Control method and device of mover module, and automatic transportation system

Abstract

The application discloses a mover module control method and device and an automatic transportation system. It relates to the technical field of control. The method comprises the following steps: controlling a plurality of mover modules to move along a stator track, the stator track comprising at least one straight stator segment and at least one arc stator segment; after two mover modules cooperating to hold an object are ready to enter the arc stator segment from the straight stator segment, performing speed control on at least one of the two mover modules cooperating to hold the object, so that when the at least one of the two mover modules cooperating to hold the object is located in the arc stator segment, the actual holding distance between the two mover modules is controlled to be within a distance allowable range, wherein the distance allowable range is used to indicate a range in which the actual holding distance is allowed to change when the target object cooperatively transported by the two mover modules safely passes through the arc stator segment. Through the application, the technical problem of object transportation risk of the two mover modules in the arc stator module in the related art is solved.

Description

Technical Field

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

[0002] In automated transportation scenarios, two moving modules can be controlled to cooperate in holding an object and moving along a straight stator module. However, due to the geometric characteristics of the curved stator module, the moving module moves in a curved motion when moving along the curved stator module. The moving module itself will deflect at an angle. This curved motion causes the holding distance between the two moving modules to change, which can easily lead to adverse situations such as objects falling or being damaged, increasing the risk of object transportation between the two moving modules and the curved stator module.

[0003] There is currently no effective solution to the technical problem of transporting objects between two moving submodules in the arc-shaped stator module in related technologies. Summary of the Invention

[0004] The main objective of this application is to provide a control method and device for a moving submodule and an automatic transportation system to solve the technical problem of the risk of transporting objects between two moving submodules in an arc-shaped stator module in related technologies.

[0005] To achieve the above objectives, according to one aspect of this application, a control method for moving submodules is provided. The method includes: controlling a plurality of moving submodules to move along a stator track, the stator track including at least one straight stator segment and at least one curved stator segment, the straight stator segment including at least one straight stator module, and the curved stator segment including at least one curved stator module; after two moving submodules cooperating in carrying an object are about to enter the curved stator segment from the straight stator segment, relative speed control is performed on at least one of the two moving submodules cooperating in carrying the object, so that when at least one of the two moving submodules cooperating in carrying the object is located in the curved stator segment, the actual carrying distance between the two moving submodules is controlled within a permissible distance range, wherein the permissible distance range indicates the range within which the actual carrying distance is allowed to change when a target object being transported by the two moving submodules cooperatingly passes through the curved stator segment.

[0006] To achieve the above objectives, according to another aspect of this application, a control device for a moving submodule is provided. The device includes: a memory storing an executable program; and a processor for running the program, wherein the program executes the control method for the moving submodule described in any one of the preceding claims.

[0007] To achieve the above objectives, according to another aspect of this application, an automated transport system is provided, comprising: a stator track, wherein the stator track includes at least one straight stator segment and at least one curved stator segment, the straight stator segment including at least one straight stator module, and the curved stator segment including at least one curved stator module moving sub-module, wherein the moving sub-module moves along the stator track; and a control device, wherein the control device is used to control two moving sub-modules to acquire a target object in the straight stator segment, and after the two moving sub-modules are ready to move from the straight stator segment into the curved stator segment, to perform relative speed control on at least one of the two moving sub-modules cooperating in carrying the object, so that when at least one of the two moving sub-modules cooperating in carrying the object is located in the curved stator segment, the actual carrying distance between the two moving sub-modules is controlled within a distance allowable range, wherein the distance allowable range is used to indicate the range of allowable changes in the actual carrying distance when the target object being transported by the two moving sub-modules cooperating in safely passes through the curved stator segment.

[0008] In this embodiment, after the two moving sub-modules cooperating in carrying the object are about to enter the curved stator section from the straight stator section, relative speed control is applied to at least one of the moving sub-modules. This ensures that after at least one of the moving sub-modules enters the curved stator section, the actual carrying distance between the two moving sub-modules remains within the allowable range after the moving sub-modules themselves undergo angular deflection. This improves the controllability of the carrying distance change and ensures that the actual carrying distance between the two moving sub-modules allows the target object to safely pass through the curved stator section, avoiding adverse situations such as the target object falling or being damaged. This helps reduce the risk of object transportation by the two moving sub-modules in the curved stator section and improves the safety and reliability of the two moving sub-modules cooperating in transporting objects in the curved stator section. Attached Figure Description

[0009] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0010] Figure 1 This is a schematic diagram of an automated transportation scenario in related technologies;

[0011] Figure 2 This is a flowchart of a control method for a moving submodule provided according to an embodiment of this application;

[0012] Figure 3 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 1 ;

[0013] Figure 4 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 2 ;

[0014] Figure 5 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 3 ;

[0015] Figure 6 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 4 ;

[0016] Figure 7 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 5 ;

[0017] Figure 8 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 6 ;

[0018] Figure 9 This is a schematic diagram of the control method for the moving submodule provided in the embodiments of this application. Figure 7 ;

[0019] Figure 10 This is a schematic diagram of the moving submodule and the arc stator module provided according to an embodiment of this application;

[0020] Figure 11 This is a schematic diagram of the control device for the moving submodule provided according to an embodiment of this application;

[0021] Figure 12 This is a structural block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] Currently, in automated transportation scenarios, the moving submodule can carry objects along the stator track to transport them to the target location. Due to the geometric characteristics of the curved stator module, the moving submodule moves along a curved path, causing angular deflection. This curved motion leads to changes in the holding distance between the two moving submodules, which can easily cause objects to fall or be damaged, increasing the risk of object transportation between the two moving submodules on the curved stator module.

[0025] To better understand the above technical issues, the following explanation is provided in conjunction with the accompanying drawings. Figure 1 As shown, Figure 1 This is a schematic diagram of an automated transportation scenario within related technologies. For example... Figure 1 As shown, the stator track 11 includes a linear stator module 110 and a first arc stator module 111. The linear stator module 110 contains two moving sub-modules; according to the direction of movement, the moving sub-module in front is the first moving sub-module 121, and the moving sub-module behind is the second moving sub-module 122. The first moving sub-module 121 is equipped with a first holding mechanism 141, and the second moving sub-module 122 is equipped with a second holding mechanism 142. The first holding mechanism 141 of the first moving sub-module 121 and the second holding mechanism 142 of the second moving sub-module 122 cooperate to hold the target object O-1. When the linear stator module 110 moves, the holding distance between the first holding mechanism 141 and the second holding mechanism 142 remains essentially constant, achieving stable cooperative transportation. However, when the first moving submodule 121 enters the first arc-shaped stator module 111, due to the arc geometry, the first moving submodule 121 will deflect at an angle, thereby causing the first holding mechanism 141 to deflect at an angle. The holding distance between the first holding mechanism 141 and the second holding mechanism 142 increases, causing the target object O-1 to fall off. Figure 1 As shown in (a). Alternatively, the holding distance between the first holding mechanism 141 and the second holding mechanism 142 increases, causing damage to the target object O-1, such as... Figure 1 As shown in (b).

[0026] To address the aforementioned technical problems, this application provides the following: Figure 2 The control method of the moving submodule is shown. Figure 2 This is a flowchart of a control method for a moving submodule provided according to an embodiment of this application. The control method for the moving submodule includes:

[0027] Step S201: Control multiple moving sub-modules to move along the stator track. The stator track includes at least one straight stator segment and at least one curved stator segment. The straight stator segment includes at least one straight stator module, and the curved stator segment includes at least one curved stator module.

[0028] Optionally, the stator track is assembled from multiple stator modules, including linear stator modules and curved stator modules. At least one linear stator module forms a linear stator segment, and at least one curved stator module forms a curved stator segment. The mover module and stator modules are fitted with a gap, and one of the mover and stator modules includes a permanent magnet, while the other includes an energized coil. Based on the current driving parameters and the mover motion parameters, the coil is dynamically selected, and the magnitude and direction of the current in the energized coil are dynamically adjusted. After the coil is energized, it generates a changing magnetic field. The changing magnetic field interacts with the permanent magnet to exert a force on the mover, thereby driving the mover module to move along the stator track.

[0029] In a plurality of moving sub-modules, at least two moving sub-modules are respectively equipped with a holding mechanism, and the holding mechanisms of adjacent moving sub-modules can cooperate to hold the same target object, thereby realizing the collaborative transportation of the same target object by the two moving sub-modules. It should be understood that the scenario of two moving sub-modules collaboratively transporting the same target object can specifically be: a scenario where only two moving sub-modules transport the same target object, for example, moving sub-module 1 and moving sub-module 2 transport target object A, and moving sub-module 3 and moving sub-module 4 transport target object B; or, a scenario where two moving sub-modules collaboratively transport the same target object can specifically be: a scenario where two adjacent moving sub-modules among at least three moving sub-modules transport the same target object, for example, among moving sub-modules 1, 2, and 3, adjacent moving sub-modules 1 and 2 transport target object A, and adjacent moving sub-modules 2 and 3 transport target object B. This application embodiment does not specifically limit the scenario of two moving sub-modules collaboratively transporting the same target object.

[0030] Step S202: After the two moving sub-modules cooperating in carrying the object are about to move from the straight stator section into the curved stator section, relative speed control is performed on at least one of the two moving sub-modules cooperating in carrying the object, so that when at least one of the two moving sub-modules cooperating in carrying the object is located in the curved stator section, the actual carrying distance between the two moving sub-modules is controlled within the allowable distance range. The allowable distance range is used to indicate the range of allowable changes in the actual carrying distance when the target object being transported by the two moving sub-modules cooperating in safely passes through the curved stator section.

[0031] Optionally, by performing position detection on multiple moving sub-modules, it is possible to determine whether there are two moving sub-modules that are cooperating in carrying an object and preparing to move from the straight stator segment into the curved stator segment.

[0032] In some embodiments, the actual position information of each moving submodule can be acquired in real time using position detection modules (such as magnetic grating sensors, optical grating sensors, etc.) distributed along the stator track axis. In other embodiments, the actual position information of each moving submodule can be acquired in real time using position detection modules (such as image sensors, infrared sensors, etc.) spatially distributed around the stator track.

