an equivalent reference. When a moving submodule is detected heading towards the reversing stator module, its real-time position data is transformed into these equivalent coordinate systems to obtain the moving submodule position coordinates under a unified standard, thereby determining the relative positional relationships between multiple moving submodules.

[0184] In some embodiments, the origin of the coordinate system is selected from the center point of the commutation stator module or from the end point, based on the preset origin position. An equivalent coordinate system is constructed based on the origin position and coordinate direction, and the coordinate transformation relationship is determined based on the corresponding address value range.

[0185] like Figure 17As shown in (1), taking the confluence end A1 of the commutation stator module 31 as the origin of the coordinate system, equivalent coordinate systems OX1 and OX2 are constructed along the directions extending towards the branch end B1 and towards the branch end B2, respectively. Equivalent coordinate systems OX1 and OX2 have the same unit scale, therefore, the moving sub-modules MR1 ​​and MR2 located in equivalent coordinate systems OX1 and OX2 can be compared in position to determine their relative positional relationship. For ease of understanding, as shown in (1), Figure 17 In (2), coordinate system OX' can be understood as a unified coordinate system with the same coordinate scale as the equivalent coordinate systems OX1 and OX2. The moving submodules M1 and M2 are equivalent to being under the unified coordinate system OX'.

[0186] In some embodiments, an origin with the same reference or an equivalent reference point is selected to determine the distance from the moving submodules heading to different ends to the corresponding reference point. Since the distances from the moving submodules heading to different ends to the corresponding reference points have a unified standard, the relative positional relationship between multiple moving submodules can be determined by calculating the difference between the distances from the moving submodules to the corresponding reference points. Alternatively, the smaller the distance from the moving submodule to the corresponding reference point, the closer the moving submodule is to the commutation stator module, which can also determine the relative positional relationship between multiple moving submodules.

[0187] In some embodiments, one or more reference points can be preset, which may be located at different ends of the commutation stator module. When movement of the moving submodule is detected, the relative distances from the moving submodules to the corresponding reference points are calculated based on their real-time position data. Then, position comparisons and relative position control between the moving submodules are performed based on these distances to ensure a safe distance between the moving submodules.

[0188] Furthermore, equivalent identifiers can be assigned to the position coordinates obtained through position equivalence operations to distinguish them from the position coordinates of the real-time position data of the moving submodule. These equivalent identifiers can correspond to a movement route or a moving submodule. Using these equivalent identifiers, the movement route or moving submodule in which the moving submodule was located before mapping can be traced, thereby determining the real-time position of the moving submodule. This allows for both equivalence and inverse equivalence of the moving submodule's position; for example, the real-time position of the moving submodule can be equivalent to its equivalent position, or vice versa. Thus, when the real-time position of the moving submodule is needed, it can be obtained through the equivalent identifiers. Therefore, by using at least one of address mapping, coordinate transformation, and relative distance based on reference points, position equivalence processing of the moving submodule is achieved. This enables more accurate determination of the relative positional relationships between multiple moving submodules and more precise identification and tracking of the movement of each moving submodule, allowing for timely implementation of speed limiting, stop limiting, and other measures, significantly reducing the collision risk of multiple moving submodules in the commutation stator module area.

[0189] Optionally, in the control method for the moving submodule provided in this application embodiment, before controlling the relative positional relationship between the detected multiple moving submodules, the method further includes at least one of the following: configuring a first position equivalent parameter based on the address parameters of multiple stator modules, wherein the first position equivalent parameter includes at least: a first address reference interval, multiple first address equivalent intervals, and multiple first address offsets, the first address reference interval corresponding to one end of the commutation stator module, and the multiple first address equivalent intervals corresponding to the remaining ends of the commutation stator module; configuring a second position equivalent parameter based on the address parameters of multiple stator modules, the second position equivalent parameter including at least: multiple second address equivalent intervals and multiple second address offsets, one second address equivalent interval corresponding to one end of the commutation stator module; configuring a third position equivalent parameter based on the address parameters of multiple stator modules, the third position equivalent parameter including at least: coordinate origin position information of multiple equivalent coordinate systems, and coordinate direction information of multiple equivalent coordinate systems; configuring a fourth position equivalent parameter based on the address parameters of multiple stator modules, wherein the fourth position equivalent parameter includes at least: position information of a reference point.

[0190] In practical implementation, before performing position equivalence, position equivalence parameters are configured. These parameters represent the equivalence relationship between the moving submodule before and after position equivalence. They can equivalence the real-time position data of the moving submodule to a unified reference. Using these parameters, the position of the moving submodule can be equivalently and inversely equivalently converted; that is, the real-time position and equivalent position of the moving submodule can be mutually converted. Therefore, when the real-time position of the moving submodule needs to be used, it can be determined using the position equivalence parameters.

[0191] In some embodiments, to achieve position equivalence operation, a first position equivalence parameter can be configured based on the address parameters of multiple stator modules. The first position equivalence parameter may include at least one first address reference interval, multiple first address equivalence intervals, and multiple first address offsets. The first address equivalence interval is used to identify moving submodules that can be address-mapped. The first address offset is used to indicate the address mapping relationship between the moving submodule before and after address mapping; the positions of moving submodules located within the first address equivalence interval can be mapped to the same first address reference interval using the first address offset. The first address reference interval can be determined based on the address parameters of the commutation stator module and the address parameters of the stator modules connected in series at one end of the commutation stator module. The first address equivalence interval is determined based on the address parameters of the commutation stator module and the address parameters of the stator modules connected in series at the remaining ends of the commutation stator module.

[0192] Specifically, the stator modules are grouped according to their ends. Stator modules connected in series with the same end as the commutation stator module are grouped together, resulting in multiple series stator modules. Among these multiple series stator modules, one can be designated as a reference object, thus obtaining the reference module. Based on the address value range of the commutation stator module end corresponding to the reference module and the address value range corresponding to the reference module, the address value corresponding to the boundary of the address reference interval is determined as the interval boundary value (or the address value and boundary length corresponding to the starting boundary of the address reference interval are determined), thus obtaining the address reference interval. Based on the relative position between the address reference interval and the corresponding end of the commutation stator module, within the address value range of the commutation stator module end corresponding to the non-reference module and the address value range corresponding to the non-reference module, the interval boundary value of the address equivalent interval with relatively matching relative positions is determined (or the starting boundary value and boundary length of the address equivalent interval with relatively matching relative positions are determined), thus obtaining the address equivalent interval.

[0193] For example, such as Figure 18 As shown, the system includes a commutation stator module 31 and multiple stator modules connected to the commutation stator module 31. The commutation stator module 31 includes a confluence end A1, a shunt end B1, and a shunt end B2. Other stator modules connected in series with the shunt end B1 are grouped into one group, and other stator modules connected in series with the shunt end B2 are grouped into another group, resulting in two series stator modules. Among the multiple series stator modules, the series stator module corresponding to the shunt end B2 is selected as the reference module. Based on the address value range between the confluence end A1 and the shunt end B2 in the commutation stator module corresponding to the reference module and the address value range corresponding to the reference module, the first address reference interval is set as [d21, d22], where d21 is located at the position of the confluence end B2 and d22 is located in one stator module of the reference module. Based on the relative positions between the first address reference interval and the corresponding ends of the commutation stator module 31, such as the distance X1 from the interval boundary d21 to the shunt end B2 (or junction, or merging end A1) of the commutation stator module 31, the distance X2 from the interval boundary d22 to the same shunt end B2 (or junction, or merging end A1) of the commutation stator module 31, and the address value range corresponding to the other ends (i.e., shunt end B1) of the commutation stator module 31 and the address value range of the connected non-reference modules, the first address equivalent interval [d11, d12] can be determined. The distance X1 from the interval boundary d11 to the shunt end B1 (or junction, or merging end A1) of the commutation stator module 31, and the distance X2 from the interval boundary d12 to the same shunt end B1 (or junction, or merging end A1) of the commutation stator module 31, can be determined.

[0194] Furthermore, the first positional equivalent parameter may also include a first equivalent identifier and a first equivalent usage state. The function of the first equivalent identifier can be referred to the relevant sections described above, and will not be repeated here. The first equivalent usage state is used to indicate whether the first positional equivalent parameter is valid. When the first equivalent usage state indicates that the first positional equivalent parameter is valid, the first positional equivalent parameter can be used for moving submodule address mapping; otherwise, the first positional equivalent parameter cannot be used for moving submodule address mapping.

[0195] In some embodiments, to achieve position equivalence operation, a second position equivalence parameter can be configured based on the address parameters of multiple stator modules. The second position equivalence parameter includes at least: multiple second address equivalence intervals and multiple second address offsets. Each second address equivalence interval is determined according to the address parameters of the stator modules connected to each end of the commutation stator module. The second address equivalence interval is used to identify the moving sub-modules that can be address-mapped. The second address offset is used to indicate the address mapping relationship between the moving sub-modules before and after address mapping. The positions of moving sub-modules located within the second address equivalence interval can be mapped to the same second address reference interval through the second address offset. The second address reference interval is set separately, and there is no overlap between the address value range of the second address reference interval and any stator module. The second address equivalence interval is determined based on the address parameters of the commutation stator module and the address parameters of the stator modules connected in series at the ends of the commutation stator module. Based on the relative positions of each configured address equivalent interval and each end of the commutation stator module, the interval boundary value of the address equivalent interval that matches the relative position can be determined within the address value range of the stator module connected in series with each end of the commutation stator module (or the starting boundary value and boundary length of the address equivalent interval that matches the relative position can be determined), thus obtaining the address equivalent interval.

[0196] Furthermore, the second positional equivalent parameter may also include a second equivalent identifier and a second equivalent usage state. The functions of the second equivalent identifier and the second equivalent usage state can be found in the relevant descriptions above, and will not be repeated here.

[0197] In some embodiments, in order to achieve position equivalence operation, a third position equivalence parameter can be configured according to the address parameters of multiple stator modules. The third position equivalence parameter includes at least: the coordinate origin position information of multiple equivalent coordinate systems and the coordinate direction information of multiple equivalent coordinate systems. Further, the third position equivalence parameter may also include coordinate transformation range, coordinate transformation amount, third equivalence identifier, and third equivalence usage status.

[0198] The address values ​​of the intersection or endpoints of the commutation stator modules can be selected and set as the origin position for constructing the equivalent coordinate system. The equivalent coordinate system can be statically configured during the configuration phase, thus determining the coordinate transformation amount through the equivalent coordinates and the corresponding address value range. Alternatively, it can be dynamically configured during the runtime phase, constructing the equivalent coordinate system online and determining the coordinate transformation amount through the equivalent coordinate system and the corresponding address value range. To reduce the amount of coordinate transformation data, coordinate transformation intervals can be set for stator modules connected in series with the commutation stator modules. When the moving submodule enters the coordinate transformation interval, coordinate transformation is performed. The functions of the third equivalent identifier and the third equivalent usage state are described in the relevant sections above and will not be repeated here.

