Control methods, devices, motor equipment, systems and media for linear motor equipment

Abstract

This application provides a control method, apparatus, motor device, system, and medium for linear motor equipment. The method includes: after determining that a moving submodule is preparing to enter the merging route in a branching route corresponding to a merging route, acquiring equivalent position information of the moving submodules on at least one branching route; wherein, the equivalent position information of the moving submodules is obtained by equivalencing the real-time positions of the moving submodules on the branching routes according to the same reference object, the reference object being from the merging route or a branching route corresponding to the merging route; based on the acquired equivalent position information of the moving submodules, performing collision avoidance monitoring on merging modules and non-merging modules in the branching routes corresponding to the merging route; wherein, merging modules are moving submodules preparing to enter the merging route, and non-merging modules are moving submodules around the merging modules that are not preparing to enter the merging route. This method can reduce the risk of collisions between multiple moving submodules in the route merging area.

Description

Technical Field

[0001] This application relates to linear motor equipment, and more specifically, to a control method, apparatus, motor equipment, system, and medium for linear motor equipment. Background Technology

[0002] Linear motor equipment plays an important role in modern industrial automation. Its working principle is to realize transportation through electromagnetic drive technology, which gets rid of the friction loss and speed limitation of traditional mechanical transmission. It is suitable for transportation occasions with high requirements for cleanliness and stability, such as semiconductor manufacturing and precision electronic assembly.

[0003] In related solutions, the transportation flexibility of linear motor equipment can be improved by increasing the number of movement routes of the moving sub-modules. However, the increase in the number of movement routes also increases the risk of collisions between multiple moving sub-modules in the route convergence area. The mechanical impact generated during the collision will not only damage the moving sub-modules, but if the moving sub-modules are in the state of transporting objects, they may even damage the transported objects, thereby increasing transportation costs. Summary of the Invention

[0004] This application provides a control method, apparatus, motor device, system, and medium for linear motor equipment, which can perform anti-collision monitoring between moving sub-modules preparing to enter the merging route and surrounding moving sub-modules not preparing to enter the merging route, thereby reducing the risk of multiple moving sub-modules colliding in the route merging area.

[0005] In a first aspect, a control method for a linear motor device is provided. The linear motor device includes multiple moving sub-modules and a stator line. The stator line provides multiple movement paths for the moving sub-modules. The multiple movement paths include branching paths and merging paths, wherein at least two branching paths are used to connect with the same merging path. The method includes: In the bifurcation routes corresponding to the merging route, after determining that there is a moving sub-module preparing to enter the merging route, the equivalent position information of the moving sub-module of at least one bifurcation route is obtained; wherein, the equivalent position information of the moving sub-module is obtained by performing position equivalence on the real-time position of the moving sub-module in the bifurcation route according to the same reference object, and the reference object comes from the merging route or a bifurcation route corresponding to the merging route. Based on the obtained equivalent position information of the moving parts, collision avoidance monitoring is performed on the merging modules and non-merging modules in the bifurcation routes corresponding to the merging route; where the merging module is the moving part module that is preparing to enter the merging route, and the non-merging module is the moving part module around the merging module that is not preparing to enter the merging route.

[0006] In a second aspect, a control device for a linear motor is provided. The control device controls a moving submodule and a stator line. The stator line provides multiple movement paths for the moving submodule. These multiple movement paths include branching paths and merging paths, wherein at least two branching paths are used to connect with the same merging path. The control device includes: The information acquisition unit is used to acquire the equivalent position information of the moving part of at least one branch route after determining that there is a moving part preparing to enter the merging route in the branch route corresponding to the merging route; wherein, the equivalent position information of the moving part is obtained by equivalence of the real-time position of the moving part in the branch route according to the same reference object, and the reference object comes from the merging route or a branch route corresponding to the merging route. The monitoring unit is used to perform collision avoidance monitoring on the merging module and non-merging module in the bifurcation route corresponding to the merging route based on the acquired equivalent position information of the moving parts; wherein, the merging module is the moving part module that is preparing to enter the merging route, and the non-merging module is the moving part module around the merging module that is not preparing to enter the merging route.

[0007] Thirdly, a linear motor device includes multiple moving sub-modules, a stator line, and a control device. The stator line is used to provide multiple movement paths for the moving sub-modules. The multiple movement paths include branching paths and converging paths, wherein at least two branching paths are used to connect with the same converging path. The control device includes: Memory, used to store executable program code; A processor is configured to call and run executable program code from memory, causing the linear motor device to perform the methods described in the first aspect or any possible implementation thereof.

[0008] Fourthly, an automated production system is provided, comprising multiple moving submodules, a stator line, a control device, and at least one operating device. The stator line provides multiple movement paths for the moving submodules, including branching paths and converging paths, wherein at least two branching paths are used to connect with the same converging path. The operating device performs at least one type of operation among loading, unloading, and processing. The control device includes: Memory, used to store executable program code; A processor is configured to call and run executable program code from memory, causing the automated production system to perform the methods described in the first aspect or any possible implementation thereof.

[0009] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0010] In this embodiment, when a moving submodule preparing to enter the merging route is identified as being on a branch route corresponding to the merging route, the equivalent position information of the moving submodule on at least one branch route corresponding to the merging route is obtained. Since the equivalent position information of the moving submodule is obtained by equivalence of the real-time position of the moving submodule on the branch route according to the same reference object, and the reference object comes from the merging route or a branch route corresponding to the merging route, it is ensured that the moving submodule preparing to enter the merging route and the surrounding moving submodules not preparing to enter the merging route can be compared in position. This enables collision avoidance monitoring between the moving submodule preparing to enter the merging route and the surrounding moving submodules not preparing to enter the merging route, thereby reducing the risk of multiple moving submodules colliding in the route merging area. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a single-route transportation scenario using existing technology; Figure 2 This is a schematic diagram of a multi-route transportation scenario using existing technology; Figure 3 This is a schematic flowchart of a control method for a linear motor device provided in an embodiment of this application; Figure 4 This is a schematic diagram of a scenario for transporting moving sub-modules provided in an embodiment of this application; Figure 5 This is a schematic diagram of a scenario where the moving submodule enters the merging route, as provided in an embodiment of this application. Figure 6 This is a schematic diagram of a scenario for constructing an equivalent route for an equivalent value range, provided in an embodiment of this application. Figure 7 This is another scenario diagram illustrating the equivalent route for constructing an equivalent value range provided in the embodiments of this application; Figure 8 This is another scenario diagram illustrating the equivalent route for constructing an equivalent value range provided in the embodiments of this application; Figure 9 This is a schematic diagram of a scenario for constructing an equivalent coordinate system provided in an embodiment of this application; Figure 10 This is a schematic diagram of a scenario where the first observation point is a virtual point, as provided in an embodiment of this application. Figure 11 This is a schematic diagram of a scenario where the first observation point is a physical point, as provided in the embodiments of this application; Figure 12 This is a schematic diagram of a scenario where the second observation point is a virtual point, as provided in an embodiment of this application. Figure 13 This is a schematic diagram of a scenario where the second observation point is a physical point, as provided in an embodiment of this application. Figure 14 This is a schematic diagram of the control device provided in the embodiments of this application; Figure 15 This is a schematic diagram of the structure of a linear motor device provided in an embodiment of this application; Figure 16 This is a schematic diagram of the structure of an automated production system provided in an embodiment of this application. Detailed Implementation

[0012] To make the features and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0013] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0014] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Detailed descriptions are provided below. It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of embodiments.

[0015] In related technologies, linear motor equipment can be applied to automated production scenarios. It includes a moving submodule and a stator line. The moving submodule transports objects, moving along a path provided by the stator line to complete various production processes on the transported objects, thus achieving industrial automation. However, in a single-path scenario, multiple moving submodules can only move along a single path in a uniform direction and fixed order, resulting in poor movement flexibility. For example, please refer to [link to example]. Figure 1 , Figure 1This is a schematic diagram of a single-route transportation scenario in existing technology. In this scenario, moving sub-modules YA, YB, YC, YD, and YE move along a path LA in a fixed order and direction FA. All moving sub-modules (including YA, YB, YC, YD, and YE) can only flow sequentially along a single route, making it difficult to adjust their movement order according to actual needs, resulting in poor flexibility in their movement. By improving the mechanical mechanism of the linear motor equipment, the number of movement paths for the moving sub-modules is increased, thereby improving the flexibility of their motion control. For an example, please refer to [link to example]. Figure 2 , Figure 2 This is a schematic diagram of a multi-route transportation scenario provided in an embodiment of this application, and... Figure 1 The difference is that, in Figure 2 The system provides multiple travel routes (such as...) Figure 2 The movement routes LB1, LB2, and LB3 shown can be used to control each moving sub-module (such as moving sub-module YA, moving sub-module YB, moving sub-module YC, moving sub-module YD, or moving sub-module YE) to move along movement routes LB1, LB2, and LB3, depending on the actual situation. There are no completely unified movement directions or completely fixed arrangement requirements among multiple moving modules, thereby improving the movement flexibility of the moving sub-modules.

[0016] However, as the number of movement routes increases, the difficulty of motion control for the moving submodules also increases. If the motion control of the moving submodules is not reasonable, multiple moving submodules may encounter problems in the route convergence area (e.g., Figure 2 The risk of collisions increases significantly in the area connecting moving routes LB1, LB2, and LB3. Figure 2 When the moving submodule YB, moving along path LB1, and the moving submodule YC, moving along path LB2, move towards path LB3, they collide in the area connecting paths LB1, LB2, and LB3. Once a collision occurs, the mechanical impact will not only damage the physical structure of the moving submodules, increasing the cost of repair and replacement, but if the moving submodules are transporting an object, they may also damage the object being transported, thus increasing transportation costs.

[0017] To address the aforementioned issues, the solution provided in this application mainly includes: after determining that a moving submodule is preparing to enter the merging route from a branch route corresponding to the merging route, obtaining the equivalent position information of the moving submodule on at least one branch route. The equivalent position information of the moving submodule is obtained by equivalencing the real-time position of the moving submodule on the branch route according to the same reference object. The same reference object is a branch route from the merging route or corresponding to the merging route. Then, based on the equivalent position information of the moving submodule, collision avoidance monitoring is performed on the merging module and non-merging module in the branch route corresponding to the merging route. The merging module is the moving submodule preparing to enter the merging route, and the non-merging module is the moving submodule around the merging module that is not preparing to enter the merging route. When a moving submodule preparing to enter the merging route is identified at a branch route corresponding to the merging route, the equivalent position information of the moving submodule at least one branch route corresponding to the merging route is obtained. Since the equivalent position information of the moving submodule is obtained by equivalence of the real-time position of the moving submodule on the branch route according to the same reference object, and the reference object comes from the merging route or a branch route corresponding to the merging route, it is ensured that the moving submodule preparing to enter the merging route and the surrounding moving submodules not preparing to enter the merging route can be compared in position. This enables collision avoidance monitoring between the moving submodule preparing to enter the merging route and the surrounding moving submodules not preparing to enter the merging route, thereby reducing the risk of collision between multiple moving submodules in the route merging area.