[0033] In some embodiments, after obtaining the actual position information of each of the two moving sub-modules of the cooperating object, it is determined that the two moving sub-modules of the cooperating object are ready to move from the straight stator segment into the curved stator segment when the actual distance between the actual position of the first moving sub-module and the first end of the curved stator segment used to meet the moving sub-module meets a first distance condition (e.g., less than or equal to a preset first distance threshold). The first end of the curved stator segment can be determined based on the end of the first curved stator segment that meets the moving sub-module and is relatively close to it.

[0034] In some embodiments, after determining that the two moving sub-modules cooperating in carrying the object are ready to move from the straight stator segment into the curved stator segment, at least one moving sub-module is selected from the two moving sub-modules cooperating in carrying the object as a speed control object, so as to perform relative speed control on the moving sub-module selected as the speed control object.

[0035] In some embodiments, based on preset cornering speed control parameters, at least one moving submodule is selected as the speed control object from the two moving submodules of the cooperating load, so as to perform relative speed control on the selected moving submodule. That is, the moving submodule for relative speed control is determined by the cornering speed control parameters. For example, the cornering speed control parameters may indicate that the first (or second) moving submodule of the two moving submodules of the cooperating load is the speed control object, thereby performing relative speed control on the first (or second) moving submodule of the two moving submodules of the cooperating load. As another example, the cornering speed control parameters may indicate that both moving submodules of the cooperating load are speed control objects, thereby performing relative speed control on both moving submodules of the cooperating load.

[0036] In other embodiments, after determining that the two moving sub-modules cooperating in carrying the load are preparing to enter the curved stator section from the straight stator section, at least one moving sub-module is selected as the speed control object from the two moving sub-modules cooperating in carrying the load. Based on the speed control object indicated by the selection result, the corresponding cornering speed control parameters are obtained to perform corresponding relative speed control on the speed control object. For example, when selecting the preceding (or following) moving sub-module from the two moving sub-modules cooperating in carrying the load as the speed control object, the cornering speed control parameters corresponding to the preceding (or following) moving sub-module are obtained, thereby performing corresponding relative speed control on the preceding (or following) moving sub-module. As another example, when selecting both the preceding and following moving sub-modules from the two moving sub-modules cooperating in carrying the load as speed control objects, the cornering speed control parameters corresponding to the preceding and following moving sub-modules are obtained, thereby performing corresponding relative speed control on the preceding and following moving sub-modules respectively.

[0037] In some embodiments, when at least one of the two moving sub-modules of the cooperating holding is located in the arc stator segment, the speed control object can be controlled by at least one of relative acceleration and relative deceleration. Optionally, the speed control object can also be controlled by relative uniform speed.

[0038] In some embodiments, when at least one of the two moving submodules of the cooperating holding is located during the arc stator segment, and when there are two speed control objects, the two speed control objects can be synchronously or asynchronously controlled.

[0039] In some embodiments, during the period when at least one of the two moving submodules of the cooperating object is located in the arc stator segment, different speed control objects may exist in different time periods. For example, during the period when at least one of the two moving submodules of the cooperating object is located in the arc stator segment, one of the moving submodules of the cooperating object is the speed control object in time period TA, and the other moving submodule of the cooperating object is the speed control object in time period TB.

[0040] It should be understood that relative speed control refers to the speed control of a moving submodule relative to another moving submodule. If there are two speed control objects in synchronous control, then the two speed control objects control each other's speeds respectively; in other words, synchronous control allows the two speed control objects to move towards each other or in opposite directions. If there is a moving submodule that is not selected as a speed control object, its speed control is not affected by the speed of the other moving submodule; that is, the moving submodule that is not selected as a speed control object performs independent speed control.

[0041] In some embodiments, the actual holding distance between the two moving submodules is determined by the actual distance between the holding mechanisms assembled in each of the two moving submodules. Optionally, reference points are selected on the holding mechanisms of the two moving submodules, and the actual distance between the two reference points is used to characterize the actual holding distance between the two moving submodules. The reference points are located on the surface of the holding mechanism that contacts the target object, or on an adjacent surface of the surface of the holding mechanism that contacts the target object, or on a surface of the holding mechanism parallel to the direction of movement.

[0042] In some embodiments, such as Figure 3 The schematic diagram shows that the stator track 11 includes a straight stator segment and an arc stator segment. The straight stator segment includes a straight stator module 110, and the arc stator segment includes a first arc stator module 111 and a second arc stator module 112. The straight stator module 110 contains two moving sub-modules. Based on the direction of movement, the moving sub-module in front is the first moving sub-module 121, and the moving sub-module behind is the second moving sub-module 122. The first moving sub-module 121 has a first holding mechanism 141, and the second moving sub-module 122 has a second holding mechanism 142. The first holding mechanism 141 of the first moving sub-module 121 and the second holding mechanism 142 of the second moving sub-module 122 cooperate to hold the target object O-1. The first moving sub-module 121 and the second moving sub-module 122, which cooperate to hold the object, move from the straight stator segment to the arc stator segment. Figure 3As shown, a first reference point 1301 can be set in the first holding mechanism 141 and a second reference point 1302 can be set in the second holding mechanism 142. The actual distance d between the first reference point 1301 and the second reference point 1302 is the actual holding distance between the first moving submodule 121 and the second moving submodule 122.

[0043] In this embodiment, the allowable distance range indicates the range of permissible changes in the actual carrying distance when a target object, transported collaboratively by two moving submodules, safely passes through an arc-shaped stator segment. One boundary value of the allowable distance range represents the upper limit of the permissible change in the actual carrying distance, and the other boundary value represents the lower limit. Specifically, the actual carrying distance of the target object safely passing through the arc-shaped stator segment can be obtained through experimental measurement, simulation, theoretical calculation, etc., thus yielding the allowable distance range. Based on the allowable distance range, a speed control strategy (such as speed change conditions) is configured for the moving submodules of the speed-controlled object. This compensates for the changes in the actual carrying distance between the two moving submodules due to the curvilinear motion characteristics through relative speed changes, causing the actual carrying distance to dynamically converge within the allowable distance range. For example, based on the allowable distance range, when at least one of the two moving sub-modules cooperating in holding the object is located in the arc stator segment, the critical value of the relative distance between the two moving sub-modules at the same moment (such as the maximum and minimum relative distance values) is determined. Then, when the relative speed of the speed control object is controlled (such as relative acceleration) so that the relative distance between the two moving sub-modules cooperating in holding the object approaches the critical value, the same speed control object is controlled to undergo the opposite relative speed change (such as relative deceleration), thereby making the relative distance between the two moving sub-modules cooperating in holding the object move away from the critical value. By controlling the change in the relative distance between the two moving sub-modules cooperating in holding the object within the critical value, it is ensured that the actual holding distance change of the two moving sub-modules converges within the allowable distance range.

[0044] In some embodiments, the allowable distance range is determined by a distance reference value and at least one difference. If only one difference exists, the distance reference value and the difference determine one boundary value of the allowable distance range, and the distance reference value determines the other boundary value of the allowable distance range. If two differences exist, the distance reference value and the difference determine one boundary value of the allowable distance range, and the distance reference value and the difference determine the other boundary value of the allowable distance range. The distance reference value can be the actual carrying distance between the two moving submodules cooperating in holding the object on a straight stator segment. It should be noted that the allowable distance range is related to the physical characteristics of the object to be transported (such as rigidity, size, and surface sensitivity).

[0045] In some embodiments, by performing position detection on multiple moving sub-modules, it is possible to determine whether at least one of the two moving sub-modules cooperating in holding the object is located in the arc stator segment. For example, after obtaining the actual position information of each of the two moving sub-modules cooperating in holding the object, if the actual distance between the actual position of the first moving sub-module and the first end of the arc stator segment meets a second distance condition (e.g., less than or equal to a preset second distance threshold), it is determined that the first moving sub-module has entered the arc stator segment; if the actual distance between the actual position of the second moving sub-module and the first end of the arc stator segment meets a distance condition (e.g., less than or equal to a preset second distance threshold), it is determined that the second moving sub-module has entered the arc stator segment. The first distance condition and the second distance condition can be the same or different conditions; that is, the determination mechanism for a moving sub-module preparing to enter the arc stator segment and the determination mechanism for a moving sub-module having entered the arc stator segment can be the same or different. It should be understood that the process for determining whether at least one of the two moving submodules has left the arc stator segment can refer to the above content and will not be repeated here.

[0046] In some scenarios, the processes corresponding to the curved stator segment allow for a certain degree of deformation (stretching or compression) of the target object, such as transporting elastic or flexible objects. In other scenarios, the processes corresponding to the curved stator segment require the two moving sub-modules that coordinately hold the object to maintain a constant actual holding distance while moving along the curved stator segment, or the processes require that the change in the actual holding distance between the two moving sub-modules is minimal to negligible. Scenarios where the actual holding distance remains constant (or changes almost continuously) can include: image detection processes on the object surface along the curved stator segment, where the process requires the object to be free of deformation; object label scanning along the curved stator segment, where the process requires the object to be free of deformation; transporting packaging bags along the curved stator segment, where the process requires the bag opening to remain sealed to prevent foreign objects from falling out; and situations where the object transported along the curved stator segment has high surface appearance requirements, and the process requires that scratches or creases are not allowed. Based on the different application scenarios mentioned above, different allowable distance ranges can be obtained. In scenarios where the actual holding distance remains consistent (or the actual holding distance changes almost unchanged), the allowable distance range can indicate only one distance value, which is the actual holding distance value of the two moving sub-modules that are cooperating in holding the object when they are in the straight stator segment. The length of the allowable distance range corresponding to scenarios where the target object is allowed to undergo a certain deformation is greater than the length of the allowable distance range corresponding to scenarios where the actual holding distance remains consistent (or the actual holding distance changes almost unchanged).

[0047] Therefore, after the two moving sub-modules that are cooperating in carrying the object are preparing to enter the curved stator section from the straight stator section, speed control is applied to at least one of the moving sub-modules. This ensures that when at least one of the moving sub-modules is located on the curved stator section, the actual carrying distance between the two moving sub-modules remains within the allowable range after the moving sub-module itself undergoes angular deflection. This improves the controllability of the carrying distance variation and ensures that the actual carrying distance between the two moving sub-modules allows the target object to safely pass through the curved stator section, avoiding adverse situations such as the target object falling or being damaged. This helps reduce the risk of object transportation by the two moving sub-modules on the curved stator section and improves the safety and reliability of the two moving sub-modules cooperating in transporting objects on the curved stator section.