[0199] In some embodiments, to achieve position equivalent operation, a fourth position equivalent parameter is configured based on the address parameters of multiple stator modules. The fourth position equivalent parameter includes at least the position information of reference points. For example, reference points can be set at the ends or junctions of the commutating stator modules. The relative distance between the moving sub-module and each reference point is calculated based on the real-time position data of the moving sub-module, thereby quickly determining the relative positional relationship between the moving sub-modules and taking necessary control measures in a timely manner.

[0200] Furthermore, the fourth positional equivalent parameter may also include a fourth equivalent identifier and a fourth equivalent usage state. The functions of the fourth equivalent identifier and the fourth equivalent usage state can be found in the relevant descriptions above, and will not be repeated here.

[0201] As can be seen from the above, by setting one or more location equivalence parameters, it is possible to ensure the smooth execution of location equivalence operations, reasonably reduce the complexity of data processing, and increase the flexibility and real-time performance of location equivalence operations.

[0202] Optionally, the control of the relative positional relationship between the detected multiple moving sub-modules provided in the embodiments of this application includes at least one of the following: obtaining the spacing information between two detected moving sub-modules, wherein the spacing information is determined by the real-time position of the moving sub-module, or the spacing information is determined by the equivalent position of the moving sub-module; correcting the spacing information based on correction parameters to determine whether to perform a collision avoidance warning operation; and using a collision avoidance algorithm to assess whether there is a collision risk between the two detected moving sub-modules to determine whether to perform a collision avoidance warning operation, wherein the two detected moving sub-modules are actually adjacent moving sub-modules or adjacent moving sub-modules after performing a position equivalence operation.

[0203] In some embodiments, the distance information between two detected moving submodules is obtained. This distance information is determined by the real-time position of the moving submodules, or by their equivalent position. Based on the distance information, it can be determined whether there is a collision risk between the two moving submodules. If a collision risk is determined, a collision avoidance warning operation is performed, such as controlling the relative motion state between the two moving submodules to increase the distance between them. This reduces the probability of collision between the moving submodules.

[0204] In practical implementation, on the one hand, in scenarios where the position sensing units are real sensors distributed along the stator module, various measurement deviations (measurement time deviation, measurement accuracy deviation) exist between multiple position sensing units. This leads to deviations in the real-time position of the moving sub-module, which in turn affects the positional equivalence accuracy of the moving sub-module. Consequently, there are significant deviations in the spacing information between two moving sub-modules, resulting in risk error warnings, risk delay warnings, and risk omission warnings, thus reducing the reliability of risk warnings. On the other hand, because the measurement accuracy of the position sensing units is too high, they can detect even the slightest changes in the spacing between two moving sub-modules, leading to excessively frequent risk warnings and severely consuming computer resources.

[0205] To address any of the aforementioned problems, in some embodiments, correction parameters can be used for correction. First, the spacing information between the two detected moving sub-modules is acquired. This spacing information can be determined by at least one of the real-time position data and equivalent position data of the moving sub-modules. Specifically, it can be the real-time position data of both moving sub-modules, the real-time position data of one moving sub-module and the equivalent position data of the other moving sub-module, or the equivalent position data of both moving sub-modules. Then, the spacing information is corrected using correction parameters. Based on the corrected spacing information, it is determined whether to perform a collision avoidance warning operation. The correction parameters can include at least one of time correction parameters and position correction parameters, thereby correcting the spacing information using at least one of the time correction parameters and position correction parameters. For example, the correction parameters include spacing threshold information. If the corrected spacing information is less than the spacing threshold information, and it is determined that the spacing between the two moving sub-modules is less than the spacing threshold, a collision risk can be considered, and the relative motion state between the two moving sub-modules needs to be controlled. Specifically, the correction parameters may include at least one of a first spacing threshold information and a second spacing threshold information. The first spacing threshold information is used to determine whether there is a collision risk between moving submodules located on different moving routes, and the second spacing threshold information is used to determine whether there is a collision risk between moving submodules located on the same moving route.

[0206] In other embodiments, collision avoidance algorithms can be used to assess whether there is a collision risk between two detected moving sub-modules to determine whether to perform a collision avoidance warning operation. For example, a collision time algorithm can be used to assess whether a collision is likely to occur. Specifically, based on the real-time speed data and real-time position data of the two moving sub-modules, the distance information and relative speed information between the two moving sub-modules are determined. The collision time between the two moving sub-modules is calculated based on the distance information and relative speed information. If the calculated collision time is less than a preset first safety time threshold, it is determined that there is a collision risk between the two moving sub-modules, and thus a collision avoidance warning operation is performed. As another example, a time-distance algorithm can be used to assess whether there is a collision risk. Specifically, the distance information is determined based on the real-time position data of the two moving sub-modules, and based on the real-time speed data and distance information of the moving sub-module that is further behind, the movement time required for the moving sub-module to move to the position of the moving sub-module that is further behind (this position can be the actual position or the equivalent position) is calculated. If the movement time is less than a preset second safety time threshold, it is determined that there is a collision risk between the two moving sub-modules, and thus a collision avoidance warning operation is performed.

[0207] It should be understood that the aforementioned correction method and collision avoidance algorithm evaluation method can be used individually to determine whether to perform a collision avoidance warning operation, or they can be combined to determine whether to perform a collision avoidance warning operation. When combining the two methods to determine whether to perform a collision avoidance warning operation, it can be determined that a collision avoidance warning operation is performed when at least one method concludes that there is a collision risk, or it can be determined that a collision avoidance warning operation is performed when both methods conclude that there is a collision risk.

[0208] Therefore, by using at least one of the correction method and the collision avoidance algorithm evaluation method, on the one hand, the adverse effects of deviation can be reduced and the reliability of risk warning can be improved, and on the other hand, the frequency of risk warning can be adjusted to the desired frequency, thus optimizing the utilization of computer resources.

[0209] Optionally, in the control method for the moving submodule provided in this application embodiment, controlling the moving submodule to move between the confluence end and the shunt end of the commutation stator module where there is a guiding relationship includes: identifying the position of the moving submodule in the commutation stator module based on the address parameters of the commutation stator module, and obtaining real-time position data of the moving submodule, wherein the commutation stator module is configured with multiple address parameters, and one address parameter configured for the commutation stator module corresponds to one confluence end and one shunt end of the commutation stator module; and controlling the energizing timing of the commutation stator module based on the real-time position data of the moving submodule to drive the moving submodule to move between the confluence end and the shunt end where there is a guiding relationship.

[0210] In some embodiments, to accurately identify the real-time position data of the moving submodule and obtain the address parameters of the commutating stator module, it should be noted that, due to its special design, the commutating stator module can guide the moving submodule to move along different directions, allowing it to move at a merging end and different branching ends at different times. Therefore, to accurately control the movement of the moving submodule, the commutating stator module is configured with at least two address parameters. One address parameter of the commutating stator module corresponds to a merging end and a branching end of the commutating stator module. Before or when the moving submodule enters the commutating stator module, by using at least one of the end type of the commutating stator module corresponding to the moving submodule and the guiding relationship of the commutating stator module, a merging end and a branching end related to the movement of the moving submodule in the commutating stator module can be determined. Thus, from the multiple address parameters of the commutating stator module, the address parameters corresponding to the merging end and the branching end related to the movement of the moving submodule can be obtained, thereby determining the real-time position data of the moving submodule in the commutating stator module based on the selected address parameters. Based on the current guiding relationship of the commutating stator module, one winding unit among the multiple winding units of the commutating stator module used to drive the moving sub-module can be determined. The energization of the coil sub-units in that winding unit is then controlled based on the real-time position data of the moving sub-module. For example, if the moving sub-module MR0 is controlled to enter the commutating stator module, and the moving sub-module corresponds to end C0 of the commutating stator module, a guiding relationship is determined between end C0 and end C1 based on at least one of the type of end C0 and the guiding relationship information of the commutating stator module. Then, the address parameter AP1 corresponding to end C0 and end C1 is obtained from the multiple address parameters of the commutating stator module, and the real-time position data of the moving sub-module within the commutating stator module is determined based on the address parameter AP1.

[0211] Based on the current guiding relationship of the commutation stator module (i.e., there is a guiding relationship between end C0 and end C1), it can be determined that winding unit G1 among the multiple winding units of the commutation stator module needs to undergo energization timing control. Based on the real-time position data of the moving sub-module M0, the power supply timing control is applied to the coil sub-units in winding unit G1, thereby generating a guiding force that moves the moving sub-module M0 towards end C1, ensuring that the moving sub-module M0 can accurately move from end C0 to end C1. Here, one of end C0 and end C1 is the confluence end, and the other is the shunt end.

[0212] Therefore, by configuring multiple address parameters and acquiring real-time position data of the commutation stator module, the accuracy of the movement control of the mover module in the commutation stator module is improved, thereby enhancing the safety of the movement control of the mover module in the commutation stator module.

[0213] Optionally, in the control method for the moving submodule provided in the embodiments of this application, identifying the position of the moving submodule in the commutation stator module based on the address parameters of the commutation stator module includes: selecting the address parameter corresponding to the guidance relationship from a plurality of address parameters configured for the commutation stator module according to the guidance state information of the commutation stator module; and identifying the position of the moving submodule in the commutation stator module according to the selected address parameter.

[0214] In some embodiments, the commutation stator module, due to its multi-end and multi-guiding relationship design, is configured with multiple address parameters. One address parameter of the commutation stator module corresponds to one merging end and one shunting end of the commutation stator module. Since one merging end and one shunting end of the commutation stator module correspond to one guiding relationship of the commutation stator module, one address parameter of the commutation stator module also corresponds to one guiding relationship of the commutation stator module. When the moving submodule is detected to enter the commutation stator module, the ends of the commutation stator module with guiding relationships can be determined based on the guiding state information of the commutation stator module, thereby selecting the address parameter from the multiple address parameters that matches the ends with guiding relationships. For example, assuming the commutation stator module includes a merging end A, a shunting end B, and a shunting end C, the commutation stator module is configured with address parameters AP1 and AP2, corresponding to guiding relationships AB (i.e., the guiding relationship between merging end A and shunting end B) and AC (i.e., the guiding relationship between merging end A and shunting end C), respectively. If the guidance status information indicates that the currently active guidance relationship is AB, then the address parameter AP1 is selected for subsequent location identification and movement control.

[0215] After selecting the address parameters of the commutating stator module, the real-time displacement of the moving submodule within the commutating stator module can be determined based on the selected address parameters and the data provided by the position sensing unit corresponding to the commutating stator module. Based on the end information of the moving submodule entering the commutating stator module (i.e., the entry end information), the real-time displacement of the moving submodule within the commutating stator module, and the address parameters of the stator module, the real-time position data of the moving submodule is determined. After obtaining the real-time position data of the moving submodule, the energizing sequence of the commutating stator module is controlled according to this data, thereby driving the moving submodule to move according to the guiding relationship of the commutating stator module. For example, the selected address parameters include an address value range; based on the entry end information, a boundary value within the address value range can be determined as the starting point for calculation. Based on the data provided by the position sensing unit corresponding to the commutation stator module, the real-time displacement of the moving submodule relative to the end it enters after entering the commutation stator module can be determined. Based on the real-time displacement of the moving submodule in the commutation stator module and a range boundary value as the starting point, the position coordinates of the moving submodule can be determined.