[0018] The control method for the linear motor device provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0019] Please see Figure 3 , Figure 3 This is a schematic flowchart of a control method for a linear motor device provided in an embodiment of this application. The linear motor device includes multiple moving sub-modules and a stator line. The stator line provides multiple movement paths for the moving sub-modules. These multiple movement paths include branching paths and converging paths, with at least two branching paths used to connect with the same converging path.

[0020] Specifically, the merging route is used to receive moving submodules from multiple different movement routes; the branching route is used to guide moving submodules to merge onto the same movement route. There are multiple branching routes and at least one merging route.

[0021] It should be noted that "branching route" and "merging route" are relative concepts determined based on the connection relationship between multiple moving routes and the movement direction of the moving submodule. Depending on the movement direction of different moving submodules, the same moving route may serve as a "branching route" or a "merging route" at different times. This application embodiment does not limit the specific situation in which the same moving route serves as a "branching route" or a "merging route" at different times.

[0022] like Figure 3 As shown, the method in this application embodiment may include the following steps S101-S102.

[0023] S101, In the bifurcation route corresponding to the merging route, after determining that there is a moving module ready to enter the merging route, obtain the equivalent position information of the moving module of at least one bifurcation route. The equivalent position information of the moving part is obtained by equivalence of the real-time position of the moving part module located on the bifurcation route according to the same reference object, which comes from the merging route or a bifurcation route corresponding to the merging route.

[0024] The branching path corresponding to the merging path refers to a branching path that converges onto the same merging path along the direction of movement of the moving submodule. For example, please refer to... Figure 4 , Figure 4 This is a schematic diagram illustrating a scenario of transporting the moving submodule provided in an embodiment of this application. Figure 4 In the middle, if the submodule ( Figure 4 (Not shown) If a moving submodule enters branching route L1 or L0 from merging route L2-0, and then enters merging route L2-1 from branching route L1 or L0, then the branching routes corresponding to merging route L2-1 are branching route L1 and branching route L0. Furthermore, if the moving submodule enters branching route L1 or L0 from merging route L2-1, and then enters merging route L2-0 from branching route L1 or L0, then the branching routes corresponding to merging route L2-0 are branching route L1 and branching route L0. That is, in this embodiment, the branching routes corresponding to the merging route are different when the moving submodule's direction of movement changes. It should be understood that... Figure 4 The diagram only shows a portion of the merging routes L2-0 and L2-1. In different application scenarios, merging routes L2-0 and L2-1 may actually correspond to the same movement route or different movement routes.

[0025] It should also be understood that the accompanying drawings are for illustrative purposes only. In actual multi-route transportation scenarios, the shape of the branching route is not necessarily limited to the shape shown in the accompanying drawings, and the shape of the merging route is not necessarily limited to the shape shown in the accompanying drawings. The embodiments of this application do not impose specific limitations on the shape of the branching route and the shape of the merging route.

[0026] In some possible implementations, the real-time position of each moving submodule can be monitored to determine whether any moving submodules are preparing to enter the merging route from the corresponding branching route. After confirming that a moving submodule is preparing to enter the merging route from the corresponding branching route, the equivalent position information of the moving submodules on at least one branching route is obtained. This equivalent position information is obtained by equivalencing the real-time positions of the moving submodules present on at least one branching route using the same reference object; the real-time position of the moving submodule can be determined in real-time by the position sensor of the stator line.

[0027] It should be understood that the operation of equivalence of the real-time position of the moving part module in the bifurcation route can be performed before or when the equivalent position information of the moving part is obtained. This application embodiment does not impose specific restrictions on this.

[0028] In some possible implementations, the real-time position of the moving submodule in different movement routes can be determined by analyzing the electrical signals fed back by the position measurement module, and the real-time position of the moving submodule in different movement routes can be characterized by the real-time position information of the moving submodule.

[0029] In some optional examples, the real-time position information of the moving part may include position coordinate values, which are used to characterize the position of the moving part module obtained through parsing. Specifically, based on the direction of movement of the moving part module and the length of each movement path along the direction of movement, a corresponding position value range can be assigned to each movement path. The boundary values ​​of the position value ranges corresponding to each movement path may overlap, but the parts of the position value ranges corresponding to each movement path other than the boundary values ​​do not overlap. Based on the electrical signal fed back by the position measurement module, the movement path where the moving part module is located and the position of the moving part module in the movement path can be determined. Based on the position value range corresponding to the movement path where the moving part module is located, the position coordinate values ​​corresponding to the electrical signal fed back by the position measurement module can be determined, thus obtaining the real-time position information of the moving part.

[0030] Optionally, the real-time location information of the mover may include a location coordinate identifier, which is used to represent the movement route.

[0031] Further optionally, a boundary value of the position range corresponding to the merging route is the same as a boundary value of the position range corresponding to a branch route it connects to. That is, the merging route and a branch route connected to the merging route share the same boundary value, and their corresponding position ranges can form a continuous range. This means that the position ranges corresponding to other branch routes connected to the merging route need to be set separately. For example, in... Figure 4 The position range of L0 and L2-1 is continuous, while the position range of L1 is independent of the position range of L2-1 and L0.

[0032] It should be noted that in multi-route transportation scenarios, the stator line includes stator modules without switching functions (i.e., non-commutating stator modules) and stator modules with switching functions (i.e., commutating stator modules). Multiple movement routes can be formed by combining and splicing non-commutating and commutating stator modules. Since one movement route connects to multiple movement routes, there are bifurcation ends at the connection points. The length of a movement route along the direction of movement is the length extending from one bifurcation end to another along the direction of movement. Specifically, this can be determined based on the length parameters of the corresponding physical module (such as a non-commutating or commutating stator module) in the stator line, or obtained through input operations. This application embodiment does not impose specific limitations on this. Furthermore, the bifurcation ends of the movement routes do not necessarily correspond to the ends of the physical modules in the stator line; they may correspond to the middle of the physical modules. This application embodiment does not impose specific limitations on this.

[0033] In practical applications, the position coordinates of the moving submodules on different branching paths differ, making position comparison and relative position determination impossible. Therefore, it is necessary to perform position equivalence on the real-time positions of the moving submodules on the branching paths to enable position comparison and relative position determination under the same reference. When performing position equivalence on the real-time positions of the moving submodules on the branching paths, at least the position coordinate values ​​in the real-time position information of the moving submodules should be equivalent. Further, optionally, a corresponding position coordinate identifier can be assigned to the equivalent position coordinate values, which indicates that the corresponding position coordinate values ​​have been equivalent.

[0034] Based on this, the equivalent position information of the mover obtained by position equivalence includes at least the equivalent position coordinate values ​​(i.e., equivalent coordinate values). Optionally, the equivalent position information of the mover may also include a position coordinate identifier indicating that equivalence has been performed (i.e., equivalent coordinate identifier). The position coordinate identifier (i.e., equivalent coordinate identifier) ​​in the equivalent position information of the mover may correspond to the branching route where the mover module is located.

[0035] In some possible implementations, the reference object is selected from the following: the branch line where the moving submodule preparing to enter the merging route is located; other branch lines parallel to the branch line where the moving submodule preparing to enter the merging route is located; or the merging route corresponding to the branch line where the moving submodule preparing to enter the merging route is located. Thus, the obtained equivalent position information of the moving submodule can transform the moving submodules existing in multiple branch lines from different position references to the same position reference, enabling collision avoidance monitoring among the moving submodules existing in multiple branch lines. For example, please continue to refer to... Figure 4In the bifurcation routes L0 and L1 corresponding to the merging route L2-1, assuming that there is a moving submodule in the bifurcation route L1 that is ready to enter the merging route L2-1, a moving route can be selected from the bifurcation route L0, the bifurcation route L1, or the merging route L2-1 as the reference object.

[0036] In some possible implementations, when a bifurcation path is used as a reference object, at least the real-time positions of the moving submodules existing in the bifurcation path that is not used as a reference object are positionally equivalent. Optionally, the real-time positions of the moving submodules existing in the bifurcation path that is used as a reference object can also be positionally equivalent. For example, please see [link to relevant documentation]. Figure 4 In the bifurcation routes L0 and L1 corresponding to the merging route L2-1, assuming that there is a moving submodule in the bifurcation route L1 that is preparing to enter the merging route L2-1, when the bifurcation route L1 is selected as the reference object, the real-time position of the moving submodule in the bifurcation route L0 can be equivalently represented. Optionally, the real-time position of the moving submodule in the bifurcation route L1 can also be equivalently represented.

[0037] It should be understood that whether or not positional equivalence is performed on the real-time positions of moving sub-modules in the bifurcation route that serves as the reference object depends on the method of positional equivalence. When equivalence is performed on the position coordinate values ​​in the real-time position information of the moving sub-modules, positional equivalence may not be performed on the real-time positions of moving sub-modules in the bifurcation route that serves as the reference object. When the real-time position information of the moving sub-modules as a whole is equivalent, positional equivalence may be performed on the real-time positions of moving sub-modules in the bifurcation route that serves as the reference object. In this case, the position coordinate values ​​after equivalence are the same as the position coordinate values ​​before equivalence, but the position coordinate labels change.

[0038] In some possible implementations, when the merging route that the moving submodule is preparing to enter is used as the reference object, the real-time positions of the moving submodules existing in the partial or complete branching routes corresponding to the merging route can be positionally equivalent. For example, please see [link to relevant documentation]. Figure 4 In the bifurcation routes L0 and L1 corresponding to the merging route L2-1, assuming that there is a moving submodule in the bifurcation route L1 that is preparing to enter the merging route L2-1, when the merging route L2-1 is selected as the reference object, the real-time positions of the moving submodules in the bifurcation routes L0 and L1 can be equivalent.

[0039] It should be understood that when the merging route that the moving submodule is about to enter is used as the reference object, whether the real-time positions of the moving submodules existing in the branching routes are equivalent depends on the method of position equivalence and the continuity between the branching routes and the merging routes. For example, when equivalencing the position coordinate values ​​in the real-time position information of the moving submodules, the real-time positions of the moving submodules existing in the branching routes that share the same boundary value as the merging route may not be equivalent, while the real-time positions of the moving submodules existing in the branching routes that do not share the same boundary value as the merging route are equivalent. As another example, when equivalencing the real-time position information of the moving submodules as a whole, the real-time positions of the moving submodules existing in all branching routes corresponding to the merging route are equivalent. In this case, the equivalent position coordinate values ​​may be the same as or different from the original position coordinate values, while the position coordinate identifiers change.

[0040] It should be noted that the positions of all moving submodules in the bifurcation route or moving submodules close to the merging route can be equivalent.

[0041] In some possible implementations, after selecting a reference object, the real-time positions of all moving sub-modules in the bifurcation routes that are not used as reference objects can be equivalently converted. This allows all moving sub-modules in the bifurcation routes that are not used as reference objects to be converted to the same reference for collision avoidance monitoring. This enables a more comprehensive understanding of the movement of moving sub-modules in each bifurcation route and improves the accuracy of subsequent collision avoidance monitoring.

