Process verification method, device, storage medium and industrial automation system

Abstract

The application discloses a process verification method and device, a storage medium and an industrial automation system, and belongs to the technical field of automation control. The method comprises the following steps: displaying a judgment graph element based on an interactive interface; configuring attribute parameters of the judgment graph element according to preset process requirements; and judging whether the running process of a linear motor device conforms to the process requirements according to the attribute parameters of the judgment graph element after a program corresponding to the judgment graph element is run. The application realizes automatic process verification of the linear motor device based on the visual judgment graph element, and compared with the process verification mode of the prior art which can only cope with the change of the process requirements by modifying the code, the application has the remarkable advantages of being more intuitive and convenient to operate, high in debugging efficiency and strong in universality.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, specifically to a process verification method, equipment, storage medium, and industrial automation system. Background Technology

[0002] Linear motor equipment can be applied to different manufacturing scenarios. The process requirements of different scenarios may be different. It is necessary to adjust the operation of linear motor equipment by using code programming according to the relevant process requirements. When the process requirements change, it is necessary to spend a long time modifying the code again, which makes it impossible to put the linear motor equipment into use quickly. Summary of the Invention

[0003] This invention aims to solve the above-mentioned technical problems and proposes a process verification method, equipment, storage medium and industrial automation system, which realizes process verification of linear motor equipment based on visualized judgment elements and debugging process.

[0004] In a first aspect, the present invention provides a process verification method applicable to linear motor equipment, the method comprising: Based on the interactive interface, display the judgment elements; Configure the attribute parameters of the judgment element according to the preset process requirements; After running the program corresponding to the judgment element, the linear motor equipment's operation process is determined to meet the process requirements based on the attribute parameters of the judgment element.

[0005] Optionally, the method further includes: Based on the interactive interface, non-judgment elements are displayed; Based on the interactive interface, a control flowchart is created. The control flowchart includes at least one decision element and at least one non-decision element, and there is an arrangement relationship between the multiple elements included in the control flowchart. The arrangement relationship includes hierarchical relationship and / or parallel relationship. Run the control flow chart.

[0006] Optionally, determining whether the operation process of the linear motor equipment meets the process requirements based on the attribute parameters of the determined graphic element includes: Based on the attribute parameters of the judgment element, the corresponding equipment operation information is obtained, and it is determined whether the obtained equipment operation information meets the process requirements. The equipment operation information comes from the linear motor equipment, or the equipment operation information comes from the parent element of the judgment element. The parent element is used to control the linear motor equipment to perform at least one type of operation.

[0007] Optionally, the attribute parameters include judgment object parameters, judgment logic parameters, and judgment value parameters. The step of obtaining corresponding equipment operation information based on the attribute parameters of the judgment element and determining whether the obtained equipment operation information meets the process requirements includes: Based on the judgment object parameters of the judgment element, the corresponding device operation information is obtained; the judgment object parameters are used to indicate the source of the device operation information. The system determines whether the equipment operation information and the judgment value parameter satisfy the judgment logic relationship indicated by the judgment logic parameter, so as to determine whether the obtained equipment operation information meets the process requirements.

[0008] Optionally, the attribute parameters configured for the determined graphic element include at least one of the following: Set the judgment object parameters for the judgment element; Set the judgment logic parameters for the judgment element; Set the judgment value parameter for the judgment element.

[0009] Optionally, the method further includes at least one of the following: After determining that the process requirements are met, the linear motor device is controlled to perform the corresponding type of operation according to at least one operation type indicated by the attribute parameters of the determined graphic element; After determining that the process requirements are met, the next level of the judgment element is started. The next level of the judgment element is a judgment element or a non-judgment element whose attribute parameters are not completely the same.

[0010] Optionally, the configuration of the attribute parameters of the determined graphic element further includes at least one of the following: Set a first function selection parameter, which is used to indicate at least one operation type; A second function selection parameter is set, which is used to indicate the operation type for the judgment element to perform process requirement judgment.