[0048] In practical applications, the moving submodule can move along the inner arc side, outer arc side, or outer surface of the arc-shaped stator module. For example, Figure 10 The diagram shows the structure between the moving module and the arc-shaped stator module in the stator track. The moving module 1000 is located on the inner arc side of the arc-shaped stator module 1001, and the moving module 1000 and the inner arc edge of the arc-shaped stator module 1001 are fitted with a clearance. Under the action of electromagnetic force, the moving module 1000 moves along the inner arc side of the arc-shaped stator module 1001. Correspondingly, depending on the assembly orientation of the holding mechanism on the moving module, the target object carried by the holding mechanism is located around the inner arc edge or the outer arc edge of the arc-shaped stator module. Therefore, based on the relative orientation of the target object with respect to the arc-shaped stator module, different speed control strategies can be dynamically determined, or, based on the relative orientation of the target object with respect to the arc-shaped stator module, corresponding cornering speed control parameters can be preset in advance.

[0049] Optionally, in the control method of the moving submodule provided in the embodiments of this application, before speed control is performed on at least one of the two moving submodules that cooperate in holding the object, at least one of the following is further included: determining the speed control object and the cornering speed change mode from the two moving submodules that cooperate in holding the object based on the obtained relative orientation information of the target object, wherein the relative orientation information is used to indicate that the target object is located around the inner arc edge or the outer arc edge of the arc stator segment; obtaining cornering speed control parameters, wherein the cornering speed control parameters are used to indicate the moving submodule that is the speed control object among the two moving submodules that cooperate in holding the object, and to indicate the cornering speed change mode.

[0050] In some embodiments, prior to speed control of at least one of the two moving submodules of the cooperative holding, at least one of the following is included:

[0051] Method 1: Determine the relative orientation information of the target object. This relative orientation information refers to the relative positional relationship between the target object and the curved stator segment. For example, the target object may be located around the relative inner or outer arc edge of the curved stator segment. "Around" can be understood as sideways, above, below, diagonally above, or diagonally below. Then, based on the obtained relative orientation information of the target object between the two moving sub-modules of the co-carrying object, determine the speed control object and cornering speed change method from the two moving sub-modules. For example, you can choose to control only one moving sub-module (such as the latter moving sub-module) to perform relative speed change, or you can choose to control both moving sub-modules for coordinated relative speed change. This selection can be dynamically decided based on parameters such as process requirements, target object characteristics, and power consumption, or, based on different relative orientation information, a pre-set corresponding speed control object and cornering speed change method can be selected. Speed ​​control is then applied to at least one of the two moving sub-modules of the co-carrying object according to the selected speed control object and cornering speed change method.

[0052] For example, if the target object is located around the outer arc edge, the latter moving sub-module is selected as the speed control object from the two moving sub-modules that are cooperating in holding the object. The corresponding cornering speed change is that after the former moving sub-module enters the arc stator segment, the latter moving sub-module is controlled to undergo at least a relative acceleration. Alternatively, both moving sub-modules that are cooperating in holding the object are used as speed control objects. The corresponding cornering speed change is that after the former moving sub-module enters the arc stator segment, the former moving sub-module is controlled to undergo at least a relative deceleration, and the latter moving sub-module is controlled to undergo at least a relative acceleration.

[0053] For example, if the target object is located around the inner arc edge, the latter moving sub-module is selected as the speed control object from the two moving sub-modules that are cooperating in holding the object. The corresponding cornering speed change is that after the former moving sub-module enters the arc stator segment, the latter moving sub-module is controlled to undergo at least a relative deceleration. Alternatively, both moving sub-modules that are cooperating in holding the object can be used as speed control objects. The corresponding cornering speed change is that after the former moving sub-module enters the arc stator segment, the former moving sub-module is controlled to undergo at least a relative acceleration, and the latter moving sub-module is controlled to undergo at least a relative deceleration.

[0054] In some embodiments, a mapping database can be pre-defined between relative orientation information and speed control objects and cornering speed change methods. This database stores speed control objects and cornering speed change methods for targets located around the inner arc edge and targets located around the outer arc edge, respectively. Before the two moving submodules carrying the object enter the arc stator segment, an orientation measurement module (such as an image sensor or infrared sensor) can acquire the radial offset of the target object relative to the axis (such as the central axis) of the arc stator segment and calculate its relative orientation information in the arc coordinate system, i.e., determine whether the target object is located on the outer side of the arc or around the inner arc edge. Based on the relative orientation information, the corresponding speed control objects and cornering speed change methods are matched from the mapping database.

[0055] In some embodiments, the relative positions of multiple target objects with respect to the same curved stator module can remain fixed (e.g., multiple target objects are all located around the outer or inner arc edge). Therefore, the speed control object and cornering speed change mode corresponding to the curved stator module can be obtained only once. In other embodiments, the relative positions of multiple target objects between the two moving sub-modules that are cooperating in holding the object can change (e.g., at least one target object is located around the outer arc edge, and at least one target object is located around the inner arc edge). In this case, different speed control objects and cornering speed change modes can be dynamically obtained based on the relative position information obtained each time.

[0056] In some embodiments, the relative orientation of the target object with respect to different curved stator modules may change (e.g., two moving sub-modules that cooperate to hold the object move from the inner arc side of one curved stator module to the outer arc side of another curved stator). In this case, based on the relative orientation information obtained each time, the speed control object and the turning speed change mode corresponding to different curved stator modules can be dynamically obtained.

[0057] In some embodiments, the operator can set the relative orientation information of each arc stator module in real time or through a configuration file (e.g., the relative orientation information of the arc stator module is around the outer arc edge), and determine the corresponding speed control object and cornering speed change mode. For example, the speed control object represents the moving sub-module that is subject to relative speed control; the cornering speed change mode is used to indicate the relative speed change conditions, speed change range, maximum acceleration, etc.

[0058] Method 2: Obtain the pre-set cornering speed control parameters.

[0059] As described in the relevant section, when the cornering speed control parameters determine the moving submodule for speed control, before the two moving submodules cooperating in holding the load enter the curved stator segment, the corresponding cornering speed control parameters are matched from the cornering speed control parameter library based on the identification information of the curved stator module. When the speed control parameters are obtained based on the selected speed control object, before the two moving submodules cooperating in holding the load enter the curved stator segment, the corresponding cornering speed control parameters are matched from the cornering speed control parameter library based on the relative position of the selected moving submodule as the speed control object among the two moving submodules cooperating in holding the load.

[0060] In some embodiments, the cornering speed control parameters are used to indicate the moving sub-module that is the speed control object among the two moving sub-modules that are cooperating in holding the object, and to indicate the cornering speed change mode. For example, the cornering speed control parameters include the speed control object, which represents the moving sub-module that is subject to relative speed control; the cornering speed control parameters include the cornering speed change mode, which is used to indicate the relative speed change conditions, speed change range, maximum acceleration, etc.

[0061] In some embodiments, continue to refer to Figure 3 Before the first moving submodule 121 enters the first curved stator module 111 from the straight stator segment, either method one or method two described above can be used to determine the speed control object and the cornering speed change method. Then, based on the speed control object and the cornering speed change method, relative speed control is applied to at least one of the first moving submodule 121 and the second moving submodule 122 to ensure that the actual carrying distance between the first moving submodule 121 and the second moving submodule 122 is controlled within the allowable distance range. Figure 3 The dashed line indicates that the first moving submodule 121 has entered the first arc-shaped stator module 111 and the second moving submodule 122 is about to enter the first arc-shaped stator module 111. By controlling the relative speed of at least one of the first moving submodule 121 and the second moving submodule 122, the target object O-1 is prevented from falling or being damaged.

[0062] Therefore, before the two moving sub-modules carrying the object move from the straight stator section into the curved stator section, the relative orientation information of the target object with respect to the inner or outer arc edge of the curved stator section can be obtained. Based on this, the speed control object and the corresponding cornering speed change mode can be dynamically determined. Alternatively, the speed control object and the corresponding cornering speed change mode can be determined by obtaining preset cornering speed control parameters. This ensures that during the process of the moving sub-modules entering the curved stator section, the actual carrying distance between the two moving sub-modules is always maintained within the allowable distance range for the target object to safely pass through the curved stator section. This effectively avoids adverse situations such as the target object falling or being damaged due to distance changes, and helps to improve the stability and safety of multi-moving sub-module collaborative transportation.

[0063] Optionally, in the control method of the moving sub-module provided in the embodiments of this application, speed control is performed on at least one of the two moving sub-modules that cooperate in holding the object, including: according to the speed control curve corresponding to the cornering speed change mode, speed control is performed on at least one of the two moving sub-modules that cooperate in holding the object, wherein the speed control curve is related to the speed control object, the allowable distance range, and the orientation of the target object relative to the arc stator segment.

[0064] In some embodiments, the speed of at least one of the two moving sub-modules that are cooperating in holding the object can be controlled by the speed control curve corresponding to the turning speed change mode. It should be noted that the speed control curve refers to the function curve of the speed as a function of time or spatial position in order to maintain or keep the actual holding distance between the two moving sub-modules within the allowable distance range during the process of the two moving sub-modules cooperating in holding the object passing through the arc stator segment.

[0065] In some embodiments, the speed control curve can be determined by displacement and time, and may include: a curve segment in one direction of speed change (such as a curve segment in the direction of acceleration or deceleration) or curve segments in two directions of speed change (such as a combination of curve segments in the direction of acceleration and deceleration). Optionally, the speed control curve may also include: a uniform speed curve segment. Optionally, curve segments in the same direction of speed change may correspond to the same acceleration or varying acceleration.

[0066] In some embodiments, the speed control curve is related to the speed control object, the allowable distance range, and the relative orientation information of the target object with respect to the arc stator segment.

[0067] In some embodiments, the speed control curve described above can be obtained through simulation or calculation. For example, the expected relative orientation of the object to the arc stator segment, the allowable distance range, the geometric parameters of the arc stator segment (such as radius and arc length), and the expected total time to pass through the arc stator segment are obtained. Then, based on the allowable distance range, the geometric parameters of the arc stator segment, the expected total time to pass through the arc stator segment, and the expected relative orientation of the object, the displacement changes of the two moving sub-modules cooperating in holding the object are simulated or calculated at different time intervals. Combining the displacement changes, the velocities of the two moving sub-modules at different times are simulated or calculated. Finally, a smooth interpolation algorithm is used to generate the speed control curve.