[0216] Based on the real-time position data of the moving submodule in the commutation stator module, the specific position of the moving submodule in the commutation stator can be determined. In particular, when the moving submodule is located in the flow splitting part of the commutation stator module (i.e. the part from the junction to the flow splitting end), it can be determined which flow splitting part the moving submodule is located in, so that the movement of the moving submodule can be accurately located and controlled.

[0217] In some embodiments, such as Figure 19 As shown, the address ranges corresponding to the merging end A1 and the splitting end B1 of the commutation stator module 31 are [a1, a2], and the address ranges corresponding to the merging end A1 and the splitting end B2 of the commutation stator module are [b1, b2]. Based on the guidance status information of the commutation stator module 31, it is determined that there is a guidance relationship between the merging end A1 and the splitting end B1 of the commutation stator module 31. Therefore, the matching address range can be determined to be [a1, a2]. If it is determined from the entry end information that the moving submodule 1 enters from the merging end A1 of the commutation stator module 31, then the range boundary value a1 is used as the calculation starting point. Based on the real-time displacement s1 that occurs after the moving submodule enters the merging end A1 of the commutation stator module 31, the position coordinates of the moving submodule 1 are determined to be X1 = a1 + s1.

[0218] Therefore, by using the guiding status information of the commutation stator module, the real-time position of the moving module in the commutation stator module can be accurately identified, thereby accurately controlling the winding units in the commutation stator module to be energized, avoiding power waste and heat generation caused by ineffective energization, and reducing operating costs.

[0219] Optionally, in the control method for the moving submodule provided in the embodiments of this application, the position of the moving submodule within the commutating stator module is identified based on the address parameters of the commutating stator module to obtain real-time position data of the moving submodule, including at least one of the following: identifying the position of the moving submodule within the commutating stator module based on the one-dimensional address parameters of the commutating stator module to obtain one-dimensional real-time position data of the moving submodule; identifying the position of the moving submodule within the commutating stator module based on the two-dimensional address parameters of the commutating stator module to obtain two-dimensional real-time position data of the moving submodule; or identifying the position of the moving submodule within the commutating stator module based on the two-dimensional address parameters of the commutating stator module to obtain one-dimensional real-time position data of the moving submodule.

[0220] In some embodiments, the address parameter can be a one-dimensional address parameter or a two-dimensional address parameter. Correspondingly, the real-time location data of the moving submodule can also be one-dimensional or two-dimensional real-time location data. A one-dimensional address parameter may include: an address value range. A two-dimensional address parameter may include: an address value range and a route identifier. One-dimensional real-time location data may include: the position coordinates of the moving submodule. Two-dimensional real-time location data may include: the position coordinates of the moving submodule and the position identifier of the moving submodule. The position coordinates of the moving submodule are represented by the address value determined by the aforementioned location identification method, and the position identifier of the moving submodule is the same as or corresponds to the route identifier included in the obtained address parameter.

[0221] In some embodiments, the commutation stator module is configured with multiple one-dimensional address parameters. The position of the moving submodule within the commutation stator module is identified based on these one-dimensional address parameters, yielding one-dimensional real-time position data of the moving submodule. For example, the one-dimensional address parameters include an address value range. Based on the entry end information, a boundary value address within the address value range can be determined as the starting point for calculation. Based on data provided by the position sensing unit corresponding to the commutation stator module, the real-time displacement of the moving submodule relative to the entry end after entering the commutation stator module can be determined. Based on the real-time displacement of the moving submodule within the stator module and the boundary value address serving as the starting point, the position coordinates of the moving submodule can be determined.

[0222] In some embodiments, the commutation stator module is configured with multiple two-dimensional address parameters. The process of determining the position coordinates of the moving submodule using the address value range in the two-dimensional address parameters can be found in the relevant section on one-dimensional address parameters, and will not be repeated here. Since the two-dimensional address parameters also include route identifiers, these route identifiers can be assigned to the moving submodule as position identifiers for it.

[0223] In some embodiments, the commutation stator module is configured with multiple two-dimensional address parameters. The address value ranges of the multiple two-dimensional address parameters may overlap. Therefore, the same route identifier may be obtained by using the address value ranges of different two-dimensional address parameters. In addition to directly using the route identifier as the position identifier to determine the specific position of the moving module in the commutation stator, the address value of the moving module can be determined by using the address value range of the two-dimensional address parameters, and then logically operated with the route identifier. The result of the logical operation is used as the position coordinates of the moving module to obtain the one-dimensional real-time position data of the moving module. Alternatively, the address value range of the two-dimensional address parameters and the route identifier can be logically operated first, and the address value of the moving module can be determined according to the address value range obtained by the logical operation, which is then used as the position coordinates of the moving module to obtain the one-dimensional real-time position data of the moving module. Since route identifiers can distinguish different movement routes, the position coordinates obtained from logical operations based on different route identifiers also have differences. This helps determine the specific position of the moving submodule in the commutator stator, especially distinguishing which branch section of the commutator stator module the moving submodule is located in. At the same time, since the real-time position data of the moving submodule is one-dimensional, the total amount of real-time position data is reduced, thereby improving data processing efficiency.

[0224] In some embodiments, each route identifier can be set according to a length base and multiple, or each route identifier can be configured according to different fixed values. When determining the real-time position data of the mover, the address value of the mover module is determined by the route identifier and the address value range, thus obtaining one-dimensional real-time position data. The length base is set based on the premise that it can at least distinguish the real-time position of the mover module in the commutation stator module's shunt section, and the different fixed values ​​are also set based on the premise that they can at least distinguish the real-time position of the mover module in the commutation stator module's shunt section.

[0225] Therefore, appropriate address parameters and position identification methods can be selected according to the actual situation, thereby improving the diversity and flexibility of mover position identification.

[0226] Optionally, in the control method for the moving submodule provided in this application embodiment, the plurality of stator modules further includes at least one non-commutating stator module; before controlling the moving submodule to move between the merging end and the splitting end of the commutating stator module where there is a guiding relationship based on the guiding state information, the method further includes: obtaining stator layout parameters, wherein the stator layout parameters include connection information between the plurality of stator modules and model information of each stator module; configuring address parameters for each stator module according to the stator layout parameters, wherein the non-commutating stator module is configured with one address parameter, the commutating stator module is configured with at least two address parameters, and one address parameter of the commutating stator module matches the guiding relationship between a merging end and a splitting end of the commutating stator module.

[0227] In some embodiments, connection information between multiple stator modules can be used to indicate the connection relationship and connection order between the multiple stator modules in the completed layout. For example, the connection information between multiple stator modules may include connection relationship information and connection order information between multiple stator modules. Model information between multiple stator modules can be used to indicate the specific type of each stator module in the completed layout. For example, the model information between multiple stator modules may include end quantity information, candidate guidance information, size information, etc. The end quantity information corresponds to the candidate guidance information. For example, when the end quantity information indicates that the stator module has multiple ends, the candidate guidance information is used to indicate multiple selectable guidance relationships for the stator module. Thus, based on at least one of the end quantity information and the candidate guidance information, it can be reflected that the stator module is a commutating stator module or a non-commutating stator module.

[0228] Since the non-commutating stator module can only be used to construct one movement path (the movement path can be a straight line or an arc), the non-commutating stator module can be configured with only one address parameter. For a detailed description of the address parameters of the commutating stator module, please refer to the relevant section, which will not be repeated here.

[0229] It should be noted that, based on the address parameters of the non-commutating stator module, the real-time position of the moving submodule within the non-commutating stator module can be identified by referring to the description of the relevant section of the commutating stator module, which will not be repeated here.

[0230] Therefore, the address parameters of the stator module can be automatically configured through the stator layout parameters.

[0231] Optionally, in the control method for the moving submodule provided in the embodiments of this application, address parameters are configured for each stator module according to the stator layout parameters, including at least one of the following: one-dimensional address configuration for at least one stator module; two-dimensional address configuration for at least one stator module.

[0232] In some embodiments, address value ranges are configured for each stator module according to stator layout parameters to obtain one-dimensional address parameters. That is, one-dimensional address configuration is performed for at least one stator module based on the stator layout parameters. The one-dimensional address parameters for each stator module include: address value ranges. It should be noted that the address value ranges of two stator modules do not overlap except at their boundary values. A boundary value of the address value range of one stator module can be the same as a boundary value of the address value range of another stator module. In other words, to prevent mover position confusion, the address value ranges of two adjacent stator modules do not intersect internally, except for possible overlap at boundary values, to ensure that the real-time position data of each mover module is clear and unique.

[0233] Among the multiple address value ranges of the commutation stator module, at least one address value range has a non-completely continuous numerical distribution. For an address value range with a non-completely continuous numerical distribution, it can include two address value intervals: one interval corresponding to the merging end and the other interval corresponding to the shunting end. The values ​​within each address value interval can be continuously distributed, the two address value intervals do not overlap, and the address value interval corresponding to the shunting end does not overlap with the remaining address value ranges of the commutation stator module.

[0234] Having at least one non-continuous range of address values ​​ensures that the multiple address ranges of the commutation stator module are distinguishable, accurately distinguishing the specific position of the moving submodule within the commutation stator module. This avoids confusion about the position of the moving submodule within the commutation stator module and ensures the accuracy of the moving submodule's movement control.

[0235] In some embodiments, at least one stator module is configured with a two-dimensional address according to stator layout parameters. The two-dimensional address parameters of the stator module include: an address value range and a route identifier. For example, a route identifier is configured for each stator module according to the stator layout parameters. Adjacent non-commutating stator modules are configured with the same route identifier. For a commutating stator module, different route identifiers are assigned according to different address allocation directions.

[0236] Based on the stator layout parameters, at least one starting stator module is selected from multiple stator modules. Based on this starting stator module, address value ranges and route identifiers are configured according to the address allocation direction. The configuration approach for address value ranges can be referenced from the description of one-dimensional address configuration, the difference being that the values ​​of multiple address value ranges for the commutating stator module can be continuously distributed. Route identifiers are configured for each stator module according to the stator layout parameters, with adjacent non-commutating stator modules sharing the same route identifier. For a single commutating stator module, different route identifiers are assigned according to different address allocation directions. The intersection of multiple address value ranges of the commutating stator module at the splitting point may not be an empty set; this depends on the length of other stator modules surrounding the commutating stator module and whether the commutating stator module is the initial stator module, and can be distinguished using route identifiers. The length base can be used to generate route identifiers. Based on the preset length base and multiple, multiple different route identifiers can be generated and assigned to the stator modules corresponding to different moving routes. For example, when configuring the two-dimensional address of the commutation stator module, multiple route identifiers can be generated and assigned to the commutation stator module based on the length base and multiple.