[0042] In other possible implementations, after selecting a reference object, the real-time positions of the moving submodules in the branching routes corresponding to the merging route, within a preset section interval of the merging route, can be equivalently located to obtain the equivalent position information of some moving submodules in the branching routes corresponding to the merging route. The preset section interval is defined as a section in the branching routes corresponding to the merging route that requires focused attention for collision avoidance monitoring of moving submodules entering the merging route from the branching route. The specific range of the section interval can be determined based on the size of the moving submodule. In this implementation, obtaining the equivalent position information of moving submodules in the preset section interval of the branching route focuses on moving submodules that may actually affect the collision risk of the merging route. Compared to obtaining the equivalent position information of all moving submodules in the branching route, obtaining only the equivalent position information of moving submodules in the preset section interval reduces the amount of data processing. Simultaneously, it focuses on moving submodules within their position range before entering the merging route, accurately controlling the collision risk when moving submodules enter the merging route.

[0043] It should be understood that at different times, a moving submodule may or may not exist in a branching path. When there is no moving submodule in the branching path, the equivalent position information of the moving submodule cannot be obtained, or the result of obtaining the equivalent position information of the moving submodule is zero.

[0044] S102, based on the obtained equivalent position information of the moving part, performs collision avoidance monitoring on the merging module and non-merging module in the branching route corresponding to the merging route.

[0045] The merging module is the moving sub-module that is preparing to enter the merging route, and the non-merging module is the moving sub-module around the merging module that is not preparing to enter the merging route. Specifically, the non-merging module may include moving sub-modules that are on the same branching route as the merging module, as well as moving sub-modules that are on different branching routes from the merging module.

[0046] For example, see Figure 5 , Figure 5 This is a schematic diagram of a scenario where a moving submodule enters a merging route, as provided in an embodiment of this application. In the branching routes L0 and L1 corresponding to merging route L2-1, it is determined that the moving submodule YF moving on branching route L1 is preparing to enter merging route L2-1; moving submodule YF is the merging module. Moving submodules YG moving on branching route L0 and YH moving on branching route L1 are non-merging modules.

[0047] As described above, depending on the different equivalent real-time positions of the movers, the real-time position of the merging module may be equivalent or not, and the real-time position of the non-merging module may also be equivalent or not. Therefore, the obtained equivalent mover position information may include at least one of the equivalent mover position information corresponding to the merging module and the equivalent mover position information corresponding to the non-merging module.

[0048] For example, when the equivalent position information of the merging module and the non-merging module are obtained, the distance between the non-merging module and the merging module can be controlled by the equivalent position information of the merging module and the non-merging module, so as to avoid collision between the non-merging module and the merging module when the merging module enters the merging route.

[0049] For example, when the position of the importing module or the non-importing module is not equivalent, the real-time position of the importing module or the non-importing module can be used as the equivalent position coordinate value, thereby controlling the distance of the non-importing module relative to the importing module and avoiding collisions between the non-importing module and the importing module.

[0050] It should be understood that the above examples are merely illustrative. Those skilled in the art can directly and meaninglessly derive more related examples based on the above examples, which will not be listed here.

[0051] In this embodiment, when a moving submodule preparing to enter the merging route is identified as being on a branch route corresponding to the merging route, the equivalent position information of the moving submodule on at least one branch route corresponding to the merging route is obtained. Since the equivalent position information of the moving submodule is obtained by equivalence of the real-time position of the moving submodule on the branch route according to the same reference object, and the reference object comes from the merging route or a branch route corresponding to the merging route, it is ensured that the moving submodule preparing to enter the merging route and the surrounding moving submodules not preparing to enter the merging route can be compared in position. This enables collision avoidance monitoring between the moving submodule preparing to enter the merging route and the surrounding moving submodules not preparing to enter the merging route, thereby reducing the risk of multiple moving submodules colliding in the route merging area.

[0052] In some embodiments of this application, the phrase "performing positional equivalence of the real-time position of the moving submodule at the bifurcation path according to the same reference object" can be further refined and may include any one of the following: When a bifurcation route corresponding to the merging route is selected as the reference object, the real-time position of the moving submodule in the bifurcation route that is not selected as the reference object is equivalent to the position value range of the selected bifurcation route. When the merging route is selected as the reference object, an equivalent coordinate system is constructed along at least one corresponding bifurcation route based on the reference point corresponding to the merging route, and the real-time position of the moving sub-module in at least one bifurcation route is positionally equivalent.

[0053] In some possible implementations, when a branching route corresponding to the merging route is selected as the reference object, an equivalent value range for position equivalence can be determined based on the position value range of the selected branching route. This equivalent value range is the entirety or a subset of the position value ranges of the branching route. For moving sub-modules located on branching routes not selected as reference objects, after equivalence of their real-time positions, the position coordinates in the equivalent position information fall within the equivalent value range. This ensures that moving sub-modules on branching routes not selected as reference objects are under the same position reference as those on branching routes selected as reference objects.

[0054] When the equivalent value range is a subset of the location value range, the road segment interval corresponding to the bifurcation route in the location value range can be selected.

[0055] Optionally, after determining the equivalent value range based on the position value range of the bifurcation route used as the reference object, an equivalent route with a length equal to the equivalent value range is constructed. Then, based on the equivalent route, the equivalent position information of the moving sub-modules of the bifurcation route not selected as the reference object is obtained within the equivalent route. Specifically, a docking point is provided at the junction of multiple bifurcation routes and the same merging route; based on the position value range of the bifurcation route selected as the reference object, the real-time position of the moving sub-modules in the bifurcation route not selected as the reference object is equivalentized, including: Based on a preset mapping relationship, the moving sub-modules on the bifurcation route that are not selected as the reference object are mapped to the equivalent route corresponding to the bifurcation route, so as to determine the equivalent position information of the moving sub-module by the position of the moving sub-module in the equivalent route; wherein, the mapping relationship is obtained by aligning the bifurcation route that is not selected as the reference object and the equivalent route with the docking point, and the equivalent value range of the equivalent route is the whole set or a subset of the position value range of the bifurcation route that is selected as the reference object.

[0056] Please see Figure 6 , Figure 6 This is a schematic diagram illustrating a scenario for constructing an equivalent route for an equivalent value range, as provided in an embodiment of this application. Figure 6 In this diagram, the bifurcation ends of the branching routes (branching routes L0 and L1) extending from the merging route L2-0 along the movement direction of the moving submodule are taken as the starting points of branching routes L0 and L1, and the merging position of branching routes L1 and L0 is taken as the ending point of the branching end of the merging route L2-1 closest to the merging module. Therefore, the position range of branching route L0 is [X01, X02], and the position range of branching route L1 is [X11, X12]. Here, X01 represents the starting position of branching route L0, X02 represents the ending position of branching route L0, X11 represents the starting position of branching route L1, and X12 represents the ending position of branching route L1. When the lengths of branch paths L0 and L1 are not equal, one boundary value of [X01, X02] and [X11, X12] can be the same, but the other boundary value can be different. For example, X01 is equal to X11, and X02 is not equal to X12; or, the boundary values ​​at both ends of [X01, X02] and [X11, X12] are different. That is, in this embodiment, [X01, X02] and [X11, X12] can have at most one boundary value that is the same.

[0057] Furthermore, after determining the range of position values ​​for the bifurcation route selected as the reference object, the equivalent range of position values ​​for position equivalence is determined based on this range of position values. Taking the connection point set at the junction of bifurcation route L1 and bifurcation route L0 with merging route L2-1 as the starting point, the equivalent route of the bifurcation route not selected as the reference object is constructed. Figure 6 Using bifurcation path L1 as the reference object, an equivalent path L1' of bifurcation path L0 is constructed. The equivalent value range [X1A, X12] of the equivalent path L1' is a subset of the position value range [X11, X12] of the reference path L1, meaning the boundary value X1A of the equivalent value range is greater than the boundary value X11 of the position value range of the bifurcation path L1. In another case, when the equivalent value range [X1A, X12] of the equivalent path L1' is the complete set of the position value range [X11, X12] of the bifurcation path L1, meaning the boundary value X1A of the equivalent value range is equal to the boundary value X11 of the position value range of the bifurcation path L1, the constructed equivalent path L1' is as follows: Figure 7 As shown, Figure 7 This is another scenario diagram illustrating the construction of an equivalent route with an equivalent value range provided in the embodiments of this application. It can be understood that when constructing the equivalent route L1', since it is constructed along the direction of the merging module, starting from the docking point set at the junction of the branching route and the merging route, the other boundary value of the equivalent value range of the equivalent route constructed in this way is equal to the boundary value of the position value range of the branching route, which is the reference object, that is, they are both X12.

[0058] Please see Figure 8 , Figure 8 This is another schematic diagram illustrating an equivalent route for constructing an equivalent value range, provided in the embodiments of this application. Figure 8 In the process, the equivalent route is constructed using the bifurcation route L0 as the baseline object, from... Figure 8 It can be seen that the equivalent value range [X0A, X02] of the corresponding equivalent route L0' constructed with the bifurcation route L0 as the reference object is a subset of the position value range [X01, X02] of the bifurcation route L0. Similarly, with the bifurcation route L0 as the reference object, an equivalent route L0' with the equivalent value range [X0A, X02] is constructed as the complete set of the position value range [X01, X02] of the bifurcation route L0, which is similar to the above construction process and will not be repeated here.

[0059] Based on the above, taking the bifurcation route corresponding to the merging route as the reference object, after constructing the equivalent route of the bifurcation route that was not selected as the reference object, the moving sub-modules of the bifurcation route that was not selected as the reference object are mapped to the equivalent route based on the preset mapping relationship. The moving sub-module's equivalent position information is determined by the position of the moving sub-module in the equivalent route.

[0060] In some possible implementations, the mapping relationship can be determined by the offset between the branch path that is not selected as the reference object and the branch path that is selected as the reference object. This offset is used to eliminate the length difference between the branch path that is not selected as the reference object and the branch path that is selected as the reference object.

[0061] When the length of the bifurcation route selected as the reference object is greater than or equal to the length of the bifurcation route not selected as the reference object, all moving sub-modules in the bifurcation route not selected as the reference object can be mapped to the bifurcation route selected as the reference object to obtain the moving sub-module's equivalent position information.

[0062] When the length of the bifurcation route selected as the reference object is less than (less than) the length of the bifurcation route not selected as the reference object, only the moving submodules of the bifurcation route not selected as the reference object are mapped to the length of the bifurcation route selected as the reference object.

[0063] After determining the offset, the moving submodules of the bifurcation route that were not selected as the reference object can be mapped to the equivalent route corresponding to the bifurcation route based on the offset.

[0064] For example, see the above. Figure 6 If the position range of the bifurcation route L1, which is used as the reference object, is [0, 50], and the position range of the bifurcation route L0, which is not selected as the reference object, is [0, 70], then the real-time position of the moving submodule on the bifurcation route L0 is 60. Based on the position range of the bifurcation route L1, the equivalent value range of the equivalent route L1' is determined to be [30, 50]. Therefore, when constructing the equivalent route with the bifurcation route L1 as the reference object, the offset between the bifurcation routes L0 and L1 is calculated to be 20 (70-50). Mapping the moving submodule from the bifurcation route L0 to the equivalent route L1' and performing position equivalence yields the equivalent position information of the moving submodule in the equivalent route as 40.