[0011] Optionally, the method further includes: determining whether the judgment element and the previous level element are correctly connected based on the second function selection parameter of the judgment element.

[0012] Optionally, the operation type includes at least one of the following: mover control type, system control type, and information acquisition type.

[0013] Optionally, the method further includes: after determining that the process requirements are not met, adjusting the control flow chart and rerunning the adjusted control flow chart to determine whether the process requirements are met.

[0014] In a second aspect, the present invention provides a motor control device, comprising: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores a computer program, which, when executed by the at least one processor, implements the process verification method described in any of the above technical solutions.

[0015] In a third aspect, the present invention provides a computer-readable storage medium storing a plurality of program codes, characterized in that the program codes are adapted to be loaded and run by a processor to perform the process verification method described in any of the above technical solutions.

[0016] In a fourth aspect, the present invention provides an industrial automation system comprising at least one mover component, at least one stator assembly, at least one control device, and at least one display device, wherein: Operating devices are distributed around the stator assembly; The moving part is used for magnetic coupling with the stator assembly and for moving along the stator assembly; The display device is used to display at least one interactive interface, the interactive interface being used to display judgment elements; The control device is used to configure the attribute parameters of the judgment element according to the preset process requirements, and after running the program corresponding to the judgment element, to determine whether the operation process of the linear motor equipment meets the process requirements according to the attribute parameters of the judgment element.

[0017] The above-mentioned technical solutions of this application have at least one or more of the following beneficial effects: After starting the program corresponding to the judgment element displayed on the interactive interface, the linear motor equipment's operation process is judged to meet the process requirements by obtaining the attribute parameters of the judgment element. The attribute parameters of the judgment element and the control flow established based on the judgment element can be set according to the process requirements in the actual application scenario. Therefore, the process verification scheme provided by this application can be applied to various scenarios without modifying the code according to the changes in the scenario. Compared with the prior art, it has the significant advantages of more intuitive and convenient operation, high debugging efficiency, and strong universality. In this application, the provided judgment element can be used to control the linear motor device to perform corresponding operations when the judgment condition is met, thereby realizing the monitoring of whether the control logic of the linear motor controller or the upper-level operation element has been successfully operated. While ensuring visualization, the functional integration of the judgment element is higher.

[0018] In this application, based on the provided judgment primitive, the operation indicated by the function selection parameter can be verified as successfully executed by setting the judgment object parameter to the return value of the connected parent operation primitive. This eliminates the need for further subdivision of the verification conditions corresponding to different operations based on the operation type, thus providing greater flexibility. Attached Figure Description

[0019] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It will be readily understood by those skilled in the art that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. Furthermore, similar numbers in the drawings are used to denote similar components, wherein: Figure 1 This is a flowchart of the main steps of a process verification method provided in an embodiment of this application; Figure 2 This is a schematic diagram of an attribute setting sub-interface provided in an embodiment of this application; Figure 3 This is a schematic diagram of an interactive interface displaying judgment elements and non-judgment elements provided in an embodiment of this application; Figure 4 This is a schematic diagram of an interactive interface with a control flowchart provided in an embodiment of this application; Figure 5 This is a schematic diagram of another attribute setting sub-interface provided in an embodiment of this application; Figure 6 This is a schematic diagram of another interactive interface with a control flowchart provided in an embodiment of this application; Figure 7 This is a schematic diagram of another interactive interface with a control flowchart provided in the embodiments of this application. Detailed Implementation

[0020] Some embodiments of this application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of this application and are not intended to limit the scope of protection of this application.