[0068] Optionally, in the control method of the moving sub-module provided in the embodiments of this application, speed control is performed on at least one of the two moving sub-modules that cooperate in holding the object, including at least one of the following: controlling at least one of the two moving sub-modules that cooperate in holding the object to perform relative variable speed movement, so as to control the increasing trend of the holding distance between the two moving sub-modules that cooperate in holding the object, so that the target object between the two moving sub-modules that cooperate in holding the object passes around the outer arc edge of the arc stator segment; controlling at least one of the two moving sub-modules that cooperate in holding the object to perform relative variable speed movement, so as to control the decreasing trend of the holding distance between the two moving sub-modules that cooperate in holding the object, so that the target object passes around the inner arc edge of the arc stator segment.

[0069] In some embodiments, when at least one of the two moving sub-modules cooperating in holding the object is located in the arc stator segment, the changing trend of the actual holding distance between the two moving sub-modules is controlled by performing relative speed-changing motion control on the moving sub-module that is the speed control object. Here, relative speed-changing motion refers to the speed-changing motion of the moving sub-module that is the speed control object relative to the other moving sub-module. If there are two speed control objects that are synchronously controlled, then the two speed control objects perform speed-changing motion relative to each other; in other words, the two speed control objects are synchronously controlled to move towards each other or in opposite directions.

[0070] Specifically, if the target object is located around the outer arc edge of the curved stator segment, and at least one of the two moving sub-modules cooperating in holding the object is located on the curved stator segment, the actual holding distance between the two moving sub-modules tends to increase. To prevent the object from falling or being damaged by tension, at least one moving sub-module is controlled to undergo relative speed-changing motion to control the increasing trend of the holding distance between the two moving sub-modules. For example, when at least one of the two moving sub-modules cooperating in holding the object is located on the curved stator segment, the preceding moving sub-module is controlled to undergo at least one relative deceleration motion, thereby controlling the increasing trend of the holding distance between the two moving sub-modules. As another example, when at least one of the two moving sub-modules cooperating in holding the object is located on the curved stator segment, the following moving sub-module is controlled to undergo at least one relative acceleration motion, thereby controlling the increasing trend of the holding distance between the two moving sub-modules. For example, controlling the preceding moving submodule to perform at least one relative deceleration movement and controlling the following moving submodule to perform at least one relative acceleration movement, thereby controlling the increasing trend of the holding distance between the two moving submodules that are cooperating in holding the object.

[0071] In some embodiments, if the target object is located around the inner arc edge of the arc-shaped stator segment, when at least one of the two moving sub-modules cooperating in holding the object is located on the arc-shaped stator segment, the actual holding distance between the two moving sub-modules tends to decrease. To prevent damage to the object caused by compression, at least one of the two moving sub-modules cooperating in holding the object is controlled to undergo relative speed-changing motion to control the decreasing trend of the actual holding distance between the two moving sub-modules. For example, when at least one of the two moving sub-modules cooperating in holding the object is located on the arc-shaped stator segment, the preceding moving sub-module is controlled to undergo at least one relative acceleration motion, thereby controlling the decreasing trend of the holding distance between the two moving sub-modules. As another example, when at least one of the two moving sub-modules cooperating in holding the object is located on the arc-shaped stator segment, the following moving sub-module is controlled to undergo at least one relative deceleration motion, thereby controlling the decreasing trend of the holding distance between the two moving sub-modules. For example, controlling the preceding moving submodule to perform at least one relative acceleration movement and controlling the following moving submodule to perform at least one relative deceleration movement, thereby controlling the decreasing trend of the holding distance between the two moving submodules that are cooperating in holding the object.

[0072] In some embodiments, such as Figure 3 As shown, the relative orientation information of the target object transported collaboratively by the first moving submodule 121 and the second moving submodule 122 is that they are located relatively around the outer arc edge of the arc stator segment. Because the target object is located around the outer arc edge, when at least one of the first moving submodule 121 and the second moving submodule 122 is located on the arc stator segment, the actual holding distance between the first moving submodule 121 and the second moving submodule 122 tends to increase; that is, the actual distance d between the first holding mechanism 141 and the second holding mechanism 142 tends to increase. (Referencing a reference...) Figure 4 The schematic diagram of the speed control curve shown illustrates the relative speed control of the second moving submodule 122. Figure 4 The vertical axis S represents distance, the horizontal axis t represents time, curve 1 is the speed control curve of the first moving submodule 121, curve 2 is the speed control curve of the second moving submodule 122, time t11 indicates that the first moving submodule 121 enters the first arc stator module 111, time t12 indicates that the second moving submodule 122 exits the second arc stator module 112.

[0073] Before time t11, the first moving submodule 121 has not entered the first arc-shaped stator module 111, and the first moving submodule 121 and the second moving submodule 122 can move at the same constant speed. Between time t11 and time t12, the first moving submodule 121 maintains constant speed; the second moving submodule 122 undergoes relative speed control, at least initially accelerating relative to compensate for the increasing trend of the actual object-holding distance between the first and second moving submodules 121, ensuring that the object does not fall or get damaged. Then, the second moving submodule 122 can be relatively decelerated to reduce the time for distance adjustment between the first and second moving submodules 121 after the second moving submodule 122 exits the second arc-shaped stator module 112, and also to reduce the time for speed adjustment by the second moving submodule 122. After time t12, the second moving submodule 122 exits the second arc stator module 112, and can control the first moving submodule 121 and the second moving submodule 122 to move at the same constant speed.

[0074] In some embodiments, such as Figure 5 As shown, it includes: a first linear stator segment 110, a first arc stator module 111, and a second linear stator segment 113. The target object O-1, transported collaboratively by the first moving submodule 121 and the second moving submodule 122, has its relative orientation information with respect to the arc stator segment (composed of the first arc stator module 111) around the inner arc edge. The first moving submodule 121 and the second moving submodule 122 move from the linear stator module 110 to the first arc stator module 111. Because the target object O-1 is located around the inner arc edge, when at least one of the first moving submodule 121 and the second moving submodule 122 is located on the arc stator segment, the actual holding distance between the first moving submodule 121 and the second moving submodule 122 tends to decrease, that is, the actual distance d between the first holding mechanism 141 and the second holding mechanism 142 tends to decrease. (Refer to...) Figure 6 The diagram shows the speed control curves, which control the relative speed of the first moving submodule 121. The vertical axis S represents distance, and the horizontal axis t represents time. Curve 1 is the speed control curve of the first moving submodule 121, and curve 2 is the speed control curve of the second moving submodule 122. Time t21 indicates that the first moving submodule 121 enters the first arc stator module 111, and time t22 indicates that the second moving submodule 122 exits the first arc stator module 111 and enters the second straight stator segment 113.

[0075] Before time t21, the first moving submodule 121 has not entered the first arc stator module 111, and the first moving submodule 121 and the second moving submodule 122 can move at the same constant speed. During the period from time t21 to time t22, the second moving submodule 122 maintains constant speed movement; the first moving submodule 121 performs relative speed control, at least accelerating relatively first to compensate for the decreasing trend of the actual holding distance between the first moving submodule 121 and the second moving submodule 122, ensuring that the item is not damaged. It can also decelerate relatively to reduce the time for the second moving submodule 122 to adjust the actual holding distance between the first moving submodule 121 and the second moving submodule 122 after exiting the second arc stator module 112, and to reduce the time for the first moving submodule 121 to adjust its speed. After time t22, the second moving submodule 122 exits the second arc stator module 112, controlling the first moving submodule 121 and the second moving submodule 122 to move at the same constant speed.

[0076] It should be understood that, for ease of description and understanding of the scheme, the embodiments of this application describe the moving submodule moving at a constant speed after entering or exiting the arc stator segment. However, in actual applications, the moving submodule may move at a variable speed after entering or exiting the arc stator segment, and the embodiments of this application do not impose any restrictions on this.

[0077] In this embodiment, before the two moving sub-modules that are cooperating in carrying the object move from the straight stator section to the curved stator section, the speed change curve corresponding to the cornering speed change mode is determined, and the relative speed of at least one moving sub-module is adjusted according to the cornering speed change curve. This ensures that when at least one of the two moving sub-modules cooperating in carrying the object is located in the curved stator section, the actual carrying distance between the two is always constrained within the allowable distance range, thereby avoiding adverse situations such as the target object falling or being damaged, and helping to improve the stability and safety of multi-moving sub-module cooperative transportation.

[0078] Therefore, by controlling the relative speed variation between the two moving sub-modules, the trend of change in the actual holding distance between them is limited, ensuring that the change in the actual holding distance between the two moving sub-modules is controlled within the allowable range, and the target object safely passes around the inner arc edge of the curved stator segment. It should be understood that within the allowable range, the actual holding distance between the two moving sub-modules can increase, remain unchanged, or decrease at least one of the following:

[0079] In this embodiment, when the two moving sub-modules that are cooperating in carrying the object move from the straight stator section into the curved stator section, the movement speed of at least one moving sub-module is dynamically adjusted to limit the changing trend of the carrying distance between the two moving sub-modules that are cooperating in carrying the object. This ensures that the target object passes through the curved stator section while maintaining the carrying distance within the allowable range, thereby improving the stability and safety of multi-moving sub-module cooperative transportation.

[0080] Optionally, in the control method for the moving sub-modules provided in this application embodiment, speed control is performed on at least one of the two moving sub-modules of the co-holding object, including: before one of the moving sub-modules of the co-holding object reaches the center position of the curved stator segment, controlling at least one of the two moving sub-modules of the co-holding object to perform relative speed change motion, so that the relative position distance between the two moving sub-modules of the co-holding object changes according to a first change direction; after one of the moving sub-modules of the co-holding object reaches the center position of the curved stator segment, controlling at least one of the two moving sub-modules of the co-holding object to perform relative speed change motion, so that the relative position distance between the two moving sub-modules of the co-holding object changes according to a second change direction, the first change direction being opposite to the second change direction; when the latter moving sub-module of the co-holding object is located in the straight stator segment and the former moving sub-module is located in the curved stator segment, controlling the co-holding object... The latter of the two moving sub-modules undergoes relative speed-changing motion, causing the relative position distance between the two moving sub-modules holding the object to change according to a third direction of change. When the former moving sub-module of the two moving sub-modules holding the object is located in a straight stator segment and the latter moving sub-module is located in an arc stator segment, the former moving sub-module of the two moving sub-modules holding the object is controlled to undergo relative speed-changing motion, causing the relative position distance between the two moving sub-modules holding the object to change according to a fourth direction of change, the third direction of change being opposite to the fourth direction of change. When both moving sub-modules holding the object are located in arc stator segments, at least one of the two moving sub-modules holding the object is controlled to undergo relative speed-changing motion, so that the relative position distance between the two moving sub-modules holding the object remains unchanged. The relative position distance when both moving sub-modules holding the object are located in arc stator segments is different from the relative position distance when both moving sub-modules holding the object are located in straight stator segments.