[0065] In some possible implementations, the mapping relationship can be a mapping table showing the correspondence between the positions in the branching route that is not selected as the reference object and the positions in the branching route that is selected as the reference object. Based on this mapping table, the moving sub-modules in the branching route that are not selected as the reference object can be mapped to the equivalent route, and position equivalence can be performed to obtain the equivalent position information of the moving sub-modules in the equivalent route.

[0066] In this embodiment, based on a preset mapping relationship, the moving submodules on the bifurcation route that are not selected as reference objects are mapped to the equivalent route corresponding to the bifurcation route, thereby obtaining the moving sub-equivalent position information of the moving submodules on the bifurcation route that are not selected as reference objects. The equivalent position information of the moving submodules can be determined through the mapping relationship, which improves the convenience of obtaining the moving sub-equivalent position information.

[0067] In some possible implementations, when using the merging route as the reference object, a reference point is first determined on the merging route. Then, based on the reference point corresponding to the merging route, an equivalent coordinate system is constructed along at least one corresponding branching route, and the real-time positions of the moving sub-modules in at least one branching route are positionally equivalent. Here, the reference point refers to a fixed physical or virtual point set on the merging route, and any point on the merging route can be selected as the reference point.

[0068] For example, please see Figure 9 , Figure 9 This is a schematic diagram of a scenario for constructing an equivalent coordinate system provided in an embodiment of this application. Figure 9 In the process, if any branching route L0 or L1 is continuous with the reference point M in the merging route L2-1, and their numerical changes are the same, then an equivalent coordinate system does not need to be constructed for this branching route; the real-time position of the moving submodule in the branching route is used as the equivalent position information of the moving submodule. When it is determined that an equivalent coordinate system needs to be constructed, the reference point can be used as the origin, and the equivalent coordinate system for the branching route can be constructed in the opposite direction of the moving submodule's movement, using the same scale. Figure 9 The equivalent coordinate system indicated by the middle arrow includes a system constructed with reference point M as the origin. Figure 8 The equivalent coordinate system L0'' of the bifurcation path L0 in the diagram, and the system constructed with the reference point M as the origin, are obtained. Figure 8 The equivalent coordinate system L1'' of the bifurcation path L1 is determined, and then the equivalent position information of the moving submodule YI in the equivalent coordinate system L0'' is determined based on the real-time position of the moving submodule YI. Similarly, the equivalent position information of the moving submodule YJ in the equivalent coordinate system L1'' is determined based on the real-time position of the moving submodule YJ. In the equivalent coordinate system constructed with the reference point M as the origin, the reference point M can be the maximum value of the coordinate system (it can be 0), and the equivalent position information of the moving submodule is negative.

[0069] Specifically, based on the reference point corresponding to the merging route, an equivalent coordinate system is constructed along at least one corresponding bifurcation route, including: Determine the compensation distance between the reference point and the bifurcation end near the merging module in the merging route; An equivalent coordinate system is constructed based on the compensation distance along at least one bifurcation route corresponding to the merging route.

[0070] It should be noted that when constructing the equivalent coordinate system using the reference point in the bifurcation route as the origin, if there is a distance between the reference point and the bifurcation end of the merging module, it is necessary to determine the compensation distance between the reference point and the bifurcation end of the merging module. This compensation distance represents the distance between the junction of the bifurcation route and the merging route and the reference point in the merging route. Then, based on this compensation distance, an equivalent coordinate system is constructed along the bifurcation route corresponding to the merging route.

[0071] For example, please refer to the above. Figure 9 ,exist Figure 9 The distance between the central reference point M and the bifurcation route and the merging route L2-1 is the compensation distance.

[0072] In this embodiment, by obtaining the compensation distance between the reference point and the docking point, the real-time position of the moving sub-module of the remaining bifurcation route is accurately converted into the equivalent position information of the moving sub-module in the equivalent coordinate system. Even when the reference point is not set at the bifurcation end of the merging module, the equivalent coordinate system of the bifurcation route can still be constructed through the compensation distance. This breaks the limitation that the construction of the equivalent coordinate system depends on the coincidence of the reference point and the bifurcation end, improves the applicability of the scenario for constructing the equivalent coordinate system, and can accurately determine the equivalent position information of the moving sub-module. This further improves the flexibility of the automated production system in the complex layout of linear motor equipment (such as the need to set the reference point of the merging route at the non-bifurcation end position as needed) for collaborative control.

[0073] Based on the above, by setting the bifurcation route as the reference object and / or the merging route as the reference object for position equivalence, the equivalent position information of the moving sub-modules in each bifurcation route can be obtained. This allows for adaptation to different scenario requirements, selection of appropriate reference objects, and obtaining the equivalent position information of the moving sub-modules.

[0074] In one embodiment, before the step "performing positional equivalence on the real-time position of the moving submodule located in a branch path not selected as a reference object based on the position value range of the branch path selected as the reference object" in the above embodiment, any one of the following is included: In the bifurcation routes that were not selected as reference objects, it was determined that there were moving sub-modules close to the merging route; In the bifurcation path that is not selected as the reference object, it is determined that there is an equivalent trigger point through which the moving submodule passes; wherein, the equivalent trigger point is set in the bifurcation path that is not selected as the reference object, and according to the movement direction of the moving submodule, the length of the equivalent trigger point along the bifurcation path that is not set as the reference object to the bifurcation end of the bifurcation path is not greater than the shorter of the bifurcation path that is set as the reference object and the bifurcation path that is not set as the reference object.

[0075] Specifically, when a branch line corresponding to the merging route is selected as the reference object, before performing position equivalence on the real-time positions of the moving sub-modules in the branch lines not selected as reference objects, it is determined whether there are moving sub-modules close to the merging route or whether there are moving sub-modules passing through equivalent trigger points in the branch lines not selected as reference objects. If either condition is met, the real-time positions of the moving sub-modules in the branch lines not selected as reference objects are positionally equivalent to obtain the equivalent position information of the moving sub-modules of the branch lines corresponding to the merging route.

[0076] In some possible implementations, the presence of moving submodules in a preset section of a branching route that was not selected as a reference object can be determined based on the real-time location information of the moving submodules. Specifically, observation points can be set in the merging route to obtain the observation distance between any moving submodule in the branching route that was not selected as a reference object and the observation point. If the observation distance is less than or equal to an observation threshold, it is determined that there is a moving submodule close to the merging route in the branching route that was not selected as a reference object; if the observation distance between all moving submodules in the branching route that was not selected as a reference object and the observation point is greater than the observation threshold, it is determined that there is no moving submodule close to the merging route in the branching route that was not selected as a reference object.

[0077] In some possible implementations, after a branch line is selected as the reference object from the branch lines corresponding to the merging route, an equivalent trigger point is determined from the branch lines corresponding to the merging route that are not selected as reference objects. In this case, according to the movement direction of the moving submodule, when there are multiple branch lines that are not selected as reference objects, the distance between the equivalent trigger point of each branch line and the end of the branch line is equal.

[0078] For example, see Figure 6 The equivalent trigger point is defined as the length of the bifurcation path L0 (not set as the reference object) to the bifurcation end of L0, where LEN1 is the overall length of the bifurcation path set as the reference object, and LEN2 is the overall length of the bifurcation path not set as the reference object. LEN0 is not greater than the shorter of LEN1 and LEN2, i.e., LEN0 ≤ min (LEN1, LEN2). By restricting the installation position of the equivalent trigger point in the bifurcation path not set as the reference object, the position equivalence of the moving sub-modules in the bifurcation path not set as the reference object can be triggered in a timely manner, avoiding the problem of invalid calculation and resource waste caused by premature position equivalence. At the same time, when the moving sub-module enters the merging route, there is sufficient time to perform anti-collision monitoring on the non-merging and merging modules based on the obtained moving sub-module equivalent position information.

[0079] Optionally, after determining the equivalent trigger point of the bifurcation route that is not set as a reference object, a sensor, such as an infrared sensor, is installed at the equivalent trigger point. Alternatively, a virtual point can be set at the bifurcation route position corresponding to the equivalent trigger point by software. This can determine whether there is a moving submodule passing through the equivalent trigger point in the bifurcation route that is not selected as a reference object.

[0080] In this embodiment of the application, by determining that there is a moving submodule preparing to enter the merging route in the bifurcation route, or determining that there is a moving submodule passing through an equivalent trigger point in the bifurcation route, the real-time position of the moving submodule in the bifurcation route that is not selected as the reference object is equivalently positioned, so as to obtain the moving submodule's equivalent position information in a timely manner and improve the accuracy of collision avoidance monitoring for non-merging modules and merging modules.

[0081] In one embodiment, before the step "performing positional equivalence of the real-time position of the moving submodule at the bifurcation path according to the same reference object" in the above embodiment, any one of the following is included: Among the at least two branching routes corresponding to the merging route, the longest branching route is selected as the reference object; Among the at least two branching routes corresponding to the merging route, the shortest branching route is selected as the reference object; Among the at least two bifurcation routes corresponding to the merging route, select the bifurcation route that shares the same boundary value with the merging route as the reference object; Among the at least two branching routes corresponding to the merging route, the branching route with the most active sub-modules is selected as the baseline object.

[0082] It should be understood that, before determining the equivalent position information of the moving submodules in the bifurcation routes that are not selected as reference objects, it is necessary to select a bifurcation route that can be used as a reference object from the bifurcation routes corresponding to the merging route, based on the same reference object.

[0083] In some possible implementations, for high-precision collision avoidance scenarios that require obtaining the equivalent position information of all moving sub-modules in the bifurcation route and then performing collision avoidance monitoring on the moving sub-modules in each bifurcation route, the longest bifurcation route is selected as the reference object among at least two bifurcation routes corresponding to the merging route. This allows the acquisition of the equivalent position information of all moving sub-modules in the bifurcation route for collision avoidance monitoring.

[0084] In some possible implementations, for scenarios where it is necessary to ensure the positional accuracy of the preset road segment interval and where the real-time performance of collision avoidance monitoring is high, the shortest branching route can be selected as the reference object from at least two branching routes corresponding to the merging route, thereby reducing the amount of calculation of the equivalent positional information of the calculation submodule.

[0085] In some possible implementations, for intensive transportation scenarios, the branching route with the most moving submodules can be selected as the baseline among at least two branching routes corresponding to the merging route. For example, see [link to relevant documentation]. Figure 5 Because of Figure 5In the diagram, there is one moving submodule for branching route L0 (moving submodule YG) and two moving submodules for branching route L1 (moving submodule YF and moving submodule YH). Therefore, branching route L1 is selected as the reference object.

[0086] In this embodiment of the application, a suitable branching route is selected as the reference object from the branching routes corresponding to the merging route according to different scenario requirements. This makes the selected reference object meet the scenario requirements, enriches the diversity of reference object selection, and improves the accuracy of reference object selection.