[0021] In the description of this application, "module" and "unit" can include hardware, software, or a combination of both. A module or unit can include hardware circuitry, various suitable sensors, and communication ports. The term "A and / or B" refers to all possible combinations of A and B, such as only A, only B, or A and B. The terms "at least one A or B" or "at least one of A and B" have a similar meaning to "A and / or B" and can include only A, only B, or A and B. The terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0022] First, some of the nouns or terms that appear in the description of the embodiments of this application are explained as follows: Moving parts: These are parts that can move along the stator assembly and can cooperate with different types of operating equipment to perform different types of process tasks, such as material transfer tasks and collaborative processing tasks.

[0023] Stator assembly: refers to the assembly used to guide and support the movement of the stator components. A stator assembly includes at least one stator component, and when a stator assembly includes multiple stator components, the stator components can be spliced ​​together.

[0024] A process refers to the operational steps in an industrial automation scenario that have certain sequential requirements. It can be divided into different types of processes based on the specific operation content, such as loading process, unloading process, and processing process.

[0025] This application provides a process verification method that uses visualized judgment primitives to verify whether the operation of a linear motor device meets process requirements. For example... Figure 1 The diagram shown is a flowchart illustrating a process verification method provided in an embodiment of this application, specifically applied to linear motor equipment, such as... Figure 1 The process verification method shown mainly includes the following steps S101 to S103.

[0026] Step S101: Display the judgment elements based on the interactive interface; In this embodiment, the interactive interface refers to a visual interface capable of human-computer interaction, such as a graphical user interface (GUI). This step may involve displaying a judgment element in the GUI, and also obtaining user actions on the judgment element through the GUI. User actions can be understood as mouse clicks, touch screen operations, etc. Specifically, in response to mouse double-clicks, right-clicks, etc., the attribute expansion operation instructions corresponding to the judgment element can be obtained.

[0027] It should be understood that the judgment element in the embodiments of this application encapsulates attribute parameters for process verification. In practical applications, an interactive interface can be displayed on a terminal device with display functionality. The interactive interface includes the judgment element. In response to the attribute expansion operation command, the attribute parameters encapsulated in the judgment element are expanded and displayed in the interactive interface. For the editable attribute parameters corresponding to the judgment element, the parameters can be configured based on the displayed input boxes, selection boxes, and other editing methods.

[0028] Step S102: Configure the attribute parameters of the judgment elements according to the preset process requirements; In this embodiment of the application, the specific implementation of this step may include: in response to the attribute expansion operation instruction, displaying the attribute setting sub-interface of the judgment element in the interactive interface; based on the attribute setting sub-interface, obtaining the edit content that meets the preset process requirements and configuring it as the attribute parameters of the judgment element.

[0029] like Figure 2 The diagram shown is a schematic of an attribute setting sub-interface provided in an embodiment of this application, wherein the editable attribute parameters of the judgment element mainly include judgment object parameters, judgment logic parameters, and judgment value parameters. Based on Figure 2 The interface shown allows users to edit at least one of the judgment object parameters, judgment logic parameters, and judgment value parameters according to process requirements to configure the attribute parameters of the judgment element.

[0030] Step S103: After running the program corresponding to the judgment element, determine whether the operation process of the linear motor equipment meets the process requirements based on the attribute parameters of the judgment element.

[0031] In this embodiment, the judgment object parameter in the attribute parameters indicates the source of the obtained actual value (usually a variable name of the data), the judgment value parameter is a preset theoretical value, and the judgment logic parameter indicates various judgment logic relationships, such as greater than, less than, greater than or less than, or equal to. After running the program corresponding to the judgment element, the actual value corresponding to the source indicated by the judgment object parameter is compared with the theoretical value corresponding to the judgment value parameter. Based on the comparison result, it can be determined whether the judgment condition indicated by the judgment logic parameter is true, and thus determine whether the operation process of the linear motor equipment meets the process requirements.

[0032] In some embodiments, the process verification method provided in this application further includes the following steps S201 to S203: Step S201: Based on the interactive interface, display non-judgment primitives; For example, such as Figure 3 The diagram shown is a schematic diagram of an interactive interface displaying judgment elements and non-judgment elements provided in an embodiment of this application. The interactive interface includes an element list area 301. The diamond-shaped frame 3011 presented in the element list area 301 is used to represent judgment elements, and the rectangular frame 3012 is used to represent non-judgment elements.