[0081] In some embodiments, the timing of the pitch change during relative speed control of the speed-controlled object (e.g., the timing when the actual load-carrying distance between the first and second moving submodules changes from decreasing to increasing) can be when the first or second moving submodule is located at the center of the arc-shaped stator segment. It should be understood that if the arc-shaped stator segment is composed of multiple arc-shaped stator modules, the starting position of the arc-shaped stator segment is when the moving submodule enters the first end of the first arc-shaped stator module, and the ending position of the arc-shaped stator segment is when the moving submodule exits the second end of the last arc-shaped stator module. Figure 5 The arc stator segment includes a first arc stator module 111, with the starting position of the arc stator segment being the first end 111-1 of the first arc stator module 111 and the ending position of the arc stator segment being the second end 111-2 of the first arc stator module 111.

[0082] In some embodiments, when the target object is located around the relative outer arc edge of the arc stator segment, the first direction of change can be the direction of decreasing the relative positional distance between the two moving sub-modules cooperating in holding the object (i.e., decreasing direction), and the second direction of change is the direction of increasing the relative positional distance between the two moving sub-modules cooperating in holding the object (i.e., increasing direction). When the target object is located around the relative inner arc edge of the arc stator segment, the first direction of change can be the direction of increasing the relative positional distance between the two moving sub-modules cooperating in holding the object (i.e., increasing direction), and the second direction of change is the direction of decreasing the relative positional distance between the two moving sub-modules cooperating in holding the object (i.e., decreasing direction). It should be noted that the relative positional distance is the straight-line distance, arc distance, or distance of a combination of a straight line and an arc between the two moving sub-modules.

[0083] In some embodiments, when the target object is located around the relative outer arc edge of the arc stator segment, the latter moving sub-module can be controlled to accelerate relative to the former moving sub-module before the former moving sub-module reaches the center position of the arc stator segment, so as to reduce the relative position distance between the two moving sub-modules. After the former moving sub-module reaches the center position of the arc stator segment, the latter moving sub-module can be controlled to decelerate relative to the former moving sub-module, or the former moving sub-module can be controlled to decelerate relative to the former moving sub-module, so as to increase the relative position distance between the two moving sub-modules.

[0084] In other embodiments, when the target object is located around the relative outer arc edge of the arc stator segment, the first moving sub-module of the two moving sub-modules that are cooperating in holding the object can be controlled to decelerate relative to each other before the first moving sub-module reaches the center position of the arc stator segment, so as to reduce the relative position distance between the two moving sub-modules. After the second moving sub-module reaches the center position of the arc stator segment, the first moving sub-module can be controlled to accelerate relative to each other, or the second moving sub-module can be controlled to accelerate relative to each other, so as to increase the relative position distance between the two moving sub-modules.

[0085] In this embodiment, when the two moving sub-modules that are cooperating in holding the object move from the straight stator segment into the curved stator segment, at least one moving sub-module is controlled to undergo relative speed change before one of the moving sub-modules reaches the center position of the curved stator segment. This causes the relative position distance between the two moving sub-modules to change along a first direction of change. After the moving sub-module passes the center position, at least one moving sub-module is controlled to undergo relative speed change in the opposite direction. This causes the relative position distance between the two moving sub-modules to change along a second direction of change opposite to the first direction of change. This achieves a dynamic balance process within the curved stator segment where the holding distance changes unidirectionally and then recovers in the opposite direction. Consequently, after the two moving sub-modules that are cooperating in holding the object move from the curved stator segment into the straight stator segment, the distance can be quickly restored to the distance required when moving in the straight stator segment, which helps to shorten the stabilization time from the curved to the straight transition phase.

[0086] In some embodiments, the moving submodule located in the straight stator segment involves only positional changes and not angular deflections. Compared to the curved stator segment, the moving submodule in the straight stator segment has higher motion controllability. Therefore, when one moving submodule of two moving submodules cooperating in holding an object is located in the straight stator segment and the other moving submodule is located in the curved stator segment, the moving submodule located in the straight stator segment can be used as the velocity control object, which is more conducive to relative velocity control, thereby improving the controllability of the relative positional distance changes between the two moving submodules cooperating in holding an object.

[0087] In some embodiments, when the target object is located around the relative outer arc edge of the arc stator segment, the third direction of change can be the direction of decreasing the relative positional distance between the two moving sub-modules cooperating in holding the object (i.e., decreasing direction), and the fourth direction of change is the direction of increasing the relative positional distance between the two moving sub-modules cooperating in holding the object (i.e., increasing direction). When the target object is located around the relative inner arc edge of the arc stator segment, the third direction of change can be the direction of increasing the relative positional distance between the two moving sub-modules cooperating in holding the object (i.e., increasing direction), and the fourth direction of change is the direction of decreasing the relative positional distance between the two moving sub-modules cooperating in holding the object (i.e., decreasing direction).

[0088] In some embodiments, when both moving submodules of the co-holding object are located in the curved stator segment, both undergo angular deflection. For cases where the actual holding distance is required to remain constant (or almost constant), the relative positional distance between the two moving submodules remains unchanged. Since the relative positional distance between the two moving submodules increases or decreases accordingly when one moving submodule is located in the straight stator segment and the other in the curved stator segment, the relative positional distance when both moving submodules are located in the curved stator segment differs from the relative positional distance when both moving submodules are located in the straight stator segment.

[0089] Optionally, in the control method for the moving submodule provided in the embodiments of this application, speed control is performed on at least one of the two moving submodules of the cooperating object holding, including at least one of the following: controlling one of the two moving submodules of the cooperating object holding to perform relative speed change motion; controlling the two moving submodules of the cooperating object holding to perform relative speed change motion in the same time period; wherein, among the two moving submodules of the cooperating object holding, the speed change trend of one moving submodule is opposite to the speed change trend of the other moving submodule; controlling one of the moving submodules of the cooperating object holding to perform relative speed change motion in a first time period, and controlling the other moving submodule of the cooperating object holding to perform relative speed change motion in a second time period; wherein, the speed change trend of the moving submodule performing relative speed change motion in the first time period is the same as or opposite to the speed change trend of the moving submodule performing relative speed change motion in the second time period; when one of the two moving submodules of the cooperating object holding is located in a straight stator segment and the other moving submodule is located in an arc stator segment, controlling the moving submodule located in the straight stator segment to perform relative speed change motion; wherein, the speed change trend of the former moving submodule is the same as the speed change trend of the latter moving submodule.

[0090] It should be understood that during the process of the two moving sub-modules cooperating in carrying the load, from entering the curved stator section to exiting the curved stator section, the moving sub-module, as the object of speed control, can perform one or more relative speed change controls. The speed change trend is used to indicate the direction and magnitude of speed adjustment of the moving sub-module, which is the object of speed control. In some cases, the speed change trend can be represented by average acceleration or instantaneous acceleration.

[0091] In some embodiments, speed control is performed on at least one of the two moving sub-modules that cooperate in holding the object, including at least one of the following:

[0092] Method 1: During the cornering of the two moving sub-modules that are cooperating in holding the object, only one of the two moving sub-modules that are cooperating in holding the object is controlled to perform relative speed change motion, that is, there is only one speed control object.

[0093] In some embodiments, when the relative orientation information of the target object transported by the two moving sub-modules cooperating in holding the object is around the outer arc edge of the arc stator segment, it is possible to control the first moving sub-module to perform relative deceleration, or to control the second moving sub-module to perform relative acceleration; it is also possible to control the first moving sub-module to perform relative deceleration and then relative acceleration, or to control the second moving sub-module to perform relative acceleration and then relative deceleration.

[0094] In some embodiments, when the relative orientation information of the target object held by the two moving sub-modules in cooperative holding relative to the arc stator segment is around the inner arc edge, it is possible to control the first moving sub-module to perform relative acceleration, or to control the second moving sub-module to perform relative deceleration; it is also possible to control the first moving sub-module to perform relative acceleration and then relative deceleration, or to control the second moving sub-module to perform relative deceleration and then relative acceleration.

[0095] In some embodiments, for the same speed control object, the arc stator segment can be divided into two regions (the first region corresponds to the period from the start position to the center position of the arc stator segment, and the second region corresponds to the period from the center position to the end position of the arc stator segment) using the center position of the arc stator segment as the dividing point. For the same moving submodule, at least one relative speed control is performed in the first and second regions respectively, thereby causing the relative positional distance between the two moving submodules that are cooperating in holding the object to change in opposite directions. For example, referring to the reference... Figure 3 and Figure 4 The second moving submodule 122 performs speed control in the first region with a relative acceleration trend, and the relative positional distance between the first moving submodule 121 and the second moving submodule 122 changes in a decreasing direction. The second moving submodule 122 performs speed control in the second region with a relative deceleration trend, and the relative positional distance between the first moving submodule 121 and the second moving submodule 122 changes in an increasing direction. For example, referring to reference... Figure 5 and Figure 6 In the first region, the first moving submodule 121 performs speed control with a relative acceleration trend, and the relative position distance between the first moving submodule 121 and the second moving submodule 122 changes in the direction of increasing. In the second region, the first moving submodule 121 performs speed control with a relative deceleration trend, and the relative position distance between the first moving submodule 121 and the second moving submodule 122 changes in the direction of decreasing.

[0096] Method 2: During the same time period, two moving sub-modules undergo relative speed change motion, and their speed change trends are opposite to each other.

[0097] In some embodiments, the first moving submodule of the two moving submodules that cooperate in holding the object is controlled to accelerate relative to each other, while the second moving submodule is controlled to decelerate relative to each other; or, the first moving submodule of the two moving submodules that cooperate in holding the object is controlled to decelerate relative to each other, while the second moving submodule is controlled to accelerate relative to each other; or, the first moving submodule of the two moving submodules that cooperate in holding the object is controlled to accelerate relative to each other and then decelerate relative to each other, while the second moving submodule is controlled to decelerate relative to each other and then decelerate relative to each other; or, the first moving submodule of the two moving submodules that cooperate in holding the object is controlled to decelerate relative to each other and then accelerate relative to each other, while the second moving submodule is controlled to accelerate relative to each other and then decelerate relative to each other.