[0237] In practical applications, the address value ranges of two non-adjacent stator modules may overlap, meaning their intersection is not empty. By identifying the relationship between route identifiers and address value ranges, it is possible to distinguish which stator module's address value range is being used. Furthermore, by identifying the relationship between route identifiers, address value ranges, and guidance relationships, it is possible to distinguish which transmission channel's address value range belongs to a specific commutation stator module. Moreover, by configuring at least two route identifiers for the commutation stator module, the movement trajectory of the drive submodule entering or exiting from different ends can be clearly distinguished, avoiding position information confusion and improving the accuracy of motion control.

[0238] For example, such as Figure 20 As shown, the commutation stator module 31 includes a merging end A1, a splitting end B1, and a splitting end B2. The address allocation directions are F1 and F4. The address value range DA corresponds to the same boundary value of the merging end A1, and the address value ranges DB correspond to the same boundary value of the merging end A1. The address value ranges DA and DB increase or decrease from the boundary value corresponding to the merging end A1, respectively, ensuring at least partial overlap between them. RA is the route identifier corresponding to the address value range DA, resulting in the two-dimensional address parameter "DA, RA". RB is the route identifier corresponding to the address value range DB, resulting in the two-dimensional address parameter "DB, RB". When the moving submodule enters from the merging end A1, based on the guidance of the commutation stator module 31, it can be determined whether to use the two-dimensional address parameter "DA, RA" or the two-dimensional address parameter "DB, RB". The position coordinates of the moving submodule in the two-dimensional real-time position data can be found in the relevant description and will not be repeated here.

[0239] For example, such as Figure 21 As shown, the commutation stator module 31 includes a merging end A1, a shunting end B1, and a shunting end B2. The address allocation directions are F1 and F2. If the boundary value of the shunting end B1 in the address value range DA is different from the boundary value of the merging end A1 in the address value range DB, and the address value ranges DA and DB change from the boundary values ​​corresponding to the shunting end B1 and the merging end A1 respectively (which can be increasing or decreasing), the address value ranges DA and DB do not intersect. RA is the route identifier corresponding to the address value range DA, and RB is the route identifier corresponding to the address value range DB. The rest can be found in the relevant descriptions and will not be repeated here.

[0240] In some embodiments, when the commutating stator module is used as the starting stator module, it can be configured with at least two-dimensional addresses, starting from the end (or junction) and using the same starting address value and different address allocation directions. The commutating stator module is configured with multiple route identifiers. When the merging end or junction is used as the starting position, the multiple address value ranges of the commutating stator module can be made to be based on the same reference. This allows the address value ranges of stator modules connected to different shunt ends to be based on the same reference, enabling the comparison of the position coordinates of the approaching moving parts corresponding to different shunt ends of the commutating stator module. This allows the relative positional relationship between the multiple approaching moving parts corresponding to different shunt ends to be determined.

[0241] In some embodiments, a hybrid configuration of one-dimensional and two-dimensional addresses can be used. For some non-commutating stator modules, one-dimensional address parameters can be configured entirely or partially. For example, for two moving submodules whose distance from the commutating stator module exceeds a preset distance threshold, whether they are located in the same non-commutating stator module or different non-commutating stator modules with a connection relationship, the position comparison is performed using the position coordinates of the two moving submodules. In this case, the route identification function is weak. Therefore, for these non-commutating stator modules, one-dimensional address parameters can be configured entirely or partially for the commutating stator module. As another example, if the end of the commutating stator module from which the moving submodule exits is known, one-dimensional address parameters can be set entirely or partially for the non-commutating stator module corresponding to the end of the commutating stator module from which the moving submodule exits.

[0242] Since one-dimensional address parameters lack route identifiers to distinguish movement routes, the address value ranges of the one-dimensional and two-dimensional address parameters must intersect only at boundary values, with no overlap elsewhere. This ensures that a unique address value indicates which stator module the moving submodule is located in. Alternatively, a length base and multiple can be used as route identifiers, where the boundary values ​​of the one-dimensional address parameter's address value range are the boundary values ​​of the two-dimensional address parameter's address value range plus the route identifier.

[0243] In some embodiments, the distribution areas of one-dimensional address parameters and two-dimensional address parameters can be divided according to the stator module, or the distribution area can be divided by specifying a part of a non-commutating stator module. For example, Figure 22 As shown, D33 is a one-dimensional address parameter, and "D11, R11" and "D22, R22" are two-dimensional address parameters.

[0244] Therefore, by providing multiple address configuration methods—one-dimensional address parameter configuration, two-dimensional address parameter configuration, and a hybrid configuration of one-dimensional and two-dimensional address parameters—precise movement control of the moving submodule is achieved. One-dimensional address configuration provides a relatively convenient position identification process, ensuring accurate differentiation of the moving submodule's path. Two-dimensional address configuration reduces configuration difficulty while still ensuring accurate differentiation of the moving submodule's path. The hybrid configuration of one-dimensional and two-dimensional address parameters reduces data volume while ensuring accurate differentiation of the moving submodule's location.

[0245] Optionally, in the control method for the moving submodule provided in this application embodiment, one-dimensional address configuration is performed on at least one stator module, including at least one of the following: when a starting stator module selected from multiple stator modules has different starting positions and different address allocation directions, the address value range of the corresponding stator module is configured synchronously according to the different starting positions and different address allocation directions of the starting stator module; when a starting stator module selected from multiple stator modules has different starting positions and different address allocation directions, the address value range of the corresponding stator module is configured sequentially according to the selection order of the multiple starting positions and the different address allocation directions .... When a block has a starting position and different address allocation directions, the address value range of the corresponding stator module is configured synchronously according to the different address allocation directions of the starting position. When a starting stator module selected from multiple stator modules has a starting position and different address allocation directions, the address value range of the corresponding stator module is configured sequentially according to the selection order of the multiple address allocation directions and the starting position. When multiple starting stator modules are selected from multiple stator modules, the address value range of the corresponding stator module is configured synchronously according to the multiple starting stator modules. When multiple starting stator modules are selected from multiple stator modules, the address value range of the corresponding stator modules is configured sequentially according to the selection order of the multiple starting stator modules.

[0246] In some embodiments, based on stator layout parameters, at least one stator module can be selected as the starting stator module, and at least one starting position (which can be selected at the end or middle of the starting stator module) can be selected within the starting stator module. Based on the stator layout parameters, non-starting stator modules connected to the starting stator module (direct or indirect connection) can be identified. Among the multiple directions in which the driveable sub-modules of each stator module (i.e., the starting stator module or the non-starting stator module connected to the starting stator module) can move, at least one is selected as an address allocation direction. The number of address allocation directions can be greater than the number of starting positions. Based on the number of address allocation directions for each stator module, a starting address value is configured for the starting position. The starting address value of the starting position corresponds one-to-one with the address allocation direction; that is, the number of starting address values ​​is the same as the number of address allocation directions. Starting from the starting position, the address value range corresponding to each stator module is configured until the system returns to the starting position, encounters a stator module with a broken route, or is configured to a stator module with completed address configuration, at which point the address configuration operation ends.

[0247] In some embodiments, the direction of movement of the multiple driveable sub-modules of the stator module can be determined by the coil unit arrangement direction of the stator module. Therefore, the address allocation direction can also be considered as being selected from the coil unit arrangement direction of the stator module.

[0248] In some embodiments, the starting stator module can be a non-commutating stator module or a commutating stator module, and the non-starting stator module connected to the starting stator module can also be a non-commutating stator module or a commutating stator module. For two adjacent stator modules, a range of consecutive address values ​​can be configured. For a commutating stator module, the configured multiple address value ranges do not contain each other except for boundary values; that is, the intersection of any two address value ranges of a commutating stator module, excluding boundary values, is an empty set. The address value range can be expressed by two range boundary values ​​(a first boundary value and a second boundary value), or by a boundary value plus a length.

[0249] It should be noted that the absolute value of the difference between the starting address values ​​at different starting positions needs to be large enough so that the address value ranges starting from the starting positions are mutually exclusive. Based on this, for one-dimensional address configuration of at least one stator module, it may also include at least one of the following:

[0250] In some embodiments, when a starting stator selected from multiple stator modules has different starting positions and different address allocation directions, the address value range of the corresponding stator modules is configured synchronously from different starting positions to different address allocation directions. The absolute value of the difference between the starting address values ​​of the multiple starting positions of the starting stator module is greater than the third length, which is the maximum value of the multiple starting positions of the starting stator module in the maximum length that the multiple stator modules can extend to according to their respective address allocation directions.

[0251] For example, such as Figure 23 As shown, the starting stator module is the commutating stator module 31. The commutating stator module 31 includes a confluence end A1, a shunt end B1, and a shunt end B2. The starting positions include S1 and S2. S1 is located in a non-commutating stator module, and S2 is located in the confluence end A1 of the commutating stator module 31. The address allocation directions include F1 and F2. The address allocation direction F1 is parallel to the direction from the confluence end A1 to the shunt end B2, and the address allocation direction F2 is parallel to the direction from the confluence end A1 to the shunt end B1. One-dimensional address configuration can be performed simultaneously from the starting positions S1 and S2. Starting from the starting position S1, an address value range is configured along the address allocation direction F1 until the address configuration operation related to the starting position S1 is completed. Similarly, another address value range is configured synchronously from the starting position S2 along the address allocation direction F2 until the address configuration operation related to the starting position S2 is completed. Figure 23 In the diagram, LC (dark gray dashed line) represents the maximum length that can be extended from the starting position S1 along the address allocation direction F1 in multiple stator modules, and LD (light gray dotted line) represents the maximum length that can be extended from the starting position S2 along the address allocation direction F2 in multiple stator modules. The third length is the maximum value of LC and LD, that is, the absolute value of the difference between the starting address values ​​of the starting positions S1 and S2 is greater than the maximum value of LC and LD.

[0252] In some embodiments, when a starting stator module selected from multiple stator modules has different starting positions and different address allocation directions, the address value range of the corresponding stator module can be configured sequentially according to the selection order of the multiple starting positions, i.e., according to the selection order of the starting positions. The absolute value of the difference between the starting address value of the next starting position and the starting address value of the previous starting position of the starting stator module is greater than the fourth length, which is the sum of the lengths of the stator modules whose address value ranges have been configured according to the previous starting position of the starting stator module.

[0253] For example, such as Figure 23As shown, we can first select a starting position S1, and then configure an address value range along the address configuration direction F1 from the starting position S1. After the relevant address configuration at the starting position S1 is completed, we select a starting position S2, and then configure another address value range along the address configuration direction F2 from the starting position S2. The absolute value of the difference between the starting address value of the next starting position S2 and the starting address value of the previous starting position S1 is greater than the fourth length, which is... Figure 23 The length LC in the middle. If the starting position S2 is selected first for one-dimensional address configuration, and then the starting address S1 is selected for one-dimensional address configuration, then the fourth length is LC. Figure 23 The length LD in the middle.