[0033] In the embodiments of this application, non-determination elements may include start elements, end elements, and operation elements. Further, operation elements can be categorized according to operation type into moving part delay elements, lifting control elements, workstation control elements, moving part control operation elements, system control operation elements, and information acquisition operation elements.

[0034] Optionally, the program corresponding to the moving part delay element is used to determine the delay time based on the functional parameters of the moving part delay element, and execute the program corresponding to the next level element connected to the moving part delay element after waiting for the moving part delay time.

[0035] Optionally, the lifting control element corresponding program is used to determine the target connecting stator component according to the functional parameters of the lifting control element, and to perform lifting control on the target connecting stator component of the moving part, so that the target connecting stator component of the moving part drives the moving part to move, and the connecting stator component of the moving part is a stator component with lifting function.

[0036] Optionally, the program corresponding to the workstation control element is used to determine the target workstation based on the functional parameters of the workstation control element, and to control the moving part to move to the target workstation. The workstation control element may further include a delayed downward movement element, a synchronous workstation downward movement element, a dynamic workstation downward movement element, a specified workstation downward movement element, a single workstation downward movement element, a single workstation downward movement element for two workstations, a two-workstation downward movement element for three workstations, a workstation cycle time operation element, and a zero-crossing position setting element.The program corresponding to the delayed downward movement element is used to determine the target station and delay time based on the functional parameters of the delayed downward movement element, and to control the moving part to wait for the delay time after arriving at the target station before leaving the target station. The program corresponding to the synchronous station downward movement element is used to determine multiple departure stations and multiple synchronous stations based on the functional parameters of the synchronous station downward movement element, and to control the moving parts of all departure stations to move to a different synchronous station when there are moving parts in multiple departure stations. It also controls each moving part to wait for a preset time after arriving at the synchronous station before leaving the synchronous station. The total number of departure stations for moving parts is less than the total number of moving parts. The total number of synchronous workstations; the program corresponding to the dynamic workstation downward movement element is used to determine multiple departure workstations and multiple receiving workstations based on the functional parameters of the dynamic workstation downward movement element, and for each departure workstation, when a moving part exists in the departure workstation, it controls the moving part to move to a different receiving workstation. The total number of receiving workstations for moving parts is n times the total number of departure workstations for moving parts, where n≥2; the program corresponding to the specified workstation downward movement element is used to determine the target workstation based on the functional parameters of the specified workstation downward movement element, and controls the moving part located at the target workstation of the moving part to move away from the target workstation of the moving part; the program corresponding to the single workstation downward movement single workstation element is used to determine the target workstation based on the single workstation downward movement single workstation element. The function parameters determine a specified starting position and a specified ending position, and control the moving part located at the specified starting position to move to the specified ending position. The single-position downward movement dual-position drawing element program is used to determine a specified starting position and two specified ending positions based on the function parameters of the single-position downward movement dual-position drawing element, and control the moving part located at the specified starting position to selectively move to one of the two specified ending positions. The dual-position downward movement triple-position drawing element program is used to determine two specified starting positions and three specified ending positions based on the function parameters of the dual-position downward movement triple-position drawing element, and control the moving part located at the specified starting position to selectively move to one of the two specified ending positions. The moving parts at the fixed starting point are selectively moved to one of the three designated ending points of the moving parts. The station cycle time operation graphic element correspondence program is used to determine multiple processes and the corresponding stations for each process according to the functional parameters of the station cycle time operation graphic element, and control the moving parts to move to the stations of different processes in sequence to realize multi-station cycle time control. The zero-crossing position setting graphic element correspondence program is used to control the moving parts to move to the next station. If the sequence number of the next station cannot be found according to the preset sorting rule of the station sequence number, the moving parts are controlled to move to the initial station with the preset sequence number, and then the sequence number of the next station is searched again according to the preset sorting rule of the moving parts.