[0087] In one embodiment, the step "determining that a moving submodule is ready to enter the merging route" in the above embodiment is further refined, including any one of the following: Based on the first observation point on the branching route corresponding to the merging route, it is determined whether there is a moving sub-module preparing to enter the merging route; wherein, the first observation point is a virtual point set by software or a physical point implemented by a sensing module; Based on the second observation point on the merging route, it is determined whether there is a moving sub-module preparing to enter the merging route; wherein, the second observation point is a virtual point set by software or a physical point implemented by a sensing module.

[0088] It should be understood that the first observation point is set at the junction of the bifurcation route and the merging route. Furthermore, when an equivalent trigger point exists on the bifurcation route, depending on the direction of movement of the moving submodule, the equivalent trigger point may be located before or coincide with the first observation point.

[0089] In some possible implementations, the first observation point is a virtual point, i.e., a point set by software on the branching path. See also... Figure 10 , Figure 10 This is a schematic diagram of a scenario where the first observation point is a virtual point, as provided in an embodiment of this application. Figure 10 In this process, a virtual point (virtual point D1) is preset in both the branching route L0 and the merging route L1. The virtual point can be set to a coordinate 5 meters away from the junction of the branching route and the merging route. The real-time position of the moving submodule in the branching route is obtained, and when it is determined that the moving submodule has reached or exceeded the set coordinate threshold, it is determined that the moving submodule is ready to enter the merging route.

[0090] In some possible implementations, the first observation point is a physical point, which can be a physical point (physical point E1, physical point E2) on the physical path of the branching route where sensors (such as infrared sensors, lidar, etc.) are installed. See also... Figure 11 , Figure 11 This is a schematic diagram of a scenario where the first observation point is a physical point, as provided in an embodiment of this application. Figure 11In this system, a sensor is installed on each of the branching routes L0 and L1, with the physical point set at a coordinate 5 meters from the junction of the branching and merging routes. When the sensor detects the presence of a moving submodule, it determines that the moving submodule is preparing to enter the merging route.

[0091] The second observation point is set in the convergence route. It can be the midpoint of the convergence route. Similar to the first observation point, it can also be a virtual point or a physical point.

[0092] In some possible implementations, the first observation point is a virtual point, i.e., a virtual point is set on the merging route via software. See also... Figure 12 , Figure 12 This is a schematic diagram of a scenario where the second observation point is a virtual point, as provided in an embodiment of this application. Figure 12 In the process, a virtual point (virtual point D3) is set in the merging route L2-1 using software. Virtual point D3 can be set to a coordinate position 5 meters away from the junction of the branching route and the merging route. The real-time position of the moving submodule in the local coordinate system of the branching route is obtained, and the observation distance between the real-time position and the virtual point D3 is obtained. When the observation distance is less than or equal to the observation threshold, it is determined that there is a moving submodule in the branching route corresponding to the merging route that is preparing to enter the merging route, and it is judged that the moving submodule is preparing to enter the merging route.

[0093] In some possible implementations, the second observation point is a physical point, which is a point on the physical path of the branching route where sensors (such as visual cameras) are installed. See also Figure 13 , Figure 13 This is a schematic diagram of a scenario where the second observation point is a physical point, as provided in an embodiment of this application. Figure 13 In this process, by installing a sensor (physical point E3) in the merging route, the observation distance between the moving submodule in the bifurcation route and the sensor can be directly obtained, and then the moving submodule can be judged to be ready to enter the merging route based on the observation distance.

[0094] In this embodiment, by setting a first observation point (virtual or physical) in the branching route and a second observation point (virtual or physical) in the merging route, it is possible to determine whether the moving submodule is ready to enter the merging route in multiple ways, thus adapting to various scenario requirements.

[0095] In one embodiment, the step of "performing collision avoidance monitoring of merging modules and non-merging modules in the bifurcation route corresponding to the merging route based on the equivalent position information of the mover" in the above embodiment includes at least one of the following: When all branching routes corresponding to the merging route are set to be equivalent in position, after obtaining the equivalent position information of the mover, collision avoidance monitoring is performed on the merging module and the non-merging module. When the branching routes corresponding to the merging route are set to be positionally equivalent, the real-time position information of the moving parts of the moving parts in the branching routes that are not set to be positionally equivalent is obtained, and combined with the equivalent position information of the moving parts, collision avoidance monitoring is performed on the merging module and the non-merging module.

[0096] When each branching route corresponding to the merging route is pre-configured to require positional equivalence, the real-time positions of the moving sub-modules in all branching routes are uniformly converted into equivalent moving sub-position information obtained after positional equivalence according to the selected reference object (such as the longest branching route) and mapping relationship. At this time, the equivalent moving sub-position information of the moving sub-modules of all branching routes are equivalent moving sub-position information under the same system. Therefore, collision avoidance monitoring can be directly performed on the merging module and non-merging modules based on the equivalent moving sub-module information. By comparing the equivalent moving sub-position information of each moving sub-module, the distance between each moving sub-module is obtained, and it is determined whether there is a collision risk, ensuring that non-merging modules will not collide with the merging module during the merging process of the merging module.

[0097] In some possible implementations, when the merging route is used as the reference object, if only some moving sub-modules in the branching route are positionally equivalent to obtain the moving sub-module equivalent position information, then after determining the branching route corresponding to the obtained moving sub-module equivalent position information, it is also necessary to obtain the real-time position of the moving sub-modules that have not been positionally equivalent. Then, when performing collision avoidance monitoring on the merging module and non-merging module, the obtained real-time position is converted into moving sub-module equivalent position information, and then collision avoidance monitoring is performed on the merging module and non-merging module based on the moving sub-module equivalent position information of all moving sub-modules.

[0098] In this embodiment, before performing collision avoidance monitoring on the merging and non-merging modules in the branching routes corresponding to the merging route, the equivalent position information of the movers of all branching routes corresponding to the merging route is determined for collision avoidance monitoring. Furthermore, after determining the equivalent position information of the movers of some branching routes corresponding to the merging route, the real-time position information of the movers of the remaining branching routes corresponding to the merging route is obtained and combined with the equivalent position information of the movers to perform collision avoidance monitoring. By performing collision avoidance monitoring based on the position information of the mover modules in all branching routes, the accuracy of collision avoidance monitoring is improved.

[0099] In one embodiment, the step of "performing anti-collision monitoring of the merging module and non-merging module in the branching route corresponding to the merging route" in the above embodiment is further refined, including any one of the following: Based on the position coordinates corresponding to the equivalent position information of the mover, it is determined whether the merging module and the non-merging module are on the same bifurcation path, and collision avoidance monitoring is performed on the non-merging module and the merging module that are not on the same bifurcation path as the merging module. Based on the position coordinates corresponding to the equivalent position information of the mover, it is determined whether the merging module and the non-merging module are on the same bifurcation path, and collision avoidance monitoring is performed on the non-merging module and the merging module that are on the same bifurcation path as the merging module.

[0100] Specifically, after determining the position coordinate identifier corresponding to the equivalent position information of the mover, collision avoidance monitoring is performed on the merging module and non-merging module that are on the same branching route based on the position coordinate identifier, and / or collision avoidance monitoring is performed on the merging module and non-merging module that are not on the same branching route. The position coordinate identifier can be obtained from the equivalent position information of the mover after position equivalence. Based on the position coordinate identifier, it is possible to distinguish which branching route the mover module belongs to.

[0101] It should be understood that the equivalent position information of the moving module consists of two parts: one part is the position coordinate value (i.e., the equivalent coordinate value), and the other part is the position coordinate identifier (i.e., the equivalent coordinate identifier). Its specific form can be (position coordinate value, position coordinate identifier). Thus, the position coordinate identifier can be used to determine which branch path the moving module is on.

[0102] For example, please see Figure 5 Based on the position coordinate identifier L0 of the equivalent position information of the moving module, it is determined that the moving module YG is located on the branching route L0, which is different from the position coordinate identifier (L1) of the moving modules YF and YH. Thus, it can be determined that the moving module YG is on a different branching route from the moving modules YF and YH, while the moving modules YF and YH are on the same branching route. When the merging module (moving module YF) enters the merging route, collision avoidance monitoring is performed on the non-merging module (moving module YH) that is on the same branching route as the merging module, and / or collision avoidance monitoring is performed on the non-merging module (moving module YG) that is not on the same branching route as the merging module.

[0103] In this embodiment, collision avoidance monitoring is performed on non-merging modules that are on the same branching route as the merging module and / or non-merging modules that are not on the same branching route as the merging module by using the position coordinate identifier corresponding to the equivalent position information of the mover. This avoids collisions between the merging module and non-merging modules that are on / not on the same branching route when the merging module enters the merging route, thereby improving the safety of the merging module entering the merging route.

[0104] In one embodiment, the step "based on the obtained equivalent position information of the moving part, performing collision avoidance monitoring on the merging module and non-merging module in the branching route corresponding to the merging route" in the above embodiment is further refined, including any one of the following: Based on the equivalent position information of the mover, the equivalent distance information between the non-merging module and the merging module is determined. Based on the equivalent distance information, it is determined that there is a collision risk between the merging module and the non-merging module, and collision avoidance monitoring is performed on the merging module and the non-merging module. Based on the equivalent position information of the mover and combined with the preset anti-collision algorithm, it is determined that there is a collision risk between the non-merging module and the merging module, and anti-collision monitoring is performed on the merging module and the non-merging module.

[0105] In some possible implementations, after obtaining the equivalent position information of the moving sub-modules of the bifurcation routes corresponding to the merging route, it is determined that the real-time positions of the moving sub-modules on different bifurcation routes have been equivalent. Then, based on the equivalent position information of the moving sub-modules, it is determined whether there is a collision risk between the merging module and the non-merging module. If it is determined that there is a collision risk between the merging module and the non-merging module, collision avoidance monitoring is performed on the merging module and the non-merging module.

[0106] Furthermore, based on equivalent distance information, collision risks are identified between the merging module and non-merging modules, including: Obtain distance correction parameters, correct the equivalent distance information based on the distance correction parameters, and obtain the corrected equivalent distance information. The distance correction parameters include at least one of time correction parameters and position correction parameters. If the corrected equivalent distance information does not exceed the collision distance threshold, it is determined that the moving submodule has a collision risk.

[0107] Specifically, after obtaining the equivalent distance information between the non-merging module and the merging module, distance correction parameters are acquired, including at least one of time correction parameters and position correction parameters. The equivalent distance information is then corrected based on the distance correction parameters to obtain corrected equivalent distance information. If the corrected equivalent distance information does not exceed the collision distance threshold, it is determined that the moving submodule has a collision risk. The time correction parameter corrects for the "time difference" between obtaining the equivalent distance information and determining whether the moving submodule has a collision risk, which causes an equivalent distance deviation between the actual equivalent distance information of the merging module and the non-merging module during continuous movement and the obtained equivalent distance information. The position correction parameter corrects for equivalent distance deviations caused by positioning errors. The collision distance threshold is the distance value used to determine whether the moving submodule has a collision risk, and it can be set based on the speed information of the moving submodule.