[0098] Method 3: In the first time period, control one of the moving sub-modules of the co-carrying moving sub-module to perform relative speed change motion, and in the second time period, control the other moving sub-module of the co-carrying moving sub-module to perform relative speed change motion; the speed change trend of the moving sub-module performing relative speed change motion in the first time period and the speed change trend of the moving sub-module performing relative speed change motion in the second time period can be the same or opposite.

[0099] In some embodiments, the first of the two moving sub-modules that control the co-holding object performs a relative deceleration motion in a first time period, and then controls the second moving sub-module to perform a relative deceleration motion in a second time period.

[0100] In some embodiments, the first of the two moving sub-modules that control the co-holding object undergoes relative deceleration in a first time period, and then the second moving sub-module undergoes relative acceleration in a second time period.

[0101] In some embodiments, the first of the two moving sub-modules that control the co-holding object performs a relatively accelerated motion in a first time period, and then controls the second moving sub-module to perform a relatively decelerated motion in a second time period.

[0102] In some embodiments, such as Figure 7 The speed control curves of the mover at different time periods are shown, in conjunction with the reference. Figure 3 The relative speed of the first moving submodule 121 and the second moving submodule 122 is controlled at different time periods. The vertical axis S represents distance, and the horizontal axis t represents time. Curve 1 is the speed control curve of the first moving submodule 121, and curve 2 is the speed control curve of the second moving submodule 122. Figure 7 t21 indicates that the first moving submodule 121 enters the arc stator section, and t22 indicates that the second moving submodule 122 exits the arc stator section.

[0103] Before time t21, the first moving submodule 121 has not entered the first arc-shaped stator module 111, and the first moving submodule 121 and the second moving submodule 122 can move at the same constant speed. During the period from time t21 to time t22, the second moving submodule 122 is controlled to undergo relative variable speed movement (e.g., relative acceleration), while the first moving submodule 121 maintains constant speed movement, reducing the relative positional distance between the first moving submodule 121 and the second moving submodule 122, thus limiting the increasing trend of the actual holding distance between the first moving submodule 121 and the second moving submodule 122. Then, the first moving submodule 121 is controlled to undergo relative variable speed movement (e.g., relative acceleration), while the second moving submodule 122 is controlled to move at a constant speed, increasing the relative positional distance between the first moving submodule 121 and the second moving submodule 122. After time t22, the second moving submodule 122 exits the second arc-shaped stator module 112, and the first moving submodule 121 and the second moving submodule 122 can then move at the same constant speed.

[0104] In some embodiments, time-segmented control can also be used in conjunction with a center point demarcation strategy: the first time segment corresponds to the first half of the arc stator segment, while the second time segment corresponds to the second half of the arc stator segment. For example, when the first moving submodule 121 enters the arc stator segment, the second moving submodule 122 is controlled to perform relative speed change (e.g., relative acceleration), while the first moving submodule 121 maintains uniform speed; when the first moving submodule 121 enters the center point of the arc stator segment, or when the second moving submodule 122 enters the center point of the arc stator segment, the first moving submodule 121 is controlled to perform relative speed change (e.g., relative acceleration), while the second moving submodule 122 is controlled to move at a uniform speed until the second moving submodule 122 exits the arc stator segment.

[0105] Method 4: When one of the two moving sub-modules that are cooperating in holding the object is located in the straight stator segment and the other moving sub-module is located in the curved stator segment, the moving sub-module located in the straight stator segment is controlled to perform relative speed change motion; wherein, the speed change trend of the first moving sub-module located in the straight stator segment is the same as the speed change trend of the second moving sub-module located in the straight stator segment.

[0106] In some embodiments, when the latter moving submodule of the two cooperating moving submodules is located in a straight stator segment and the former moving submodule is located in a curved stator segment, as the former moving submodule moves, the larger its deflection angle (gradually transforming into curvilinear motion), the greater the variation in the actual carrying distance. When the former moving submodule of the two cooperating moving submodules is located in a straight stator segment and the latter moving submodule is located in a curved stator segment, as the latter moving submodule moves, the smaller its deflection angle (gradually transforming into linear motion), the weaker the variation in the actual carrying distance. Therefore, the limitation of the moving submodule located in the straight stator segment on the variation of the actual carrying distance is also strengthened or weakened. The speed change trend of the former moving submodule in the straight stator segment is the same as that of the latter moving submodule in the straight stator segment, which can reduce the speed adjustment time or spacing adjustment time after the latter moving submodule leaves the curved stator segment.

[0107] In this embodiment, when it is detected that the two moving sub-modules that are cooperating in holding the object are about to enter the curved stator section from the straight stator section, multiple speed control methods are adopted. For example, one moving sub-module is controlled to change speed relative to another, two moving sub-modules are controlled to change speed relative to each other at the same time, and the relative speed of the two moving sub-modules is adjusted step by step at different time periods. This ensures that the actual holding distance between the two moving sub-modules is maintained within the allowable range throughout the entire process of turning, which helps to reduce adverse situations such as falling or damage to the object caused by uneven clamping force or excessive displacement difference.

[0108] Optionally, in the control method for the moving sub-module provided in this application embodiment, speed control is performed on at least one of the two moving sub-modules that cooperate in holding the object, including: controlling at least one of the two moving sub-modules that cooperate in holding the object to perform at least one relative acceleration movement and at least one relative deceleration movement, so as to control the actual holding distance to change around the center value of the distance allowable range, or to make the first actual holding distance value equal to the second actual holding distance value, wherein the first actual holding distance value is the actual holding distance of the two moving sub-modules that cooperate in holding the object when the foremost moving sub-module enters the arc stator segment, and the second actual holding distance value is the actual holding distance of the two moving sub-modules that cooperate in holding the object when the rearmost moving sub-module exits the arc stator segment.

[0109] In some embodiments, speed control of at least one of the two moving sub-modules that cooperate in holding the object may further include at least one of the following:

[0110] Method 1: Control at least one moving submodule to perform at least one relative acceleration and at least one relative deceleration movement during the cornering process, so that the actual holding distance fluctuates slightly around the center value within the allowable error range, that is, control the actual holding distance to change around the center value of the allowable distance range.

[0111] In some embodiments, for two moving sub-modules that cooperate in holding an object, the latter moving sub-module is controlled to first accelerate relative to each other to reduce the actual holding distance between the two moving sub-modules, and then the latter moving sub-module is controlled to decelerate relative to each other, with the actual holding distance varying around the center value of the allowable distance range.

[0112] In some embodiments, relative deceleration and relative acceleration cycles can be performed multiple times to form small-amplitude, multi-cycle relative speed control, ultimately causing the actual carrying distance to fluctuate slightly around the center value. For example, the process of controlling the movement of the two moving sub-modules in the arc stator segment can be divided into multiple control cycles. In the first control cycle, the actual carrying distance is controlled to be slightly greater than the center value; in the second control cycle, the actual carrying distance is controlled to be slightly less than the center value; and in the fourth control cycle, the actual carrying distance is controlled to be slightly greater than the center value. This control process is repeated until the latter of the two moving sub-modules that are cooperating in carrying the object exits the arc stator segment.

[0113] In some embodiments, when transporting flexible packaging bags (such as food vacuum bags) that have a sealed opening, are prone to leakage, or need to be kept airtight, at least one moving sub-module (e.g., the previous moving sub-module) is controlled to slowly accelerate relative to each other, then slowly decelerate relative to each other, then slowly accelerate relative to each other again, and then slowly decelerate relative to each other, so that the actual holding distance fluctuates around the center value of the distance allowable range, that is, at least one moving sub-module is controlled to perform relative speed change motion in a form similar to a sine wave. For example, when the packaging bag is located around the inner arc edge of the curved stator segment, the preceding moving submodule is slowly accelerated at a small, low slope when it first enters the curved stator segment, so that the actual carrying distance slowly increases to the upper limit of the center value; then the preceding moving submodule can be decelerated at the same low slope, so that the actual carrying distance falls back to the center value; then when the preceding or following moving submodule reaches the middle position of the curved stator segment, the preceding moving submodule is again accelerated at the same low slope; finally, when the preceding moving submodule leaves the curved stator segment, the preceding moving submodule is decelerated at the same low slope, so that the actual carrying distance falls back to the center value again.

[0114] In some embodiments, for Figure 3 The speed control curve for repeated relative speed change control of at least one of the first moving submodule 121 and the second moving submodule 122 in the first moving submodule 121 and the second moving submodule 122 can be as follows: Figure 8As shown. After the first moving submodule 121 and the second moving submodule 122, which are cooperating in holding the load, are preparing to move from the straight stator segment (composed of the straight stator module 110) into the curved stator segment (composed of the first curved stator module 111 and the second curved stator module 112), they pass through... Figure 8 The curve 1 shown controls the speed of the first moving submodule 121. The vertical axis V represents the speed, and the horizontal axis t represents the time. At time t21, the first moving submodule 121 enters the first arc stator module 111, and at time t24, the second moving submodule 122 exits the second arc stator module 112.

[0115] Before time t21, the first moving submodule 121 has not entered the first arc stator module 111, and the first moving submodule 121 and the second moving submodule 122 can move at the same constant speed. During the period from time t21 to time t23, the first moving submodule 121 is controlled to perform repeated relative variable speed movement (e.g., first relative deceleration, then relative acceleration, etc.), while the second moving submodule 122 maintains constant speed movement.

[0116] like Figure 8 As shown, from time t21 to time t22, the speed of the first moving submodule 121 is first controlled to decelerate to v1, and then the speed of the first moving submodule 121 is controlled to accelerate to v0. That is, at time t21, the first moving submodule is controlled to decelerate relatively, and at time t22, the speed of the first moving submodule 121 is controlled to return to v0.

[0117] From time t22 to time t23, the speed of the first moving submodule 121 is first controlled to accelerate to v2, and then the speed of the first moving submodule 121 is controlled to decelerate to v0. That is, the first moving submodule is controlled to accelerate relative to v2 at time t22, and the speed of the first moving submodule 121 is controlled to return to v0 at time t23.