[0037] Optionally, the program corresponding to the mover control operation element is used to determine the target mover component and its mover control information based on the functional parameters of the mover control operation element, and to perform motion control on the target mover component based on the mover control information. The mover control operation element may further include the mover absolute motion element, the global motion parameter setting element, the stop all mover motion element, the full-station mover downward movement element, the all-motor servo power-on element, the all-motor servo power-off element, and the mover offset setting element. The program corresponding to the absolute motion primitive of the mover is used to determine the target mover component based on the functional parameters of the absolute motion primitive of the mover, and to set at least one of the expected position, expected velocity, expected acceleration, and expected deceleration of the target mover component; the program corresponding to the global motion parameter setting primitive is used to set at least one of the global velocity, global acceleration, and global deceleration of the mover component in the linear motor equipment based on the functional parameters of the global motion parameter setting primitive; the program corresponding to the stop all mover motion primitive is used to control all mover components to stop moving; the program corresponding to the mover downward movement primitive at all stations is used to control the mover components located at each station to move away from their respective stations; the program corresponding to the power-on primitive of all mover servos is used to power the servo drivers of all mover components; the program corresponding to the power-off primitive of all mover servos is used to power off the servo drivers of all mover components; and the program corresponding to the set mover offset primitive is used to determine the target mover component based on the functional parameters of the set mover offset primitive, and to set the offset of the target mover component, which is the difference between the actual position and the expected position of the mover component.

[0038] Optionally, the system control operation elements correspond to a program used to control the system state of the linear motor equipment's control system. The system control operation elements may further include system initialization elements, automatic operation start elements, automatic operation stop elements, automatic operation pause elements, automatic operation resume elements, system termination elements, system emergency stop elements, system error clearing elements, and error automatic recovery elements.

[0039] Optionally, the information acquisition operation primitives may further include mover movement acquisition primitives, mover offset acquisition primitives, mover state acquisition primitives, mover arrival state acquisition primitives, quantity acquisition primitives, and system state acquisition primitives. Specifically, the mover movement acquisition primitive is used by a program to determine the target mover component based on its functional parameters and to acquire the actual position and actual velocity of the target mover component; the mover offset acquisition primitive is used by a program to determine the target mover component based on its functional parameters and to acquire the offset of the target mover component, which is the difference between the actual position and the expected position of the mover component; and the mover state acquisition primitive is used by a program to determine the target mover component based on its functional parameters and to acquire the state class of the target mover component. The system includes: type, actual position, and actual speed; mover arrival status acquisition element, whose corresponding program is used to determine the target station based on the functional parameters of the mover arrival status acquisition element, and to acquire the mover arrival status of the target station. The mover component arrival status is used to indicate whether a mover component has arrived at the target station; the mover arrival status acquisition element corresponding program is also used to acquire the identification information of the mover component that has arrived at the target station; quantity acquisition element, whose corresponding program is used to acquire the quantity of mover components and stations; system status acquisition element, whose corresponding program is used to acquire the status information of the control system of the linear motor equipment.

[0040] Step S202: Based on the interactive interface, create a control flow diagram. The control flow diagram includes at least one decision element and at least one non-decision element, and there is an arrangement relationship between the multiple elements included in the control flow diagram. The arrangement relationship includes hierarchical relationship and / or parallel relationship. For example, such as Figure 4 The diagram shown is a schematic diagram of an interactive interface for creating a control flowchart according to an embodiment of this application. The interactive interface includes a graphic element list area 401 and a graphic element editing area 402. The graphic element list area 401 is used to display judgment graphic elements and non-judgment graphic elements. For example, the start graphic element, end graphic element, operation A graphic element, and operation B graphic element shown in the figure are all displayed non-judgment graphic elements. The graphic element editing area 402 is used to create and display the control flowchart. For example, in the control flowchart shown in the figure, the judgment graphic element forms a hierarchical relationship with the operation B graphic element and the end graphic element, that is, the operation B graphic element is the upper level graphic element of the judgment graphic element, and the end graphic element is the lower level graphic element of the judgment graphic element.