[0108] Specifically, the distance correction parameter can be represented by ΔX, where ΔX = F(a, t, k), and a is the acceleration of the moving submodule that moves away from the merging path along the direction of motion of the moving submodule between two adjacent moving submodules, t is the time correction parameter, k is the distance correction parameter, and F represents the linear or nonlinear relationship between a, t, k and the distance correction parameter. The corrected equivalent distance information ΔL = the original equivalent distance information L - ΔX.

[0109] In this embodiment, the equivalent distance information is corrected based on the distance correction parameter, and then the collision risk between the merging module and the non-merging module is determined based on the corrected equivalent distance information. This reduces the equivalent distance deviation between the calculated equivalent distance information and the actual equivalent distance information, and improves the reliability of collision risk judgment based on equivalent distance information.

[0110] In some possible implementations, a pre-defined collision avoidance algorithm is used to determine whether there is a collision risk between non-importing modules and importing modules, specifically including at least one of the following: In the non-merging modules and merging modules that are adjacent to each other on the same branching route, or in the non-merging modules and merging modules that are adjacent to each other after being on different branching routes and having equivalent positions, the speed information of the first target module that is relatively far from the merging route and the first relative distance information between the first target module and its adjacent modules are obtained. Based on the speed information and the first relative distance information, it is determined that the first collision time between the first target module and its adjacent modules does not exceed the first anti-collision time threshold, and it is determined that there is a collision risk between the non-merging modules and the merging modules. In the case of non-merging modules and merging modules that are adjacent to each other on the same branching route, or in the case of non-merging modules and merging modules that are adjacent to each other after being on different branching routes but with equivalent positions, the relative speed information between the second target module and the adjacent modules of the second target module that are relatively far from the merging route, as well as the second relative distance information between the second target module and the adjacent modules of the second target module, are obtained. Based on the relative speed information and the second relative distance information, it is determined that the second collision time between the second target module and the adjacent modules of the second target module does not exceed the second anti-collision time threshold, and it is determined that there is a collision risk between the non-merging modules and the merging modules.

[0111] In some possible implementations, regardless of whether the merging module and the non-merging module are adjacent on the same branching route before position equivalence is performed, or whether they are adjacent after position equivalence is performed, the speed information of the non-merging module and the first relative distance information between the non-merging module and the merging module are obtained. Then, based on the quotient of the first relative distance information and the speed information, the first collision time between the merging module and the non-merging module is obtained. If the first collision time is less than or equal to a first collision avoidance time threshold, it is determined that there is a collision risk between the non-merging module and the merging module; if the first collision time is greater than the first collision avoidance time threshold, it is determined that there is no collision risk between the non-merging module and the merging module. It should be noted that, among the merging module and the non-merging module, since the merging module is the moving sub-module preparing to enter the merging route, it is closer to the merging route than the non-merging module. Therefore, the first target module that is relatively far from the merging route is the non-merging module.

[0112] For an example of the above implementation method, please refer to [link / reference]. Figure 5 ,exist Figure 5 In this process, moving submodule YF is the merging module, and moving submodule YH (non-merging module) and moving submodule YF are on the same branching route and are adjacent. The first relative distance information between moving submodule YH and moving submodule YF, and the speed information of moving submodule YH are obtained. If, based on the speed information and the first relative distance information, the first collision time between moving submodule YH and moving submodule YF is less than or equal to the first anti-collision time threshold, then it is determined that the non-merging module and the merging module have a collision risk. After performing positional equivalence on moving submodule YG in branching route L0, it is determined that moving submodule YG and moving submodule YF are adjacent. Similarly, the first relative distance information between moving submodule YG and moving submodule YF after positional equivalence, and the speed information of moving submodule YG are obtained. If, based on the speed information and the first relative distance information, the first collision time between moving submodule YH and moving submodule YF is less than or equal to the first anti-collision time threshold, then it is determined that the non-merging module and the merging module have a collision risk.

[0113] In some possible implementations, regardless of whether the merging module and the non-merging module are adjacent on the same branching route before position equivalence is performed, or whether they are adjacent after position equivalence is performed, the velocity information of the non-merging module and the merging module is obtained. Then, based on the difference in velocity information, the relative velocity information between the non-merging module and the merging module is obtained, and the second relative distance information between the non-merging module and the merging module is obtained. Then, based on the quotient of the second relative distance information and the relative velocity information, the second collision time between the merging module and the non-merging module is obtained. If the second collision time is less than or equal to the second collision avoidance time threshold, it is determined that there is a collision risk between the non-merging module and the merging module; if the second collision time is greater than the second collision avoidance time threshold, it is determined that there is no collision risk between the non-merging module and the merging module. Similarly, among the merging module and the non-merging module, since the merging module is the moving sub-module preparing to enter the merging route, it is closer to the merging route than the non-merging module. Therefore, the second target module that is relatively far from the merging route is the non-merging module.

[0114] Regarding the above implementation method, for example, please refer to... Figure 9 ,exist Figure 9 In this context, moving submodule YF is the merging module. Before position equivalence, moving submodule YH (a non-merging module) and moving submodule YF are on the same branching path and are adjacent. The second relative distance information and the relative velocity information between moving submodules YH and YF are obtained. If, based on the relative velocity information and the second relative distance information, the second collision time between moving submodules YH and YF is less than or equal to the second anti-collision time threshold, then it is determined that there is a collision risk between the merging module and the non-merging module. After equivalencing the position of the moving submodule YG in the bifurcation path L0, it is determined that moving submodule YG and moving submodule YF are adjacent. Similarly, the second relative distance information between moving submodules YG and YF after position equivalence, and the relative velocity information between moving submodules YH and YF are obtained. If, based on the relative velocity information and the second relative distance information, the second collision time between moving submodules YH and YF is determined to be less than or equal to the second anti-collision time threshold, then it is determined that there is a collision risk between the non-merging module and the merging module. By combining two preset anti-collision algorithms to determine whether there is a collision risk between non-merging modules and the merging module, the limitations of a single algorithm can be avoided, and the accuracy of determining whether there is a collision risk between non-merging modules and the merging module can be improved.

[0115] In this embodiment of the application, by combining equivalent distance information and / or a preset anti-collision algorithm, it is determined that there is a collision risk between the non-importing module and the importing module, and multiple options are provided to determine whether there is a collision risk between the importing module and the non-importing module.

[0116] Furthermore, collision avoidance monitoring is performed on the merging and non-merging modules in the branching routes corresponding to the merging route, including at least one of the following: When a collision risk is determined between a non-merging module and a merging module based on equivalent distance information or a collision avoidance algorithm, the motion state of at least one of the non-merging module and the merging module is adjusted. When a collision risk is determined between a non-merging module and a merging module based on equivalent distance information and a collision avoidance algorithm, the motion state of at least one of the non-merging module and the merging module is adjusted.

[0117] In some possible implementations, when a collision risk is determined between a non-importing module and an importing module based on equivalent distance information or a collision avoidance algorithm, the operating state of the importing module and / or the non-importing module is adjusted. The motion state refers to the motion parameters of the moving submodule, including its speed and acceleration. For example, when a collision risk is determined between a non-importing module and an importing module based on equivalent distance information or a collision avoidance algorithm, the speed of the importing module can be increased and / or the speed of the non-importing module can be decreased. In the embodiments of this application, if either equivalent distance information or a collision avoidance algorithm satisfies the determination of a collision risk between a non-importing module and an importing module, i.e., the motion state of the non-importing module and / or the importing module is adjusted, the motion states of the importing module and the non-importing module can be quickly adjusted to avoid collisions between them.

[0118] In some possible implementations, when a collision risk is determined between the non-importing module and the importing module based on equivalent distance information and a collision avoidance algorithm, the operating state of the importing module and / or the non-importing module is adjusted. The motion state refers to the motion parameters of the moving submodule, including its speed and acceleration. For example, when a collision risk is determined between the importing module and the non-importing module based on equivalent distance information and a collision avoidance algorithm, the speed of the importing module can be increased and / or the speed of the non-importing module can be decreased. In this embodiment, the motion state of the non-importing module and / or the importing module is adjusted only when both the equivalent distance information and the collision avoidance algorithm simultaneously determine a collision risk between the non-importing module and the importing module. This imposes higher requirements on the collision risk assessment, thereby improving the accuracy of determining whether a collision risk exists between the non-importing module and the importing module.

[0119] In one embodiment, the stator line includes a commutating stator module, which is used to switch the movement path of the moving sub-module; after determining that a moving sub-module is ready to enter the merging route in the above embodiment, the method further includes: Obtain the switching status information of the commutation stator module; If the switching status information indicates that the reversing stator module has not switched to the branch path where the merging module is located, the motion state of the merging module is controlled according to the switching prediction time of the reversing stator module.

[0120] Specifically, the reversing stator module is used to change the switching status information of the branching route and the merging route. When the switching status information of the reversing stator module corresponding to the merging module indicates that the reversing stator module has switched to the branching route where the merging module is located, it means that the branching route and the merging route are connected; when the switching status information of the reversing stator module corresponding to the merging module indicates that the reversing stator module has not switched to the branching route where the merging module is located, it means that the branching route and the merging route are not connected.

[0121] Optionally, status feedback sensors installed on each branch line can be used to monitor in real time whether the commutating stator module is connected to the branch line and confirm whether it has switched to the branch line where the merging module is located. Optionally, status feedback sensors can be installed at the connection point between each branch line and the merging line to determine the switching status information of the commutating stator module.

[0122] For example, if the merging module is on the branch line L1 and the reversing stator module is currently connected to the branch line L0, then if the switching indication information indicates that the reversing stator module has not switched to the branch line L0 where the merging module is located, then the merging module is controlled to decelerate or stop moving according to the remaining stored switching prediction duration of the switching module, so as to ensure that the reversing stator module is connected to the branch line L0 before the merging module moves to the merging line. In this embodiment, the motion state of the merging module is dynamically adjusted by combining the state of the commutation stator module and the switching time, so as to avoid collisions caused by the failure of the branching route and the merging route to connect, and to ensure the safety and accuracy of the merging module merging into the merging route.

[0123] This application also provides a control device, which will be described in detail below with reference to the accompanying drawings. It should be noted that... Figure 14 The control device in the above-mentioned related embodiments is used to execute the methods provided in the above-mentioned related embodiments. For ease of explanation, only the parts related to the embodiments of this application are shown. For specific technical details not disclosed, please refer to the content of the above-mentioned related embodiments.

[0124] Specifically, such as Figure 14 As shown, the control device 700 is used to control the moving submodule and the stator line. The stator line provides multiple movement paths for the moving submodule. These multiple movement paths include branching paths and merging paths, wherein at least two branching paths are used to connect with the same merging path. The control device includes: The information acquisition unit 701 is used to acquire the equivalent position information of the moving part of at least one branch route after determining that there is a moving part preparing to enter the merging route in the branch route corresponding to the merging route; wherein, the equivalent position information of the moving part is obtained by equivalence of the real-time position of the moving part in the branch route according to the same reference object, and the reference object comes from the merging route or a branch route corresponding to the merging route. The monitoring unit 702 is used to perform collision avoidance monitoring on the merging module and non-merging module in the bifurcation route corresponding to the merging route based on the acquired equivalent position information of the moving parts; wherein, the merging module is the moving part module that is preparing to enter the merging route, and the non-merging module is the moving part module around the merging module that is not preparing to enter the merging route.