[0254] In some embodiments, when a selected starting stator module has only one starting position and different address allocation directions, the address value range of the corresponding stator module can be configured synchronously along different address allocation directions starting from the starting position. It should be noted that the absolute value of the difference between multiple starting address values ​​corresponding to the starting position in different address allocation directions needs to be greater than the fifth length. The fifth length is the maximum value among the maximum lengths that the starting position can extend to in multiple stator modules according to different address allocation directions.

[0255] For example, such as Figure 24 As shown, the starting stator module is the commutation stator module 31. The starting position only includes S1, which is located at the confluence end A1 of the commutation stator module 31. The address allocation direction includes F1 and F2. The address allocation direction F1 is parallel to the direction from the confluence end A1 to the shunt end B2. Starting from the starting position S1, one-dimensional address configuration is performed synchronously along the two address allocation directions F1 and F2. For details, please refer to the relevant descriptions, which will not be repeated here. Figure 24 In the diagram, LC (dark gray dashed line) represents the maximum length that can be extended from the starting position S1 along the address allocation direction F1 in multiple stator modules, and LD (light gray dotted line) represents the maximum length that can be extended from the starting position S2 along the address allocation direction F2 in multiple stator modules. The fifth length is the maximum value of LC and LD, that is, the absolute value of the difference between the starting address value from the starting position S1 and the starting address value from the starting position S2 is greater than the maximum value of LC and LD.

[0256] In some embodiments, when a selected starting stator module has only one starting position and different address allocation directions, the address value range of the corresponding stator module can be configured sequentially according to the selection order of the starting position and multiple address allocation directions. The absolute value of the difference between the starting address value corresponding to the starting position in the later address allocation direction and the starting address value corresponding to the previous address allocation direction needs to be greater than the sixth length, which is the sum of the lengths of the stator modules whose address value ranges have been configured according to the starting position and the previous address allocation direction.

[0257] For example, such as Figure 24 As shown, one-dimensional address configuration can be performed first from the starting position S1 along the address configuration direction F1. After the relevant address configuration at the starting position S1 is completed, one-dimensional address configuration can then be performed from the starting position S1 along the address configuration direction F2. The absolute value of the difference between the starting address value of the starting position S1 corresponding to the later address allocation direction F2 and the starting address value of the starting position S1 corresponding to the previous address allocation direction F1 is greater than the sixth length, where the sixth length LC is... Figure 24 The length LC in the middle. If one-dimensional address configuration is performed first along address configuration direction F2, and then one-dimensional address configuration is performed along address configuration direction F1, then the sixth length is Figure 23 The length LD in the middle.

[0258] In some embodiments, when multiple starting stator modules are selected from multiple stator modules, the address value range of the corresponding stator modules can be configured synchronously according to the multiple starting stator modules. The absolute value of the difference between the starting address values ​​of one starting stator module and another starting stator module is greater than the seventh length. The seventh length is the maximum value of the starting position of the multiple starting stator modules in the maximum length that the multiple stator modules can extend to according to their respective extension directions.

[0259] For example, such as Figure 25 As shown, commutation stator module 11 (including confluence end 11-1, shunt end 11-2, and shunt end 11-3) and commutation stator module 21 (including confluence end 21-1, shunt end 21-2, and shunt end 21-3) are selected as the starting stator modules. The starting positions are S1 and S2, with starting position S1 located in commutation stator module 11 and starting position S2 located in commutation stator module 21. Address allocation directions are F1 and F2. Address allocation direction F1 is parallel to the direction from confluence end 11-1 to shunt end 11-3, and address allocation direction F2 is parallel to the direction from confluence end 21-1 to shunt end 21-2. One-dimensional address configuration can be performed simultaneously from starting positions S1 and S2 according to address allocation directions F1 and F2 respectively. For details, please refer to the relevant descriptions; further elaboration is omitted here. The seventh length is the larger value between LC and LD.

[0260] In some embodiments, when multiple starting stator modules are selected from multiple stator modules, the address value range of the corresponding stator modules can be configured sequentially according to the selection order of the multiple starting stator modules. The absolute value of the difference between the starting address values ​​of the latter starting stator module and the former starting stator module is greater than the eighth length, which is the sum of the lengths of the stator modules configured according to the address value range of the former starting stator module.

[0261] For example, such as Figure 25 As shown, the commutation stator module 11 is selected as the starting stator module. It can first configure an address range along the address configuration direction F1 starting from the starting position S1. After the relevant address configuration at the starting position S1 is completed, the commutation stator module 12 is selected as the starting stator module. Then, it configures another address range along the address configuration direction F2 starting from the starting position S2. The absolute value of the difference between the starting address value of the next starting position S2 and the starting address value of the previous starting position S1 is greater than the eighth length, where the eighth length is... Figure 25 The length LC in the middle. If the starting position S2 is selected first for one-dimensional address configuration, and then the starting address S1 is selected for one-dimensional address configuration, then the length of the eighth is LC. Figure 25 The length LD in the middle.

[0262] Therefore, by employing various one-dimensional address configuration strategies, it is possible to flexibly adapt to different scenarios, ensuring the accuracy, stability, and safety of the movement control of the moving submodule.

[0263] Optionally, in the control method for the moving submodule provided in the embodiments of this application, one-dimensional address configuration of at least one stator module includes: configuring one-dimensional address of at least a portion of the stator modules by means of a preset length base, wherein the length base is determined according to the total length of the multiple stator modules, or the length base is determined according to the longest length of a single series-connected stator module.

[0264] In some embodiments, to facilitate setting the starting address value, a length base can be set. The size of the length base can be determined based on the length of the total route or the longest length of a single series-connected stator module. When multiple starting address values ​​need to be configured, different multiples of the length base can be superimposed as new starting address values. This ensures that the absolute value of the difference between different starting address values ​​is large enough so that the address value ranges configured for each stator module do not overlap with each other except for boundary values. It should be noted that the starting address value can be an integer or a negative number. Therefore, negative multiples of the length base can be superimposed. For example, starting address value 1 = 1 times the length base, starting address value 2 = 2 times the length base, and starting address value 3 = -1 times the length base.

[0265] By using a one-dimensional address configuration strategy based on length base, the address value settings can be simplified while ensuring that the address value ranges do not overlap, thus enabling effective path division and guidance control of moving sub-modules.

[0266] Optionally, in the control method for the moving submodule provided in this application embodiment, configuring address parameters for each stator module includes: if the initial stator module selected from multiple stator modules is a non-commutating stator module, selecting at least one starting position from the non-commutating stator module and configuring an address value range according to at least one address allocation direction, wherein the number of starting positions of the non-commutating stator module is less than or equal to 2, and the number of address allocation directions is less than or equal to 4; if the initial stator module selected from multiple stator modules is a commutating stator module, selecting at least one starting position from the commutating stator module and configuring an address value range according to at least one address allocation direction, wherein the number of starting positions of the commutating stator module is less than or equal to M, where M is the number of ends of the commutating stator module, and the number of address allocation directions is less than or equal to 2. M.

[0267] In some embodiments, the starting stator module can be a non-commutating stator module or a commutating stator module. For two adjacent stator modules, a range of consecutive address values ​​can be configured. For a commutating stator module, the configured range of address values ​​must ensure that they do not contain each other except for boundary values. That is, the intersection of any two ranges of address values ​​of the commutating stator module, except for boundary values, is an empty set.

[0268] In some embodiments, if the initial stator module selected from a plurality of stator modules is a non-commutating stator module, then at least one starting position is selected from the non-commutating stator modules and the address value range is configured according to at least one address allocation direction. It should be noted that a non-commutating stator module has only two ports; therefore, there are at most two starting positions and at most four address allocation directions.

[0269] For example, such as Figure 26 As shown, the end A0 of the non-commutating stator module S1 can be selected as the starting position. An address allocation direction F0 can be selected from the multiple directions Z0 and Z1 of the driveable sub-modules of the non-commutating stator module S1 to configure a starting address value for end A0. Based on the length from end A0 to B0, the address value range D1 corresponding to the non-commutating stator module is configured according to an address allocation direction F0. Alternatively, the ends A0 and B0 of the non-commutating stator module S1 can be selected as starting positions, with directions Z0 and Z1 as the address allocation directions for end A0, configuring two starting address values ​​for end A0. Similarly, directions Z0 and Z1 can be selected as the address allocation directions for end B0, configuring two starting address values ​​for end B0. Finally, the middle of the non-commutating stator module S1 can be selected as the starting position, with at least one of directions Z0 and Z1 as the address allocation direction for the middle section.

[0270] In some embodiments, if the initial stator module selected from a plurality of stator modules is a commutation stator module, at least one starting position is selected from the commutation stator module and the address value range is configured according to at least one address allocation direction. It should be noted that if the number of ends of the commutation stator module is M, the number of corresponding starting positions of the commutation stator module does not exceed M, and the number of address allocation directions does not exceed 2. M.

[0271] For example, such as Figure 27 As shown, the merging end A1 of the commutation stator module 31 is selected as the starting position. Two of the four directions (directions F1 to F4) from which the commutation stator module 31 can be driven to move are selected as address allocation directions (e.g., address allocation directions F1 and F4). Two starting address values ​​are configured for the merging end A1. Based on the length from the merging end A1 to the shunting end B1 of the commutation stator module, the address value range DA corresponding to the commutation stator module is configured according to address allocation direction F4. Based on the length from the merging end A1 to the shunting end B2 of the commutation stator module, the address value range DB corresponding to the commutation stator module is configured according to address allocation direction FA. The address value range DA corresponds to the merging end A1 and the shunting end B1 of the commutation stator module, and the address value range DB corresponds to the merging end A1 and the shunting end B2 of the commutation stator module.

[0272] If at least one of the shunt ends B1 and B2 of the commutation stator module 31 is not connected to other stator modules, the other starting address value of the commutation stator module 31 can be determined based on the range boundary value corresponding to the shunt end B1 or B2 that is not connected to a stator module. The intersection of the address value ranges DA and DB is an empty set except for the boundary values. For example, as Figure 27 Assuming that the shunt end B2 is not connected to any other stator modules, the address range configured from 0 to 50 along the direction of F1 from the merging end A1. Since the shunt end B2 is not connected to any other stator modules, the starting address value of the address range configured from merging end A1 along the direction of F4 can be determined to be 51, based on the boundary value of 50 of the address range configured from merging end A1 along the direction of F1. If both shunt ends B1 and B2 are connected to other stator modules, the intersection of the address ranges DA and DB is an empty set.

[0273] like Figure 28 As shown, the commutation stator module can also be configured with address value ranges according to six address allocation directions (i.e., F11, F12, F21, F22, F41, F42). Other details can be found in the relevant sections and will not be repeated here.