[0041] Furthermore, such as Figure 4The interactive interface also includes a toolbar area 403, which displays various tool buttons needed for creating control flowcharts and running / debugging flowcharts, such as the save button, open button, pointer tool button, connector button, start running button, run settings button, and network settings button shown in the figure. The pointer tool button is used to enter pointer mode, where elements from the element list can be added to the element editing area. The connector button is used to enter connection mode, where a directional connection can be established between two elements in the element editing area. The start running button generates a run command, automatically executing the program corresponding to each element according to the flow order among multiple elements in the element editing area, sending the generated command to the connected controller, and receiving data feedback from the controller for recording or judgment by the corresponding element. Furthermore, if it is detected that the previous command has not been completed (e.g., the previous command instructed the moving part to reach a specified position, but the moving part has not yet reached the specified position), the next generated command will be sent after the previous command is completed. The Run Settings button enables or disables the cyclic execution function. After configuring the cycle period parameters, the function will be executed periodically according to the corresponding cycle duration. Furthermore, if a command sent in the previous cycle has not yet completed, the command generated in the next cycle will be sent only after the previous cycle's command has finished. The Network Settings button is used to establish a connection with the controller. Specifically, local address parameters, controller address parameters, and communication port parameters can be configured. Upon successful connection to the controller, a "Network connection successful" message will be displayed on the interface; otherwise, no message will be displayed, or a "Network connection failed" message will be displayed.

[0042] Step S203: Run the control flow chart.

[0043] In this embodiment of the application, the operation control flowchart can trigger the start of the programs corresponding to the judgment elements and non-judgment elements in the operation control flowchart. After running the program corresponding to the judgment element, the linear motor equipment's operation process is judged to meet the process requirements based on the attribute parameters of the judgment element.

[0044] In practical applications, with Figure 4 Taking the control flowchart shown as an example, the start button in the toolbar area generates a run command to indicate the operation of the control flowchart. The corresponding operation control flowchart specifically includes: automatically executing the program corresponding to each graphic element according to the flow order between multiple graphic elements constituting the control flowchart in the graphic element editing area; wherein executing the program corresponding to each graphic element specifically includes: sending the command generated by each graphic element to the connected controller, and receiving the data fed back by the controller for the corresponding graphic element to record or judge.

[0045] The process of determining whether the operation of the linear motor equipment meets the process requirements based on the attribute parameters of the judgment element includes: obtaining the corresponding equipment operation information based on the attribute parameters of the judgment element, and determining whether the obtained equipment operation information meets the process requirements. The equipment operation information comes from the linear motor equipment, or it comes from the parent element of the judgment element. The parent element is used to control the linear motor equipment to perform at least one type of operation. The parent element of the judgment element can be an operation element or a non-operation element, such as a start element.

[0046] In one specific embodiment, the attribute parameters include judgment object parameters, judgment logic parameters, and judgment value parameters. Based on the attribute parameters of the judgment element, corresponding equipment operation information is obtained, and it is determined whether the obtained equipment operation information meets the process requirements. Specifically, this includes: obtaining corresponding equipment operation information based on the judgment object parameters of the judgment element, where the judgment object parameters indicate the source of the equipment operation information; and determining whether the equipment operation information and the judgment value parameters satisfy the judgment logic relationship indicated by the judgment logic parameters, in order to determine whether the obtained equipment operation information meets the process requirements.

[0047] Specifically, obtaining the corresponding device operation information based on the judgment object parameter of the judgment element can include: if the acquisition source indicated by the judgment object parameter is a linear motor device, then the device operation information is obtained from the linear motor device; if the acquisition source indicated by the judgment object parameter is a parent element, then the device operation information is obtained based on the parent element of the judgment element. For example, when the parent element is operation B, operation B can control the linear motor device to execute operation B, and the corresponding device operation information obtained based on operation B corresponds to the return value of the linear motor device after executing operation B.