[0125] Optionally, in some embodiments, the information acquisition unit 701 may be used for at least one of the following: When a bifurcation route corresponding to the merging route is selected as the reference object, the real-time position of the moving submodule in the bifurcation route that is not selected as the reference object is equivalent to the position value range of the selected bifurcation route. When the merging route is selected as the reference object, an equivalent coordinate system is constructed along at least one corresponding bifurcation route based on the reference point corresponding to the merging route, and the real-time position of the moving sub-module in at least one bifurcation route is positionally equivalent.

[0126] Optionally, in some embodiments, the information acquisition unit 701 may be used for: Determine the compensation distance between the reference point and the bifurcation end near the merging module in the merging route; An equivalent coordinate system is constructed based on the compensation distance along at least one bifurcation route corresponding to the merging route.

[0127] Optionally, in some embodiments, a docking point is provided at the junction of multiple branching routes and the same merging route, and the information acquisition unit 701 can be used for: Based on a preset mapping relationship, the moving sub-modules on the bifurcation route that are not selected as the reference object are mapped to the equivalent route corresponding to the bifurcation route, so as to determine the equivalent position information of the moving sub-module by the position of the moving sub-module in the equivalent route; wherein, the mapping relationship is obtained by aligning the bifurcation route that is not selected as the reference object and the equivalent route with the docking point, and the equivalent value range of the equivalent route is the whole set or a subset of the position value range of the bifurcation route that is selected as the reference object.

[0128] Optionally, in some embodiments, the information acquisition unit 701 may be used for at least one of the following: In the bifurcation routes that were not selected as reference objects, it was determined that there were moving sub-modules close to the merging route; In the bifurcation path that is not selected as the reference object, it is determined that there is an equivalent trigger point through which the moving submodule passes; wherein, the equivalent trigger point is set in the bifurcation path that is not selected as the reference object, and according to the movement direction of the moving submodule, the length of the equivalent trigger point along the bifurcation path that is not set as the reference object to the bifurcation end of the bifurcation path is not greater than the shorter of the bifurcation path that is set as the reference object and the bifurcation path that is not set as the reference object.

[0129] Optionally, in some embodiments, the information acquisition unit 701 may be used for at least one of the following: Among the at least two branching routes corresponding to the merging route, the longest branching route is selected as the reference object; Among the at least two branching routes corresponding to the merging route, the shortest branching route is selected as the reference object; Among the at least two bifurcation routes corresponding to the merging route, select the bifurcation route that shares the same boundary value with the merging route as the reference object; Among the at least two branching routes corresponding to the merging route, the branching route with the most active sub-modules is selected as the baseline object.

[0130] Optionally, in some embodiments, the information acquisition unit 701 may be used for at least one of the following: Based on the first observation point on the branching route corresponding to the merging route, it is determined whether there is a moving sub-module preparing to enter the merging route; wherein, the first observation point is a virtual point set by software or a physical point implemented by a sensing module; Based on the second observation point on the merging route, it is determined whether there is a moving sub-module preparing to enter the merging route; wherein, the second observation point is a virtual point set by software or a physical point implemented by a sensing module.

[0131] Optionally, in some embodiments, the monitoring unit 702 may be used for at least one of the following: When all branching routes corresponding to the merging route are set to be equivalent in position, after obtaining the equivalent position information of the mover, collision avoidance monitoring is performed on the merging module and the non-merging module. When the branching routes corresponding to the merging route are set to be positionally equivalent, the real-time position information of the moving parts of the moving parts in the branching routes that are not set to be positionally equivalent is obtained, and combined with the equivalent position information of the moving parts, collision avoidance monitoring is performed on the merging module and the non-merging module.

[0132] Optionally, in some embodiments, the monitoring unit 702 may be used for at least one of the following: Based on the position coordinates corresponding to the equivalent position information of the mover, it is determined whether the merging module and the non-merging module are on the same bifurcation path, and collision avoidance monitoring is performed on the non-merging module and the merging module that are not on the same bifurcation path as the merging module. Based on the position coordinates corresponding to the equivalent position information of the mover, it is determined whether the merging module and the non-merging module are on the same bifurcation path, and collision avoidance monitoring is performed on the non-merging module and the merging module that are on the same bifurcation path as the merging module.

[0133] Optionally, in some embodiments, the monitoring unit 702 may be used for at least one of the following: Based on the equivalent position information of the mover, the equivalent distance information between the non-merging module and the merging module is determined. Based on the equivalent distance information, it is determined that there is a collision risk between the merging module and the non-merging module, and collision avoidance monitoring is performed on the merging module and the non-merging module. Based on the equivalent position information of the mover and combined with the preset anti-collision algorithm, it is determined that there is a collision risk between the non-merging module and the merging module, and anti-collision monitoring is performed on the merging module and the non-merging module.

[0134] Optionally, in some embodiments, the monitoring unit 702 may be used for at least one of the following: Obtain distance correction parameters, correct the equivalent distance information based on the distance correction parameters, and obtain the corrected equivalent distance information. The distance correction parameters include at least one of time correction parameters and position correction parameters. If the corrected equivalent distance information does not exceed the collision distance threshold, it is determined that the moving submodule has a collision risk.

[0135] Optionally, in some embodiments, the monitoring unit 702 may be used for at least one of the following: In the non-merging modules and merging modules that are adjacent to each other on the same branching route, or in the non-merging modules and merging modules that are adjacent to each other after being on different branching routes and having equivalent positions, the speed information of the first target module that is relatively far from the merging route and the first relative distance information between the first target module and its adjacent modules are obtained. Based on the speed information and the first relative distance information, it is determined that the first collision time between the first target module and its adjacent modules does not exceed the first anti-collision time threshold, and it is determined that there is a collision risk between the non-merging modules and the merging modules. In the case of non-merging modules and merging modules that are adjacent to each other on the same branching route, or in the case of non-merging modules and merging modules that are adjacent to each other after being on different branching routes but with equivalent positions, the relative speed information between the second target module and the adjacent modules of the second target module that are relatively far from the merging route, as well as the second relative distance information between the second target module and the adjacent modules of the second target module, are obtained. Based on the relative speed information and the second relative distance information, it is determined that the second collision time between the second target module and the adjacent modules of the second target module does not exceed the second anti-collision time threshold, and it is determined that there is a collision risk between the non-merging modules and the merging modules.

[0136] Optionally, in some embodiments, the monitoring unit 702 may be used for at least one of the following: When a collision risk is determined between a non-merging module and a merging module based on equivalent distance information or a collision avoidance algorithm, the motion state of at least one of the non-merging module and the merging module is adjusted. When a collision risk is determined between a non-merging module and a merging module based on equivalent distance information and a collision avoidance algorithm, the motion state of at least one of the non-merging module and the merging module is adjusted.

[0137] Optionally, in some embodiments, the information acquisition unit 701 may be used for: Obtain the switching status information of the commutation stator module; If the switching status information indicates that the reversing stator module has not switched to the branch path where the merging module is located, the motion state of the merging module is controlled according to the switching prediction time of the reversing stator module.

[0138] This application also provides a linear motor device. Please refer to [link to relevant documentation]. Figure 15 , Figure 15 This is a schematic diagram of a linear motor device provided in an embodiment of this application. The linear motor device 800 includes multiple moving sub-modules 801, a stator line 802, and a control device 803. The stator line 802 provides multiple movement paths for the moving sub-modules 801. The multiple movement paths include branching paths and merging paths, wherein at least two branching paths are used to connect with the same merging path. The control device 803 includes a processor 8031 ​​and a memory 8032. The processor 8031 ​​and the memory 8032 are electrically connected.

[0139] The processor 8031 ​​is the control center of the linear motor device 800. It connects various parts of the linear motor device 800 through various interfaces and lines. By running or calling computer programs stored in the memory 8032 and calling data stored in the memory 8032, it executes various functions of the linear motor device 800 and processes data, thereby performing overall monitoring of the linear motor device 800.

[0140] The memory 8032 can be used to store software programs and modules. The processor 8031 ​​executes various functional applications and controls the mobile module 801 by running the computer programs and modules stored in the memory 8032. The memory 8032 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the linear motor device 800, etc.

[0141] Furthermore, the memory 8032 may include high-speed random access memory 8032, and may also include non-volatile memory 8032, such as at least one disk storage device 8032, flash memory device, or other volatile solid-state memory 8032. Accordingly, the memory 8032 may also include a memory controller 8032 to provide the processor 8031 ​​with access to the memory 8032.

[0142] In this embodiment, the processor 8031 ​​loads the instructions corresponding to the processes of one or more computer programs into the memory 8032 according to the following steps, and the processor 8031 ​​runs the computer programs stored in the memory 8032 to realize the mobile module control method provided in the above embodiment.

[0143] The effects achievable in this embodiment can be found in the relevant embodiments of the control method for the linear motor equipment described above, and will not be repeated here.

[0144] This application also provides an automated production system. Please refer to [link to relevant documentation]. Figure 16 , Figure 16 This is a schematic diagram of the structure of an automated production system provided in an embodiment of this application. The automated production system 900 includes multiple moving sub-modules 901, a stator line 902, a control device 903, and at least one operating device 904. The stator line 902 is used to provide multiple movement routes for the moving sub-modules 901. The multiple movement routes include branching routes and merging routes, wherein at least two branching routes are used to connect with the same merging route. The operating device is used to perform at least one type of process among loading, unloading, and processing. The control device 903 includes a processor 9031 and a memory 9032. The processor 9031 and the memory 9032 are electrically connected.

[0145] The processor 9031 is the control center of the automated production system 900. It connects various parts of the automated production system 900 through various interfaces and lines. By running or calling computer programs stored in the memory 9032 and calling data stored in the memory 9032, it executes various functions of the automated production system 900 and processes data, thereby performing overall monitoring of the automated production system 900.

[0146] The memory 9032 can be used to store software programs and modules. The processor 9031 executes various functional applications and controls the mobile module 901 by running the computer programs and modules stored in the memory 9032. The memory 9032 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the automated production system 900, etc.

[0147] Furthermore, the memory 9032 may include high-speed random access memory 9032, and may also include non-volatile memory 9032, such as at least one disk storage device 9032, flash memory device, or other volatile solid-state memory 9032. Accordingly, the memory 9032 may also include a memory controller 9032 to provide the processor 9031 with access to the memory 9032.

[0148] In this embodiment, the processor 9031 loads the instructions corresponding to the processes of one or more computer programs into the memory 9032 according to the following steps, and the processor 9031 runs the computer programs stored in the memory 9032 to realize the mobile module control method provided in the above embodiment.

[0149] The effects achievable in this embodiment can be found in the relevant embodiments of the above-described mobile module control method, and will not be repeated here.

[0150] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement the mobile module control method provided in the above embodiment.