[0274] In some embodiments, if the non-initial stator module directly or indirectly connected to the initial stator module is a non-commutating stator module, the direction from the end of the non-commutating stator module closest to the initial stator module to the end furthest from the initial stator module can be used as the address allocation direction, and the corresponding address value range can be configured according to the length of the two ends of the non-commutating stator module along the address allocation direction and the address value of the end of the non-commutating stator module closest to the initial stator module.

[0275] In some embodiments, if the non-initial stator module directly or indirectly connected to the initial stator module is a commutation stator module, at least one direction from the end of the commutation stator module closest to the initial stator module to the end furthest from the initial stator module can be used as the address allocation direction, and the corresponding address value range can be configured according to the length of the two ends of the commutation stator module along the address allocation direction and the address value of the end of the commutation stator module closest to the initial stator module.

[0276] Whether it is a non-commutated stator module or a commutated stator module, the above address configuration strategy can achieve accurate identification of the position of the mover module and efficient control of its movement, thereby improving the operating efficiency of the mover module and the accuracy of its movement control.

[0277] Optionally, in the control method for the moving submodule provided in the embodiments of this application, address parameters are configured for each stator module, including at least one of the following: when the end of the commutation stator module is fixed for the moving submodule to enter or exit, the address allocation direction corresponding to the commutation stator module is determined according to the direction from the end of the commutation stator module used for entering to the end of the commutation stator module used for exiting; when the commutation stator module is selected as the starting stator module, and the starting position is selected from the merging overlap area of ​​the commutation stator module, in the multiple address value ranges configured for the commutation stator module, there are one or more address value intervals between the starting position of the commutation stator module and the merging end of the commutation stator module.

[0278] In some embodiments, a certain end of the commutating stator module can be fixed for the entry or exit of the moving submodule, for example, in the case of one entry and multiple exits or multiple entries and one exit. The address allocation direction of the commutating stator module can be determined directly according to the direction extending from the entry end to the exit end, ensuring consistency with the actual movement direction of the subsequent moving submodule. When the end of the commutating stator module is fixed for entry or exit, adopting an address configuration strategy consistent with the actual movement direction simplifies movement control and improves operational efficiency.

[0279] In some embodiments, if the junction of multiple transmission channels of the commutation stator module is not the merging end, and the multiple transmission channels overlap in the region near the merging end (i.e., the commutation stator module has an overlapping region including the merging end), when the starting position is selected from the overlapping region, there may be one or more address value ranges between the starting position of the commutation stator module and the merging end of the commutation stator module.

[0280] In the multiple address value ranges of the commutation stator module, the numerical distribution of the address value intervals from the starting position to the confluence end can be the same, and there are at least (M-1) address value ranges, including two address value intervals that do not intersect.

[0281] like Figure 29 As shown, the overlapping region Q1 of the commutation stator module 31 ( Figure 29 At least one starting position is selected from the gray area in the diagram for address configuration. Starting from the overlapping area Q1, the address value range DA configured along the address allocation direction F4 includes two address value intervals DA1 and DA2. The address value range DB configured along the address allocation direction F1 starting from the overlapping area Q1 includes two address value intervals DB1 and DB2. Since the starting position of the commutating stator module 31 comes from the overlapping area Q1, there can be one or more address value intervals between the starting position of the commutating stator module 31 and the merging end of the commutating stator module 31, for example, address value interval DA1 and address value interval DB1. Address value intervals DA1 and DB1 can be the same or different. If address value intervals DA1 and DB1 are the same, and address value intervals DA2 and DA1 are continuous, then address value intervals DB2 and DB1 have no intersection. If the address value intervals DA1 and DB1 are not the same, and the address value intervals DA2 and DA1 do not intersect, then the address value intervals DB2 and DB1 may be continuous or have no intersection.

[0282] Therefore, by allowing some address value ranges to have the same numerical distribution, the complexity of address configuration is reduced, the management and processing of address parameters are simplified, and the operating efficiency of the system is improved. At the same time, ensuring that at least M-1 address value ranges include two non-overlapping address value ranges enables accurate identification and differentiation of the position information of the moving submodule within the commutation stator module, avoiding position information confusion in multi-path motion control and improving the accuracy and safety of motion control.

[0283] Optionally, in the control method for the moving submodule provided in the embodiments of this application, the method further includes: when the end of the commutation stator module is fixed for the moving submodule to drive in or out, disabling the position equivalent parameter corresponding to the end of the commutation stator module fixed for the moving submodule to drive out.

[0284] In some embodiments, for scenarios where the end of the commutation stator module is fixed for the entry or exit of the moving submodule, i.e., one entry and multiple exits or multiple entries and one exit, for the fixed exit end of the commutation stator module, since its path and direction are determined, there is no need to perform complex path prediction or moving submodule position comparison through position equivalent parameters. Therefore, the position equivalent parameters corresponding to the end fixed for the exit of the moving submodule can be disabled.

[0285] When the end of the commutation stator module is fixed for the entry or exit of the moving submodule, the number of parameters that need to be maintained and processed is reduced by disabling the position equivalent parameters corresponding to the end fixed for exit, thereby reducing system complexity and potential error rate.

[0286] The control method for the moving submodule provided in this application obtains guidance state information based on the guiding situation between the merging end and multiple branching ends of the commutating stator module. When it is detected that the moving submodule is entering the commutating stator module, the movement path of the moving submodule is controlled according to the guidance state information, enabling the moving submodule to move smoothly between the merging end and branching ends in the commutating stator module where there is a guiding relationship. This solves the technical problem in related technologies that it is impossible to control the movement of the moving submodule on the commutating stator module. Through the guidance state information, this solution can accurately control the movement of the moving submodule on the commutating stator module, preventing the moving submodule from deviating from the predetermined path due to inaccurate control. Under the guidance of the guidance state information, the movement path of the moving submodule on the commutating stator module is accurately planned, avoiding the risk of collision between moving submodules, improving the continuity and efficiency of task execution, reducing waiting and congestion caused by improper scheduling, and ensuring the smooth operation of the production line.

[0287] 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.

[0288] This application also provides a control device for a moving submodule. It should be noted that the control device for the moving submodule in this application can be used to execute the control method for the moving submodule provided in this application. The control device for the moving submodule provided in this application is described below.

[0289] This application also provides a control device for implementing the control method of the above-described moving submodule. The control device includes a processor and a memory. The memory can store one or more program codes, and the processor can call and run the program codes from the memory to execute the steps of the method provided in any of the above embodiments. The internal architecture, operating principle, and data flow of the control device can be found in [reference needed]. Figure 1 The relevant descriptions will not be repeated here.

[0290] This application also provides an automated transportation system for implementing the control method of the above-described moving submodule, such as... Figure 30 As shown, it includes multiple real movers ( Figure 30 Only one real mover 300 and multiple real stators are shown schematically in the diagram. Figure 30 Only a real stator 301 is schematically shown in the diagram, and at least one control device is shown. Figure 30 The diagram only schematically illustrates one control device 302, wherein: at least one real commutating stator is included among the plurality of real stators; the control device is used for moving the plurality of real movers along the plurality of real stators; generating corresponding guidance state information based on the guidance situation between a confluence end of the real commutating stator and the plurality of branch ends of the real commutating stator; and when a real mover is detected to enter the real commutating stator, controlling the real mover to move between the confluence end and the branch ends of the real commutating stator where a guidance relationship exists, based on the guidance state information. It should be understood that the control device can perform the method steps provided in any of the above embodiments, which will not be repeated here.

[0291] In some embodiments, the control device can be directly connected to the actual mover, or the control device can be directly connected to the actual stator, indirectly controlling the movement of the actual mover through the actual stator. For example, Figure 30 As shown, the control device 302 is connected to the real stator 301 to control the movement of the real mover 300.

[0292] Optionally, in the automated transportation system provided in this application embodiment, the control device is connected to at least one visualization device (such as...). Figure 30 As shown, the control device 302 is connected to a visualization device 303, wherein the visualization device is used for at least one of the following: displaying a virtual mover corresponding to the real mover, wherein the movement of the virtual mover is matched with the running information of the real mover obtained by the control device; displaying a virtual stator corresponding to the real stator, wherein the layout of the virtual stator is matched with the local information of the real mover obtained by the control device; displaying a parameter configuration interface to receive parameter configuration operations, wherein the parameter configuration operations are related to at least one of the real mover, real stator, virtual mover, and virtual stator; and displaying at least one of the configured parameters, the running information of the real mover, and the running information of the real stator.

[0293] In some embodiments, the control device can acquire the operational information of the real mover. This operational information may include one or more data related to the real mover (such as mover identifier, real-time position data, real-time speed data, real-time acceleration data, data recorded during task execution, status data indicating abnormalities, status data indicating whether the work point has been reached, etc.). Under the control of the control device, the visualization device can display a virtual mover that matches the operational information of the real mover. When the real mover moves, the visualization device displays the corresponding virtual mover moving; when the real mover is stationary, the visualization device displays the corresponding virtual mover stationary. When the visualization device displays the virtual mover, the control device needs to call the virtual mover's model configuration parameters. These parameters can be two-dimensional or three-dimensional model configuration parameters. The virtual mover displayed by the visualization device may differ from or be completely identical to the real mover. Therefore, by displaying the movement of the virtual mover in real time, users can easily grasp and manage the movement of the real mover.

[0294] In some embodiments, the control device can also acquire the layout information of the actual stator, which may include one or more data related to the actual stator (such as stator identifier, stator type, stator specifications, stator spatial position, etc.). The visualization device can display a virtual stator that matches the operating information of the actual stator under the control of the control device. When the spatial position of the actual stator changes, the corresponding virtual stator displayed in the visualization device changes position. When the visualization device displays the virtual stator, it needs to call the model configuration parameters of the virtual stator through the control device. The model configuration parameters of the virtual stator can be two-dimensional model configuration parameters or three-dimensional model configuration parameters. The virtual stator displayed by the visualization device may differ from the actual stator or be completely identical to the actual stator.

[0295] Therefore, by using virtual objects to reflect the actual situation of real objects, users can intuitively monitor the physical transportation process, promptly detect abnormalities, and improve the safety and stability of automated transportation.

[0296] In some embodiments, the visualization device displays a parameter configuration interface that receives parameter configuration operations from the user. These operations are related to at least one of the real mover, real stator, virtual mover, and virtual stator. For example, mover-related parameters such as identification parameters and motion control parameters of the real mover can be modified. Similarly, model configuration parameters of at least one of the virtual mover and virtual stator can be modified. Furthermore, stator-related parameters such as energizing parameters, address parameters, and operating point parameters of the real stator can be modified.