[0048] The process verification method provided in this application includes at least one of the following steps in configuring the attribute parameters of the judgment element before running the control flow chart: setting the judgment object parameter of the judgment element, setting the judgment logic parameter of the judgment element, and setting the judgment value parameter of the judgment element. It should be understood that the settings of the above parameters can be made according to the process requirements. Figure 2 Edit or set the parameters in the interface shown.

[0049] In some embodiments, the process verification method provided in this application may further include, after running the control flowchart: after determining that the process requirements are met, controlling the linear motor device to perform the corresponding type of operation according to at least one operation type indicated by the attribute parameters of the judgment element.

[0050] The operation type includes at least one of the following: mover control type, system control type, and information acquisition type.

[0051] For example, if the operation type indicated by the attribute parameter of the determination element is a mover control type, when the determination condition is met, the determination element generates a corresponding instruction for the mover control operation and sends it to the controller of the linear motor device, thereby controlling the movement of the mover component in the linear motor device. If the operation type indicated by the attribute parameter of the determination element is a system control type, when the determination condition is met, the determination element generates a corresponding instruction for the system control operation and sends it to the controller of the linear motor device, thereby controlling the operation of the software control system of the linear motor device. If the operation type indicated by the attribute parameter of the determination element is an information acquisition type, when the determination condition is met, the determination element generates a corresponding instruction for the information acquisition operation and sends it to the controller of the linear motor device, thereby acquiring relevant information about the linear motor device.

[0052] By setting the attribute parameters of the judgment element, it can monitor whether the control logic of the linear motor device controller or the upper-level operation element has been successfully operated. This design ensures visualization while making the function integration of the judgment element more advanced.

[0053] Optionally, the process verification method provided in this application embodiment may further include setting a first function selection parameter before running the control flowchart, wherein the step of configuring the attribute parameters of the judgment element includes setting a first function selection parameter, the first function selection parameter being used to indicate at least one operation type; accordingly, according to the at least one operation type indicated by the attribute parameters of the judgment element, the linear motor device is controlled to perform the corresponding type of operation, specifically: generating a corresponding command according to the operation type indicated by the first function selection parameter of the judgment element, sending the generated command to the controller of the linear motor device, thereby controlling the linear motor device to perform the corresponding operation based on the command.

[0054] When the operation type indicated by the first function selection parameter is the mover control type, the linear motor equipment can be controlled to perform mover control operations. The mover control operations specifically include at least one of the following: stop all mover motion operations, mover down operation of all stations (control all movers located at the station to leave), turn off automatic operation, mover absolute motion operation (set at least one of the expected position, expected speed, expected acceleration, and expected deceleration of the specified mover component), delay operation (set a waiting time of x before flowing to the next level element), turn on automatic operation, resume automatic operation, servo power-on operation of all mover components, servo power-off operation of all mover components, multi-station sequential allocation operation (set the allocation order between multiple stations), pause automatic operation, and set global motion parameters operation (set global speed, global acceleration, and global deceleration).

[0055] When the operation type indicated by the first function selection parameter is system control type, the linear motor equipment can be controlled to perform system control operations, which include at least one of the following: system initialization operation, system emergency stop operation, system termination operation, and system error clearing operation.

[0056] When the operation type indicated by the first function selection parameter is information acquisition type, the linear motor equipment can be controlled to perform information acquisition operation. The information acquisition operation includes at least one of the following: mover movement acquisition operation, mover offset acquisition operation (i.e., acquiring the difference between the actual position and the expected position of the mover), mover status acquisition operation (acquiring at least one of the status value, actual position, and actual speed of the specified mover), quantity acquisition operation, system status acquisition operation (acquiring at least one of the status value, system error value, and system error information of the system), and station mover arrival acquisition operation (whether a mover has arrived at the specified station).