[0118] Between time t23 and t24, the speed of the first moving submodule 121 is first controlled to decelerate relatively to v1, and then its speed is controlled to accelerate relatively to v0. After time t24, the second moving submodule 122 exits the second arc stator module 112, and the first and second moving submodules 121 can be controlled to move at the same constant speed. Figure 8 The speed-time curve shown controls the first moving submodule 121 to perform repeated relative speed-changing motion, so that the actual holding distance changes within a small range around the center value of the allowable distance range.

[0119] Method 2: Control at least one of the two moving sub-modules that are cooperating in holding the object to perform at least one relative acceleration movement and at least one relative deceleration movement, such that the first actual holding distance value when the front moving sub-module enters the arc stator section is equal to the second actual holding distance when the rear moving sub-module exits the arc stator section.

[0120] In some embodiments, speed control is applied to at least one moving submodule in the first half of the arc stator segment, either by relative deceleration followed by relative acceleration or relative acceleration followed by relative deceleration. Then, in the second half of the arc stator segment, speed control is applied to at least one moving submodule, either by relative acceleration followed by relative deceleration or relative deceleration followed by relative acceleration. This ensures that the first actual carrying distance value of the two moving submodules cooperating in carrying the object is equal to the second actual carrying distance when the front moving submodule enters the arc stator segment and the rear moving submodule exits the arc stator segment.

[0121] In some embodiments, when the target object is located around the outer arc edge of the curved stator segment, the next moving submodule can be controlled to first accelerate relative to the target object, then decelerate relative to the target object, and upon reaching the center position of the curved stator segment, decelerate and then accelerate relative to the target object again. Throughout the process, the change in the actual holding distance caused by each relative deceleration or acceleration action is canceled out by subsequent actions in the opposite direction, so that the first actual holding distance value of the two moving submodules cooperating in holding the object when the first moving submodule enters the curved stator segment is equal to the second actual holding distance when the second moving submodule exits the curved stator segment.

[0122] In some embodiments, for Figure 5 The first moving submodule 121 and the second moving submodule 122 in the middle can be achieved through, as follows: Figure 9 The speed control curves shown control the speed of the first moving submodule 121 and the second moving submodule 122. The vertical axis S represents distance, and the horizontal axis t represents time. Curve 1 is the speed control curve for the first moving submodule 121, and curve 2 is the speed control curve for the second moving submodule 122. Figure 9 At time t21, the first moving submodule 121 begins to enter the first arc stator module 111; at time t22, the first moving submodule 121 or the second moving submodule 122 reaches the middle position of the arc stator segment; and at time t23, the second moving submodule 122 exits the first arc stator module 111.

[0123] Before time t21, the first moving submodule 121 has not entered the first arc stator module 111, and the first moving submodule 121 and the second moving submodule 122 can move at the same constant speed. During the period from time t21 to time t23, the second moving submodule 122 is controlled to perform relative variable speed movement (e.g., relative acceleration movement), while the first moving submodule 121 maintains constant speed movement.

[0124] Between time t21 and t22, the second moving submodule 122 is controlled to first decelerate and then accelerate relative to each other. Between time t22 and t23, the second moving submodule 122 continues to accelerate relative to each other, and then decelerates relative to each other. After time t23, the second moving submodule 122 exits the second arc stator module 112, and the first moving submodule 121 and the second moving submodule 122 can move at the same constant speed. Figure 9 The distance between curves 1 and 2 in the diagram can be considered as the actual holding distance between the first moving submodule 121 and the second moving submodule 122. At time t21, the actual holding distance between the first moving submodule 121 and the second moving submodule 122 is the first actual holding distance. At time t23, the actual holding distance between the first moving submodule 121 and the second moving submodule 122 is the second actual holding distance. This can be seen from... Figure 9 As can be seen, the actual holding distance between the first moving submodule 121 and the second moving submodule 122 increases from time t21 to time t22, and decreases from time t22 to time t23. Furthermore, at time t23, the first actual holding distance equals the second actual holding distance.

[0125] It should be noted that the relative speed change motion curve of the first moving submodule 121 (i.e. Figure 9 Curve 2) at time t21 to time t22 or time t22 to time t23 differs from the original uniform motion curve (i.e. Figure 9 The area between the dashed lines (i.e.) Figure 9 S0 in the range is not greater than half of the allowable error range.

[0126] In some embodiments, curve 1 can be the speed control curve for the second moving submodule 122, and curve 2 can be the speed control curve for the first moving submodule 121. Before time t21, the first moving submodule 121 has not entered the first arc stator module 111, and the first moving submodule 121 and the second moving submodule 122 can move at the same constant speed. During the period from time t21 to time t23, the first moving submodule 121 is controlled to perform relative variable speed movement (e.g., relative acceleration movement), while the second moving submodule 122 maintains constant speed movement.

[0127] Between time t21 and time t23, the second moving submodule 122 is controlled to maintain a constant speed; between time t21 and time t22, the first moving submodule 121 is controlled to decelerate and accelerate relative to each other; between time t22 and time t23, the first moving submodule 121 is controlled to accelerate and then decelerate relative to each other, so that the first actual carrying distance when the first moving submodule 121 enters the arc stator segment is equal to the second actual carrying distance when the second moving submodule 122 exits the arc stator segment.

[0128] In this embodiment, when the two moving sub-modules carrying the goods are about to enter the curved stator section from the straight stator section, speed control is implemented on at least one moving sub-module with at least one relative acceleration and at least one relative deceleration. This ensures that the actual carrying distance between the two moving sub-modules fluctuates symmetrically within an allowable range. Alternatively, at least one moving sub-module is controlled to ensure that the actual carrying distance when the front moving sub-module enters the curved section is equal to the actual carrying distance when the rear moving sub-module exits the curved section. That is, after the two moving sub-modules carrying the goods enter the straight stator section from the curved stator section, their carrying distance can quickly recover to the state before entering the curved stator section. This allows the two moving sub-modules carrying the goods to seamlessly connect to the uniform speed transportation process of the subsequent straight stator section without additional adjustment period or relative deceleration waiting after passing through the curved stator section, which helps to improve the overall line operation efficiency and stability.

[0129] Optionally, in the control method of the moving sub-module provided in the embodiments of this application, the method further includes: setting a distance allowable range based on the object characteristic information and the specification information of the target object before the target object is transported collaboratively by the two moving sub-modules.

[0130] In some embodiments, before the target object is transported collaboratively by the two moving sub-modules, the allowable distance range corresponding to the actual carrying distance is dynamically set based on the object characteristic information and the target object specification information.

[0131] For example, the geometric dimensions of the target object, including length, width, center of gravity distribution, and overall shape characteristics, can be obtained through visual recognition, label reading, barcode scanning, or manual input. At the same time, its material properties, such as hardness, elastic modulus, surface friction coefficient, tensile / compressive strength, and whether it has a sealing structure, fragile seal, or easily scratched coating, can be collected.

[0132] Then, based on the collected data, the upper and lower limits of the maximum allowable spacing range that the target object can withstand during the movement of the arc stator segment are determined. For example, for rigid metal parts or high-strength plastic boxes, which have stable structures and strong resistance to deformation, relatively large upper and lower limits can be set; while for vacuum-packed food bags, pharmaceutical aluminum-plastic blister packs, or precision optical device trays, which are prone to tearing at the seal, scratching on the surface, or instability of the internal structure under pressure, relatively small upper and lower limits are set.

[0133] In some embodiments, the allowable distance range is not merely the upper and lower limits of the control target, but rather a safety boundary for the entire dynamic speed control. Furthermore, the allowable distance range can be updated online and adaptively corrected based on operating conditions; for example, it can be fine-tuned by monitoring historical deviation trends in real time.

[0134] In this embodiment, before the target object is transported by the two moving sub-modules, a distance allowable range is preset based on the object's characteristic information and specifications. This range's numerical boundary matches the target object's physical properties (such as stiffness, center of gravity distribution, size and shape) and structural specifications (such as length, mass, clamping point compatibility, etc.). This helps ensure that when the moving sub-module moves from the straight stator segment to the curved stator segment, speed control keeps the actual holding distance between the two moving sub-modules within the allowable range, avoiding adverse situations such as the object falling or being damaged due to excessively large or small actual holding distances, thus improving the reliability of object transportation.

[0135] The control method for moving submodules provided in this application involves controlling multiple moving submodules to move along a stator track. The stator track includes at least one straight stator segment and at least one curved stator segment. The straight stator segment includes at least one straight stator module, and the curved stator segment includes at least one curved stator module. After two moving submodules carrying a cooperating object are about to enter the curved stator segment from the straight stator segment, speed control is applied to at least one of the two moving submodules carrying the object. This ensures that when at least one of the two moving submodules carrying the object is located on the curved stator segment, the actual object-carrying distance between the two moving submodules is controlled within an allowable range. The allowable range indicates the range of allowable changes in the actual object-carrying distance when the target object being transported by the two moving submodules cooperatingly passes through the curved stator segment. This solves the technical problem of object transportation risk in curved stator segments in related technologies.

[0136] In this embodiment, after the two moving sub-modules cooperating in carrying the object are about to enter the curved stator section from the straight stator section, speed control is applied to at least one of the moving sub-modules. This ensures that when at least one of the moving sub-modules is located on the curved stator section, the actual carrying distance between the two moving sub-modules remains within the allowable range after the moving sub-modules undergo angular deflection. This improves the controllability of the carrying distance variation and ensures that the actual carrying distance between the two moving sub-modules allows the target object to safely pass through the curved stator section, avoiding adverse situations such as the target object falling or being damaged. This helps reduce the risk of object transportation by the two moving sub-modules on the curved stator section and improves the safety and reliability of the two moving sub-modules cooperating in transporting objects on the curved stator section.

[0137] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0138] This application also provides a control device for a moving submodule. It should be noted that the control device for the moving submodule in this application can be used to execute the control method for the moving submodule provided in this application. The control device for the moving submodule provided in this application is described below.

[0139] According to an embodiment of this application, a control device for a moving submodule used to implement the above-described control method for the moving submodule is also provided, such as... Figure 11 As shown, the device includes: a memory 1101 storing an executable program; and a processor 1102 for running the program, wherein the program executes the control method of the aforementioned dynamic submodule during runtime.

[0140] Those skilled in the art will understand that Figure 11 The structure shown is for illustrative purposes only. The control device for the moving submodule can also be a smartphone, tablet, handheld computer, mobile internet device (MID), PAD and other terminal devices. Figure 11 This does not limit the structure of the aforementioned electronic device. For example, electronic devices may also include components that are more... Figure 11 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 11 The different configurations shown.