[0297] In some embodiments, the visualization device can intuitively display at least one of the configured parameters, mover operation information, and stator operation information. This includes, but is not limited to, the parameters involved in the embodiments of this application, such as motion control parameters like target position, target velocity, and target acceleration, as well as stator-related parameters such as stator length, stator spatial position, and address parameters. The actual stator operation information may include one or more data related to the actual stator (such as the value of the energized current, the status data of whether the coil is energized, and the status data of whether the energization is abnormal). At least one of the configured parameters, mover operation information, and stator operation information can display corresponding data in the parameter configuration interface, or at least one of the configured parameters and mover operation information can display corresponding data in or around the corresponding virtual mover and move with the virtual mover, and at least one of the configured parameters and stator operation information can display corresponding data in or around the corresponding virtual stator. This allows for the intuitive display of various parameters and information, facilitating real-time monitoring and data analysis of the transportation system. It also enables users to quickly understand the system status and promptly detect anomalies, such as collision risks between moving parts, stator layout problems, or path planning errors, thereby taking effective intervention measures and improving the safety, stability, and operational efficiency of the transportation system.

[0298] This application also provides another automated transportation system for implementing the control method of the above-described mover module. The automated transportation system includes at least one control device and at least one visualization device. The control device is connected to the at least one visualization device, wherein: the control device is used to construct multiple virtual movers and multiple virtual stators, and control the multiple virtual movers to move along the multiple virtual stators; generate corresponding guidance state information based on the guidance situation between a confluence end and multiple divergence ends of the virtual commutating stators in the multiple virtual stators; when a virtual mover is detected to enter a virtual commutating stator, based on the guidance state information, control the virtual mover to move between the confluence end and divergence end in the virtual commutating stator where there is a guidance relationship; the visualization device is used to display a virtual operation screen, which includes the virtual movers and virtual stators constructed by the control device. It should be understood that the control device can execute the method steps provided in any of the above embodiments, which will not be repeated here. Therefore, by constructing virtual movers and virtual stators through control devices, real-world scenarios can be simulated in advance, allowing users to understand the system status beforehand and identify errors or risks in advance, such as collision risks between movers, stator layout problems, or path planning errors. This enables timely corrections, avoids potential transportation risks or accidents, saves time on physical construction and modification, and improves the safety, stability, and operational efficiency of the transportation system.

[0299] 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.

[0300] Embodiments of this application also provide a computer-readable storage medium. Optionally, the storage medium can be used to store the program code executed by the control method of the moving submodule provided in Embodiment 1.

[0301] Optionally, the aforementioned 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.

[0302] This application also provides a computer program product, which, when executed on a data processing device, is a program adapted to perform control method steps of a motion module.

[0303] The sequence numbers of the embodiments in this application are merely for description and do not represent the superiority or inferiority of the embodiments. In the above embodiments of this application, the descriptions of each embodiment have their own emphasis; parts not described in detail in a certain embodiment can be referred to in the relevant descriptions of other embodiments. It should be understood that the disclosed technical content in the several embodiments provided in this application 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 or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0304] 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.

[0305] 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.

[0306] 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.

[0307] The above description is only an optional implementation 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 a moving submodule, characterized in that, At least one moving submodule is controlled to move along a plurality of stator modules, the plurality of stator modules including at least one commutating stator module, the method comprising: Based on the guiding situation between one confluence end of the commutation stator module and multiple shunting ends of the commutation stator module, corresponding guiding state information is generated; When a moving submodule is detected to enter the commutation stator module, the moving submodule is controlled to move between the merging end and the splitting end of the commutation stator module, which have a guiding relationship, based on the guidance status information.

2. The control method according to claim 1, characterized in that, The step of controlling the moving submodule to move between the confluence end and the split end of the commutation stator module, which have a guiding relationship, based on the guiding state information, includes: Among the multiple winding units of the commutation stator module, one winding unit corresponding to the guiding state information is determined; Based on the motion control parameters of the moving submodule, the energizing timing control is performed on a winding unit corresponding to the guiding state information.

3. The control method according to claim 1, characterized in that, The method further includes: Detect the moving submodules that are heading toward the commutation stator module, and select one moving submodule at a time to enter the commutation stator module; Based on the real-time position data of the selected moving submodule each time, it is determined whether the commutation stator module performs a guiding change operation; If it is determined that the commutation stator module is performing a guidance change operation, the motion state of the detected moving sub-modules heading towards the commutation stator module is controlled so that the selected moving sub-module is the first to enter after the commutation stator module completes the guidance change operation.

4. The control method according to claim 3, characterized in that, Detecting the moving submodules heading towards the commutation stator module, and selecting one moving submodule at a time to enter the commutation stator module, includes: Based on the detection interval, the moving submodules that are heading towards the commutation stator module are detected, and entry sequence information is set for the detected moving submodules. The detection interval corresponds to the end of the commutation stator module that the moving submodule can enter, and the detection interval at least covers a part of the stator module directly connected to the commutation stator module. Based on the entry sequence information of the moving submodules, the moving submodule with the highest entry sequence information is controlled to enter the commutation stator module.

5. The control method according to claim 4, characterized in that, The step of detecting moving submodules approaching the commutation stator module based on the detection interval and setting entry sequence information for the detected moving submodules includes at least one of the following: Synchronously detect the moving submodules heading towards the commutation stator module in each detection interval, and set the entry sequence information for the detected moving submodules according to the order in which they are detected; The moving submodules heading towards the commutation stator module in each detection interval are detected synchronously, and the entry sequence information is set for the detected moving submodules according to the level information corresponding to the detection interval in which the moving submodules are detected; Based on the order information configured in the detection intervals, the moving sub-modules that are heading toward the commutation stator module in each detection interval are detected cyclically, and the entry order information is set for the detected moving sub-modules according to the order in which they are detected. Based on the configured order information of the detection intervals, the moving submodules heading towards the commutation stator module in each detection interval are detected cyclically. After completing one round of detection in all detection intervals, the entry order information of the detected moving submodules is set according to the level information corresponding to the detection interval in which the moving submodules are detected.

6. The control method according to claim 4, characterized in that, Before detecting the moving submodule approaching the commutation stator module based on the detection interval, at least one of the following is also included: Configure the interval boundary values ​​of the detection interval; Detection points are configured on the stator modules connected to the commutation stator module to represent the detection interval; The detection interval is formed based on the detection points and detection lengths configured in the commutation stator module.

7. The control method according to claim 4, characterized in that, Before detecting the moving submodule approaching the commutation stator module based on the detection interval, at least one of the following is also included: When the end of the commutation stator module is fixed for the entry or exit of the moving submodule, one of the detection intervals is configured to at least cover a portion of the stator module whose end is directly connected to the entry end of the commutation stator module. When the end of the commutation stator module is fixed for the drive module to enter or exit, one of the detection intervals is configured to at least cover the end of the commutation stator module used for exiting.

8. The control method according to claim 4, characterized in that, Before detecting the moving submodule approaching the commutation stator module based on the detection interval, at least one of the following is also included: Based on the maximum outer diameter of the moving submodule in the direction of movement and the position of the measurement reference part of the moving submodule in the moving submodule, a minimum length constraint is imposed on the first length between the intersection of the commutation stator module and the detection interval between the interval boundaries of the stator modules connected to the commutation stator module. Based on the maximum outer diameter of the moving submodule in the direction of movement and the position of the measurement reference part of the moving submodule in the moving submodule, a minimum length constraint is imposed on the second length of the stator module connected to the commutation stator module for the detection interval.

9. The control method according to claim 3, characterized in that, The method further includes: Before the selected moving submodule enters the commutation stator module, it is detected whether there are other moving submodules located in the commutation stator module.

10. The control method according to claim 3, characterized in that, The determination of whether the commutation stator module performs a guiding change operation based on the real-time position data of the selected moving submodule each time includes at least one of the following: Based on the real-time position data of the selected moving submodule, when it is determined that the selected moving submodule enters from the shunt end of the commutation stator module, the commutation stator module is judged to perform a directional change operation based on the commutation stator module's guidance status information. Based on the real-time position data of the selected moving submodule, when it is determined that the selected moving submodule enters from the confluence end of the commutation stator module, the target position parameters of the selected moving submodule are used to determine whether the commutation stator module performs a guiding change operation.

11. The control method according to claim 10, characterized in that, The step of determining whether the commutation stator module should perform a guiding change operation based on the target position parameters of the selected moving submodule includes at least one of the following: Based on the target movement trajectory planned by the target position parameters of the moving submodule, it is determined whether the commutation stator module performs a guidance change operation, wherein the target movement trajectory is the movement trajectory initially planned, or the movement trajectory adjusted according to the downstream early warning situation. Based on the target position parameters of the moving submodule and the work point association information of the commutating stator module, it is determined whether the commutating stator module performs a guiding change operation. The work point association information is used to indicate whether the guiding status of the commutating stator module is related to the work point.

12. The control method according to claim 11, characterized in that, The determination of whether the commutating stator module performs a guiding change operation based on the target position parameters of the moving submodule and the work point association information of the commutating stator module includes at least one of the following: If, based on the work point association information of the commutating stator module, it is determined that the commutating stator module is associated with the target work point indicated by the target position parameter of the moving submodule, if, based on the guidance status information of the commutating stator module, it is determined that the guidance relationship of the commutating stator module matches the target guidance information, then it is determined that the guidance change operation will not be performed; otherwise, it is determined that the guidance change operation will be performed. If, based on the work point association information of the commutation stator module, it is determined that the commutation stator module is not associated with the target work point indicated by the target position parameter of the moving submodule, a guide change operation is performed based on the downstream warning status of the commutation stator module.

13. The control method according to claim 12, characterized in that, After the determination to perform the directional transformation operation, the method further includes at least one of the following: Based on the guiding relationship of the commutating stator module that matches the target movement trajectory of the moving submodule, a guiding transformation command is generated; Based on the target guidance information, generate guidance change instructions.

14. The control method according to claim 11, characterized in that, The determination of whether the commutation stator module performs a guidance change operation based on the target movement trajectory planned from the target position parameters of the moving submodule includes at least one of the following: If, based on the guidance status information of the commutation stator module, it is determined that the guidance relationship of the commutation stator module matches the target movement trajectory of the moving submodule, then it is determined that no guidance change operation will be performed. If, based on the guidance status information of the commutating stator module, it is determined that the guidance status information of the commutating stator module does not match the target movement trajectory of the moving submodule, then a guidance change operation is performed.

15. The control method according to claim 3, characterized in that, After determining whether the commutation stator module has performed a steering change operation based on the real-time position data of the selected moving submodule each time, the method further includes: When two commutator stator modules are spliced ​​together, if each of the two spliced ​​commutator stator modules has a selected moving submodule, the order in which the selected moving submodules enter the commutator stator module is controlled according to the guidance status information of the two spliced ​​commutator stator modules. The guidance relationship between the two commutator stator modules is configured to allow the two selected moving submodules to pass simultaneously, or the guidance relationship between the two commutator stator modules is configured to allow one of the two moving submodules to pass first.