[0151] The storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0152] Since the instructions stored in the storage medium can execute the steps in any of the mobile module control methods provided in the embodiments of this application, the beneficial effects that any of the mobile module control methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0153] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0154] For the control device in the embodiments of this application, its functional modules can be integrated into a single processing chip, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0155] The mobile module control method, apparatus, device, system, and storage medium provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The above embodiments are only for the purpose of helping to understand the methods and core ideas of this application; at the same time, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for a linear motor device, characterized in that, The linear motor device includes multiple moving sub-modules and a stator line. The stator line provides multiple movement paths for the moving sub-modules. These multiple movement paths include branching paths and merging paths, wherein at least two of the branching paths are used to connect with the same merging path. The method includes: In the bifurcation routes corresponding to the merging route, after determining that there is a moving sub-module preparing to enter the merging route, the equivalent position information of the moving sub-module of at least one bifurcation route is obtained; wherein, the equivalent position information of the moving sub-module is obtained by performing position equivalence on the real-time position of the moving sub-module in the bifurcation route according to the same reference object, and the reference object comes from the merging route or a bifurcation route corresponding to the merging route. Based on the obtained equivalent position information of the moving parts, collision avoidance monitoring is performed on the merging modules and non-merging modules in the branching routes corresponding to the merging route; wherein, the merging module is the moving part module that is preparing to enter the merging route, and the non-merging module is the moving part module around the merging module that is not preparing to enter the merging route.

2. The method according to claim 1, characterized in that, The step of equivalencing the real-time position of the moving submodule located on the bifurcation path according to the same reference object includes any one of the following: When a branching route corresponding to the merging route is selected as the reference object, the real-time position of the moving sub-module in the branching route that is not selected as the reference object is equivalent to the position value range of the branching route selected as the reference object. When the merging route is selected as the reference object, an equivalent coordinate system is constructed along at least one corresponding branching route based on the reference point corresponding to the merging route, and the real-time position of the moving sub-module in at least one branching route is positionally equivalent.

3. The method according to claim 2, characterized in that, The construction of an equivalent coordinate system based on the reference point corresponding to the merging route and along at least one corresponding branching route includes: Determine the compensation distance between the reference point and the bifurcation end of the merging route near the merging module; An equivalent coordinate system is constructed based on the compensation distance along at least one branching route corresponding to the merging route.

4. The method according to claim 2, characterized in that, Multiple branching routes and the same merging route are connected by connection points; the real-time position equivalence of the moving submodule located in a branching route not selected as the reference object is performed based on the position value range of the branching route selected as the reference object, including: Based on a preset mapping relationship, the moving sub-modules on the bifurcation route that are not selected as the reference object are mapped to the equivalent route corresponding to the bifurcation route, so as to determine the equivalent position information of the moving sub-module through its position in the equivalent route; wherein, the mapping relationship is obtained by aligning the bifurcation route that is not selected as the reference object and the equivalent route with the docking point, and the equivalent value range of the equivalent route is the entire set or a subset of the position value range of the bifurcation route that is selected as the reference object.

5. The method according to claim 2, characterized in that, Before performing positional equivalence on the real-time position of the moving submodule located on a branch path not selected as the reference object, based on the position value range of the branch path selected as the reference object, any one of the following is included: In the bifurcation routes that were not selected as the reference object, it was determined that there was a moving submodule close to the merging route; In the bifurcation path that is not selected as the reference object, it is determined that there is an equivalent trigger point through which the moving submodule passes; wherein, the equivalent trigger point is set on the bifurcation path that is not selected as the reference object, and according to the movement direction of the moving submodule, the length of the equivalent trigger point along the bifurcation path that is not set as the reference object to the bifurcation end of the bifurcation path is not greater than the shorter of the bifurcation path that is set as the reference object and the bifurcation path that is not set as the reference object.

6. The method according to claim 1, characterized in that, Before equivalencing the real-time position of the moving submodule at the bifurcation path to the same reference object, it also includes any one of the following: Among the at least two branching routes corresponding to the merging route, the longest branching route is selected as the reference object; Among the at least two branching routes corresponding to the merging route, the branching route with the shortest length is selected as the reference object; Among the at least two branching routes corresponding to the merging route, one branching route that shares the same boundary value with the merging route is selected as the reference object; Among the at least two branching routes corresponding to the merging route, the branching route with the largest number of moving sub-modules is selected as the reference object.

7. The method according to claim 1, characterized in that, The determination that a moving submodule is ready to enter the merging route includes any one of the following: Based on the first observation point of the branching route corresponding to the merging route, it is determined whether there is a moving sub-module preparing to enter the merging route; wherein, the first observation point is a virtual point set by software or a physical point implemented by a sensing module; Based on the second observation point on the merging route, it is determined whether there is a moving submodule preparing to enter the merging route; wherein, the second observation point is a virtual point set by software or a physical point implemented by a sensing module.

8. The method according to claim 1, characterized in that, Based on the obtained equivalent position information of the moving part, the collision avoidance monitoring of the merging module and non-merging module in the branching route corresponding to the merging route includes at least one of the following: When all branching routes corresponding to the merging route are set to be positionally equivalent, after obtaining the equivalent position information of the mover, collision avoidance monitoring is performed on the merging module and the non-merging module. When the branching routes corresponding to the merging route are set to be positionally equivalent, the real-time position information of the moving parts of the moving parts in the branching routes that are not set to be positionally equivalent is obtained, and combined with the equivalent position information of the moving parts, to perform anti-collision monitoring on the merging module and the non-merging module.

9. The method according to claim 1, characterized in that, The collision avoidance monitoring of the merging and non-merging modules in the branching routes corresponding to the merging route includes at least one of the following: Based on the position coordinate identifier corresponding to the equivalent position information of the mover, it is determined whether the merging module and the non-merging module are on the same branching path, and collision avoidance monitoring is performed on the non-merging module and the merging module that are not on the same branching path as the merging module. Based on the position coordinate identifier corresponding to the equivalent position information of the mover, it is determined whether the merging module and the non-merging module are on the same branching path, and collision avoidance monitoring is performed on the non-merging module and the merging module that are on the same branching path as the merging module.

10. The method according to claim 1, characterized in that, Based on the obtained equivalent position information of the moving part, the collision avoidance monitoring of the merging module and non-merging module in the branching route corresponding to the merging route includes at least one of the following: Based on the equivalent position information of the moving part, the equivalent distance information between the non-merging module and the merging module is determined. Based on the equivalent distance information, it is determined that there is a collision risk between the merging module and the non-merging module, and anti-collision monitoring is performed on the merging module and the non-merging module. Based on the equivalent position information of the moving part and combined with the preset anti-collision algorithm, it is determined that there is a collision risk between the non-merging module and the merging module, and anti-collision monitoring is performed on the merging module and the non-merging module.

11. The method according to claim 10, characterized in that, The determination of a collision risk between the merging module and the non-merging module based on the equivalent distance information includes: Obtain distance correction parameters, and correct the equivalent distance information based on the distance correction parameters to obtain corrected equivalent distance information. The distance correction parameters include at least one of time correction parameters and position correction parameters. If the corrected equivalent distance information does not exceed the collision distance threshold, it is determined that the moving submodule has a collision risk.

12. The method according to claim 10, characterized in that, The method, combined with a pre-set anti-collision algorithm, determines that there is a collision risk between the non-importing module and the importing module, including at least one of the following: In the case of non-merging modules and merging modules that are adjacent to each other on the same branching route, or in the case of non-merging modules and merging modules that are adjacent to each other after being on different branching routes but with equivalent positions, the speed information of the first target module that is relatively far from the merging route and the first relative distance information between the first target module and its adjacent modules are obtained. Based on the speed information and the first relative distance information, it is determined that the first collision time between the first target module and its adjacent modules does not exceed the first anti-collision time threshold, and it is determined that there is a collision risk between the non-merging module and the merging module. In the case of non-merging modules and merging modules that are adjacent to each other on the same branching route, or in the case of non-merging modules and merging modules that are adjacent to each other after being on different branching routes but with equivalent positions, the relative speed information between the second target module and its adjacent modules that are relatively far from the merging route, and the second relative distance information between the second target module and its adjacent modules are obtained. Based on the relative speed information and the second relative distance information, it is determined that the second collision time between the second target module and its adjacent modules does not exceed the second anti-collision time threshold, and it is determined that there is a collision risk between the non-merging module and the merging module.

13. The method according to claim 10, characterized in that, The collision avoidance monitoring of the merging and non-merging modules in the branching routes corresponding to the merging route includes at least one of the following: When it is determined, based on the equivalent distance information or the collision avoidance algorithm, that there is a collision risk between the non-merging module and the merging module, the motion state of at least one of the non-merging module and the merging module is adjusted; When a collision risk is determined between the non-merging module and the merging module based on the equivalent distance information and the collision avoidance algorithm, the motion state of at least one of the non-merging module and the merging module is adjusted.

14. The method according to claim 1, characterized in that, The stator line includes a commutating stator module, which is used to switch the movement path of the moving sub-module; after determining that a moving sub-module is ready to enter the merging path, the method further includes: Obtain the switching status information of the commutation stator module; If the switching status information indicates that the commutator stator module has not switched to the branch path where the merging module is located, then the motion state of the merging module is controlled according to the switching prediction duration of the commutator stator module.

15. A control device for a linear motor, characterized in that, The control device is used to control the moving submodule and the stator line. The stator line is used to provide multiple movement paths for the moving submodule. The multiple movement paths include branching paths and merging paths, wherein at least two of the branching paths are used to connect with the same merging path. The control device includes: The information acquisition unit is used to, after determining that there is a moving sub-module preparing to enter the merging route in the branching route corresponding to the merging route, acquire at least one equivalent position information of the moving sub-module of the branching route; wherein, the equivalent position information of the moving sub-module is obtained by performing position equivalence on the real-time position of the moving sub-module in the branching route according to the same reference object, and the reference object comes from the merging route or a branching route corresponding to the merging route. The monitoring unit is used to perform collision avoidance monitoring on the merging module and non-merging module in the branching route corresponding to the merging route based on the obtained equivalent position information of the moving part; wherein, the merging module is the moving part module that is preparing to enter the merging route, and the non-merging module is the moving part module around the merging module that is not preparing to enter the merging route.

16. A linear motor device, characterized in that, The linear motor device includes multiple moving sub-modules, a stator line, and a control device. The stator line is used to provide multiple movement paths for the moving sub-modules. The multiple movement paths include branching paths and merging paths, wherein at least two of the branching paths are used to connect with the same merging path. The control device includes: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the linear motor device to perform the method as described in any one of claims 1 to 14.

17. An automated production system, characterized in that, The automated production system includes multiple moving sub-modules, a stator line, a control device, and at least one operating device. The stator line provides multiple movement routes for the moving sub-modules. The multiple movement routes include branching routes and merging routes. At least two of the branching routes are used to connect with the same merging route. The operating device is used to perform at least one type of process among loading, unloading, and processing. The control device includes: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the automated production system to perform the method as described in any one of claims 1 to 14.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed, implements the method as described in any one of claims 1 to 14.

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