[0141] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0142] According to embodiments of this application, an automated transportation system is also provided, such as... Figure 12 As shown, the device includes: a stator track 1200, wherein the stator track 1200 includes at least one straight stator segment and at least one curved stator segment, the straight stator segment including at least one straight stator module, the curved stator segment including at least one curved stator module, a moving sub-module 1201, wherein the moving sub-module 1201 moves along the stator track 1200; and a control device 1202, wherein the control device 1202 is used to control the two moving sub-modules 1201 to acquire the target object in the straight stator segment, and to detect the two moving sub-modules 1201 in the straight stator segment. After 201 prepares to move from the straight stator section to the curved stator section, it performs speed control on at least one of the two moving sub-modules 1201 that are cooperating in carrying the object, so that when at least one of the two moving sub-modules 1201 is located in the curved stator section, the actual carrying distance between the two moving sub-modules 1201 is controlled within the allowable distance range, wherein the allowable distance range is used to indicate the range of allowable changes in the actual carrying distance when the target object being transported by the two moving sub-modules 1201 cooperating in carrying the object safely passes through the curved stator section.

[0143] By setting a combination structure of straight and curved segments in the stator track, and controlling the movement speed of at least one moving sub-module when the two moving sub-modules that are cooperating in holding the object are about to enter the curved stator segment, the actual holding distance between the two is kept within the allowable distance range required for the safe passage of the target object during the curve. This reduces the change in distance between the moving sub-modules caused by the curved movement of the moving sub-modules without relying on external mechanical limits or rigid connections, thereby reducing the risk of objects falling or being damaged and improving the reliability and adaptability of object transportation.

[0144] Embodiments of this application also provide a computer-readable storage medium. Optionally, in embodiments of this application, the storage medium can be used to store the program code executed by the control method of the moving submodule provided in Embodiment 1.

[0145] Optionally, in the embodiments of this application, the storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0146] This application also provides a computer program product, which, when executed on a data processing device, is a program adapted to perform control method steps of a motion module.

[0147] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0148] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0149] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0150] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of this application, depending on actual needs.

[0151] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0152] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0153] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control method for a moving submodule, characterized in that, The method includes: Control multiple moving sub-modules to move along a stator track, the stator track including at least one straight stator segment and at least one curved stator segment, the straight stator segment including at least one straight stator module, and the curved stator segment including at least one curved stator module; Based on the acquired relative orientation information of the target object, the speed control object and the cornering speed change mode are determined from the two moving sub-modules that cooperate in holding the object. The relative orientation information indicates that the target object is located around the inner or outer arc edge of the arc stator segment. The speed control object characterizes the moving sub-module subject to relative speed control, and the cornering speed change mode characterizes the speed change parameters of the moving sub-module subject to relative speed control. And / or, cornering speed control parameters are acquired, wherein the cornering speed control parameters are preset based on the relative orientation of the target object relative to the arc stator module. The cornering speed control parameters indicate the moving sub-module that serves as the speed control object among the two moving sub-modules that cooperate in holding the object, and also indicate the cornering speed change mode. After the two moving sub-modules that are cooperating in carrying the object are preparing to enter the curved stator section from the straight stator section, relative speed control is performed on at least one of the two moving sub-modules according to the speed control object and the cornering speed change mode, so that when at least one of the two moving sub-modules is located in the curved stator section, the actual carrying distance between the two moving sub-modules is controlled within the allowable distance range. The allowable distance range is used to indicate the range of allowable changes in the actual carrying distance when the target object being transported by the two moving sub-modules safely passes through the curved stator section. The timing of the relative speed control when performing relative speed control is when the first moving sub-module or the second moving sub-module of the two moving sub-modules is located at the center position of the curved stator section. The relative speed control of at least one of the two moving sub-modules of the cooperative holding further includes: when one moving sub-module of the two moving sub-modules of the cooperative holding is located in a straight stator segment and the other moving sub-module is located in an arc stator segment, controlling the moving sub-module located in the straight stator segment to perform relative speed change motion.

2. The method according to claim 1, characterized in that, Relative velocity control is performed on at least one of the two moving submodules of the cooperative holding object, including: Based on the speed control curve corresponding to the cornering speed change mode, relative speed control is performed on at least one of the two moving sub-modules of the cooperative object holding, wherein the speed control curve is related to the speed control object, the allowable distance range, and the orientation of the target object relative to the arc stator segment.

3. The method according to claim 1, characterized in that, Relative velocity control of at least one of the two moving sub-modules of the cooperative holding object includes at least one of the following: Control at least one of the two moving sub-modules of the cooperative object holding to perform relative speed change motion, so as to control the increasing trend of the holding distance between the two moving sub-modules of the cooperative object holding, so that the target object between the two moving sub-modules of the cooperative object holding passes around the outer arc edge of the arc stator segment; Control at least one of the two moving sub-modules of the cooperative object holding to perform relative speed change motion, so as to control the decreasing trend of the holding distance between the two moving sub-modules of the cooperative object holding, so that the target object passes around the inner arc edge of the arc stator segment.

4. The method according to claim 1, characterized in that, Relative velocity control of at least one of the two moving sub-modules of the cooperative holding object includes at least one of the following: Before one of the two moving sub-modules of the cooperative holding reaches the center position of the arc stator segment, at least one of the two moving sub-modules of the cooperative holding is controlled to perform relative speed change motion, so that the relative position distance between the two moving sub-modules of the cooperative holding changes according to the first change direction; After one of the two moving sub-modules of the cooperative holding reaches the center position of the arc stator segment, at least one of the two moving sub-modules of the cooperative holding is controlled to perform relative speed change motion, so that the relative position distance between the two moving sub-modules of the cooperative holding changes according to a second change direction, the first change direction being opposite to the second change direction; When the latter moving submodule of the two moving submodules of the cooperative holding is located in the straight stator segment and the former moving submodule is located in the arc stator segment, the latter moving submodule of the two moving submodules of the cooperative holding is controlled to perform relative speed change motion, so that the relative position distance between the two moving submodules of the cooperative holding changes according to the third change direction; When the first moving submodule of the two moving submodules in the cooperative holding mechanism is located in the straight stator segment and the second moving submodule is located in the curved stator segment, the first moving submodule is controlled to perform relative speed-changing motion, causing the relative position distance between the two moving submodules to change according to a fourth direction of change, the third direction of change being opposite to the fourth direction of change; when both moving submodules of the cooperative holding mechanism are located in the curved stator segment, the two moving submodules are controlled to... At least one moving submodule in the module performs relative variable speed motion, so that the relative position distance between the two moving submodules of the cooperative holding remains unchanged. The relative position distance when the two moving submodules of the cooperative holding are both located in the arc stator segment is different from the relative position distance when the two moving submodules of the cooperative holding are both located in the straight stator segment.

5. The method according to claim 1, characterized in that, The relative speed control of at least one of the two moving sub-modules of the cooperative holding object includes at least one of the following: Control one of the two moving sub-modules of the cooperative object holding to perform relative variable speed movement; The two moving sub-modules that are cooperating to hold the object are controlled to perform relative variable speed motion at the same time. In the first time period, one of the moving sub-modules of the cooperative object-holding is controlled to perform relative speed-changing motion, and in the second time period, the other moving sub-module of the cooperative object-holding is controlled to perform relative speed-changing motion.

6. The method according to claim 1, characterized in that, The relative speed control of at least one of the two moving sub-modules of the cooperative holding object includes: At least one of the two moving sub-modules of the cooperative carrying object is controlled to perform at least one relative acceleration movement and at least one relative deceleration movement to control the actual carrying distance to vary around the center value of the distance allowable range, or to make a first actual carrying distance value equal to a second actual carrying distance value, wherein the first actual carrying distance value is the actual carrying distance of the two moving sub-modules of the cooperative carrying object when the foremost moving sub-module of the two moving sub-modules of the cooperative carrying object enters the arc stator segment, and the second actual carrying distance value is the actual carrying distance of the two moving sub-modules of the cooperative carrying object when the rearmost moving sub-module of the two moving sub-modules of the cooperative carrying object exits the arc stator segment.

7. The method according to claim 1, characterized in that, The method further includes: Before the target object is transported by the two moving sub-modules in a coordinated manner, the allowable distance range is set according to the object characteristic information and the target object specification information.

8. A control device for a moving submodule, characterized in that, The device includes: Memory, which stores executable programs; A processor for running the program, wherein the program, when running, executes the control method of the moving submodule according to any one of claims 1 to 7.

9. An automated transportation system, characterized in that, include: A stator track, wherein the stator track includes at least one straight stator segment and at least one curved stator segment, the straight stator segment including at least one straight stator module, and the curved stator segment including at least one curved stator module; A moving submodule, wherein the moving submodule moves along the stator track; A control device is configured to control two moving submodules to acquire a target object on a straight stator segment. Based on the relative orientation information of the acquired target object, the control device determines a speed control object and a cornering speed change mode from the two moving submodules cooperating in holding the object. The relative orientation information indicates that the target object is located around the inner or outer arc edge of the curved stator segment. The speed control object characterizes the moving submodule subject to relative speed control, and the cornering speed change mode characterizes the speed change parameters of the moving submodule subject to relative speed control. The control device also acquires cornering speed control parameters, which are preset based on the relative orientation of the target object relative to the curved stator module. These parameters indicate the moving submodule that is the speed control object among the two moving submodules cooperating in holding the object, and also indicate the cornering speed change mode. After the two moving submodules are ready to enter the curved stator segment from the straight stator segment, the control device determines the speed control object and the cornering speed change mode from the two moving submodules cooperating in holding the object. The cornering speed variation method involves relative speed control of at least one of the two moving sub-modules cooperating in carrying the object, so that when at least one of the two moving sub-modules is located in the arc-shaped stator segment, the actual carrying distance between the two moving sub-modules is controlled within the allowable distance range. The allowable distance range indicates the theoretical carrying distance range within which the target object being transported by the two moving sub-modules can safely pass through the arc-shaped stator segment. The timing of the relative speed control is when either the first or second moving sub-module of the two moving sub-modules is located at the center of the arc-shaped stator segment. Furthermore, relative speed control of at least one of the two moving sub-modules also includes controlling the moving sub-module located in the straight stator segment to perform relative speed change when one moving sub-module is located in the straight stator segment and the other in the arc-shaped stator segment.

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