16. The control method according to claim 3, characterized in that, If it is determined that the commutation stator module is performing a guidance change operation, controlling the motion state of the detected moving submodule heading towards the commutation stator module includes: Based on the current motion state of each moving submodule, the distance between each moving submodule and the commutating stator module, and the single guidance change time of the commutating stator module, determine whether there is a moving submodule that is decelerating.

17. The control method according to claim 3, characterized in that, The method further includes: After detecting that multiple moving submodules are heading toward the commutation stator module, the relative positional relationship between the detected multiple moving submodules is controlled so that the detected moving submodules pass through the commutation stator module in the expected order.

18. The control method according to claim 17, characterized in that, The relative positional relationship between the detected multiple moving sub-modules is controlled, including at least one of the following: When multiple moving submodules are detected to correspond to different ends of the commutation stator module, position equivalence operation is performed on at least some of the moving submodules based on the real-time position data of the detected moving submodules to obtain the relative positional relationship between the multiple moving submodules. When the relative positional relationship between the multiple moving submodules is determined to be adjusted, the motion state of at least one moving submodule is adjusted. Limiting operations are performed on the unselected moving submodules, excluding the commutation stator module.

19. The control method according to claim 18, characterized in that, The step of performing position equivalence operations on at least some of the moving submodules based on the detected real-time position data of the moving submodules includes at least one of the following: Based on a preset address offset, address mapping is performed on the real-time position data of at least a portion of the detected moving sub-modules; Based on multiple preset equivalent coordinate systems, coordinate transformation is performed on the real-time position data of at least some of the detected moving sub-modules, wherein the multiple equivalent coordinate systems are coordinate systems of the same scale constructed based on the origin of the same reference or the coordinate origin of an equivalent reference. Based on preset reference points and the detected real-time position data of the moving submodules, the relative distances from at least some moving submodules to the corresponding reference points are determined. The number of reference points is one or more, and when there are multiple reference points, one reference point corresponds to one end of the commutation stator module.

20. The control method according to claim 17, characterized in that, Before controlling the relative positional relationships between the multiple moving submodules detected, the method further includes at least one of the following: Based on the address parameters of the plurality of stator modules, a first position equivalent parameter is configured, wherein the first position equivalent parameter includes at least: a first address reference interval, a plurality of first address equivalent intervals and a plurality of first address offsets, wherein the first address reference interval corresponds to one end of the commutation stator module and the plurality of first address equivalent intervals correspond to the remaining ends of the commutation stator module; Based on the address parameters of the plurality of stator modules, a second position equivalent parameter is configured. The second position equivalent parameter includes at least: a plurality of second address equivalent intervals and a plurality of second address offsets, wherein one second address equivalent interval corresponds to one end of the commutation stator module. Based on the address parameters of the multiple stator modules, a third position equivalent parameter is configured, which includes at least: the coordinate origin position information of the multiple equivalent coordinate systems and the coordinate direction information of the multiple equivalent coordinate systems; Based on the address parameters of the plurality of stator modules, a fourth position equivalent parameter is configured, the fourth position equivalent parameter including at least: the position information of the reference point.

21. The control method according to claim 18, characterized in that, The relative positional relationship between the detected multiple moving sub-modules is controlled, including at least one of the following: Obtain the spacing information between two detected moving submodules, wherein the spacing information is determined by the real-time position of the moving submodules, or the spacing information is determined by the equivalent position of the moving submodules; Based on the correction parameters, the spacing information is corrected to determine whether to perform a collision avoidance warning operation; A collision avoidance algorithm is used to assess whether there is a collision risk between two detected moving sub-modules in order to determine whether to perform a collision avoidance warning operation. The two detected moving sub-modules are either actually adjacent moving sub-modules or adjacent moving sub-modules after performing a position equivalence operation.

22. The control method according to claim 1, characterized in that, The control of the moving submodule to move between the confluence end and the split end of the commutation stator module, which have a guiding relationship, includes: Based on the address parameters of the commutation stator module, the position of the moving submodule in the commutation stator module is identified, and the real-time position data of the moving submodule is obtained. The commutation stator module is configured with multiple address parameters, and one address parameter configured for the commutation stator module corresponds to one confluence end and one shunting end of the commutation stator module. Based on the real-time position data of the moving submodule, the energizing timing of the commutation stator module is controlled to drive the moving submodule to move between the confluence end and the split end where there is a guiding relationship.

23. The control method according to claim 21, characterized in that, The step of identifying the position of the moving submodule within the commutation stator module based on the address parameters of the commutation stator module includes: Based on the guidance status information of the commutation stator module, the address parameter corresponding to the guidance relationship is selected from the multiple address parameters configured for the commutation stator module; The position of the moving submodule in the commutation stator module is identified based on the selected address parameters.

24. The control method according to claim 22, characterized in that, The step of identifying the position of the moving submodule within the commutation stator module based on the address parameters of the commutation stator module, and obtaining the real-time position data of the moving submodule, includes at least one of the following: Based on the one-dimensional address parameters of the commutation stator module, the position of the moving submodule in the commutation stator module is identified, and the one-dimensional real-time position data of the moving submodule is obtained; Based on the two-dimensional address parameters of the commutation stator module, the position of the moving submodule in the commutation stator module is identified, and the two-dimensional real-time position data of the moving submodule is obtained. Based on the two-dimensional address parameters of the commutation stator module, the position of the moving submodule within the commutation stator module is identified, and one-dimensional real-time position data of the moving submodule is obtained.

25. The control method according to claim 1, characterized in that, The plurality of stator modules further includes at least one non-commutating stator module; before controlling the moving submodule to move between the confluence end and the divergence end in the commutating stator module where a guiding relationship exists based on the guiding state information, the method further includes: Obtain stator layout parameters, which include connection information between multiple stator modules and model information of each stator module; According to the stator layout parameters, address parameters are configured for each stator module. The non-commutating stator module is configured with one address parameter, and the commutating stator module is configured with at least two address parameters. One address parameter of the commutating stator module is matched with the guiding relationship between a confluence end and a shunting end of the commutating stator module.

26. The control method according to claim 25, characterized in that, The step of configuring address parameters for each stator module according to the stator layout parameters includes at least one of the following: Configure one-dimensional address for at least one stator module; Two-dimensional address configuration is performed on at least one stator module.

27. The control method according to claim 26, characterized in that, The one-dimensional address configuration of at least one stator module includes at least one of the following: When a starting stator module selected from the plurality of stator modules has different starting positions and different address allocation directions, the address value range of the corresponding stator module is configured according to the different starting positions and different address allocation directions of the starting stator module. When a starting stator module selected from the plurality of stator modules has a starting position and different address allocation directions, the address value range of the corresponding stator module is configured according to the different address allocation directions of the starting position. When multiple starting stator modules are selected from the multiple stator modules, the address value range of the corresponding stator modules is configured according to the multiple starting stator modules.

28. The control method according to claim 26, characterized in that, One-dimensional address configuration for at least one stator module includes: configuring one-dimensional address for at least a portion of the stator modules using a preset length base, wherein the length base is determined based on the total length of the plurality of stator modules, or the length base is determined based on the longest length of a single series-connected stator module.

29. The control method according to claim 26, characterized in that, When configuring the two-dimensional address of at least one stator module, it includes at least one of the following: Multiple route identifiers are determined based on preset length bases and multiples, and at least the commutation stator module is configured with a two-dimensional address; When the commutation stator module is used as the starting stator module, the commutation stator module is configured with at least two-dimensional addresses according to the same starting address value and different address allocation directions, and the commutation stator module is configured with at least two route identifiers.

30. The control method according to claim 25, characterized in that, The configuration of address parameters for each stator module includes: If the initial stator module selected from the plurality of stator modules is a non-commutating stator module, at least one starting position is selected from the non-commutating stator modules and the address value range is configured according to at least one address allocation direction, wherein the number of starting positions of the non-commutating stator modules is less than or equal to 2 and the number of address allocation directions is less than or equal to 4. If the initial stator module selected from the plurality of stator modules is a commutating stator module, at least one starting position is selected from the commutating stator module and the address value range is configured according to at least one address allocation direction. The number of starting positions of the commutating stator module is less than or equal to M, where M is the number of ends of the commutating stator module, and the number of address allocation directions is less than or equal to 2. M.

31. The control method according to claim 25, characterized in that, The configuration of address parameters for each stator module includes at least one of the following: When the end of the commutation stator module is fixed for the entry or exit of the moving submodule, the address allocation direction corresponding to the commutation stator module is determined according to the direction from the end of the commutation stator module used for entry to the end of the commutation stator module used for exit. When configuring the address value range of the commutation stator module starting from a position in the confluence overlap region of the commutation stator module, there are one or more address value intervals between the starting position of the commutation stator module and the confluence end of the commutation stator module among the multiple address value ranges configured for the commutation stator module.

32. The control method according to claim 20, characterized in that, The method further includes: When the end of the commutation stator module is fixed for the movement of the moving submodule, the position equivalent parameter corresponding to the end of the commutation stator module fixed for the movement of the moving submodule is deactivated.

33. A control device, characterized in that, include: A processor and a memory, wherein the memory stores one or more program codes, and the processor executes the program codes to perform the steps of the control method for the moving submodule according to any one of claims 1 to 32.

34. An automated transportation system, characterized in that, The system includes multiple real movers, multiple real stators, and at least one control device, wherein: The plurality of real stators includes at least one real commutated stator; The control device is used to control multiple real movers to move along multiple real stators; generate corresponding guidance state information based on the guidance situation between a confluence end of the real commutating stator and multiple branch ends of the real commutating stator; and when a real mover is detected to enter the real commutating stator, control the real mover to move between the confluence end and branch ends of the real commutating stator that have a guidance relationship based on the guidance state information.

35. The automated transportation system according to claim 34, characterized in that, The control device is connected to at least one visualization device, wherein the visualization device is used for at least one of the following: The virtual actuator corresponding to the real actuator is displayed, wherein the movement of the virtual actuator is matched with the running information of the real actuator obtained by the control device; The virtual stator corresponding to the real stator is displayed, wherein the layout of the virtual stator matches the local information of the real mover obtained by the control device; Display a parameter configuration interface to receive parameter configuration operations, wherein the parameter configuration operations are related to at least one of the real mover, the real stator, the virtual mover, and the virtual stator; Display at least one of the configured parameters, the actual moving part's operating information, and the actual stator's operating information.

36. An automated transportation system, characterized in that, The system includes at least one control device and at least one visualization device, wherein the control device is connected to at least one visualization device, and: The control device is used to construct multiple virtual movers and multiple virtual stators, and control the multiple virtual movers to move along the multiple virtual stators; generate corresponding guidance state information based on the guidance situation between a confluence end and multiple branch ends of the virtual commutating stator in the multiple virtual stators; when a virtual mover is detected to enter the virtual commutating stator, the device controls the virtual mover to move between the confluence end and branch ends in the virtual commutating stator where there is a guidance relationship based on the guidance state information; The visualization device is used to display a virtual operating screen, which includes a virtual mover and a virtual stator constructed by the control device.

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