[0057] In some embodiments, the process verification method provided in this application may further include, after running the control flowchart: after determining that the process requirements are met, starting the operation of the next level of the judgment element, wherein the next level of the judgment element is a judgment element or a non-judgment element with different attribute parameters.

[0058] by Figure 4 Taking the control flow diagram shown as an example, operation A can be the absolute motion element of the mover, operation B can be the automatic operation start element, the parent element of the judgment element is operation B, and the next level element of the judgment element is the non-judgment element, i.e., the end element shown in the diagram. The attribute parameters of the judgment element are configured as follows: the function selection parameter of the judgment element is set to the station mover arrival acquisition operation, the judgment object parameter of the judgment element is set to the variable name corresponding to the station 1 arrival status data, the judgment logic parameter of the judgment element is set to greater than, and the judgment value parameter of the judgment element is set to "0" (meaning no mover component has arrived). After running the program corresponding to the judgment element, according to the attribute parameters of the judgment element, the actual value corresponding to the station 1 arrival status data is read from the data fed back by the linear motor equipment controller. If the actual value is greater than 0, it means that a mover component has arrived at station 1, and the judgment condition is met. The program corresponding to the next level element of the judgment element, i.e., the end element, is then started. Otherwise, the condition is not met.

[0059] Optionally, the process verification method provided in this application may further include the step of configuring the attribute parameters of the judgment element before running the control flowchart: setting a second function selection parameter, which is used to indicate the operation type of the judgment element to perform process requirement judgment.

[0060] It should be understood that if the next level element of a judgment element is a non-judgment element and that non-judgment element is an operation element, the next level element of the operation element can also be a judgment element used to perform judgments on other process requirements. To reduce programming difficulty and clarify judgment functions, a judgment element can be set to execute or verify only one process requirement at a time. If there are multiple operation execution requirements or multiple operation verification requirements, multiple judgment elements can be run simultaneously, and these multiple judgment elements can be configured with different secondary function selection parameters.

[0061] For example, when there are multiple decision elements in the control flowchart, configuring the attribute parameters of the decision elements may further include assigning different numbers to each decision element. For instance, this can be achieved through methods such as... Figure 5 The attribute parameter setting sub-interface shown assigns different numbers to each judgment element. For example, when creating a control diagram, a unique number can be automatically assigned to the judgment elements added to the element editing area.

[0062] In some embodiments, the process verification method provided in this application further includes: determining whether the judgment element and its parent element are correctly connected based on the second function selection parameter of the judgment element. For example, when the parent element of the judgment element is an operation element, if the operation type indicated by the second function selection parameter of the judgment element is the same as the operation type performed by the operation element connected to the parent element of the judgment element, then the judgment element and the parent operation element are correctly connected; otherwise, the connection is incorrect. The second function selection parameter of the judgment element can be used to verify whether the judgment element has established a connection with the correct operation element, thereby ensuring that the judgment result of the judgment element matches the operation.

[0063] In this embodiment of the application, when creating a control flowchart, if a given element is determined to be a superior element in the control flowchart that establishes a hierarchical relationship with other elements, after running the control flowchart, the execution can proceed to the next level element based on the determination result of the determined element. The next level element can be an ending element or an operation element. See details... Figure 6 and Figure 7 The diagram shown illustrates the creation of an interactive interface with a control flow diagram. Figure 6 The control flow diagram created in the interface shown determines that the next level element of a given element is operation 1. Figure 7 The control flow diagram created in the interface shown determines whether the next level of the graphic element is the end graphic element or the operation 2 graphic element.

[0064] by Figure 6Taking the control flow diagram shown as an example, the parent element of the judgment element is the start element. Based on the judgment element, the goal of executing the corresponding operation when the judgment condition is true can be achieved. That is, after running the program corresponding to the judgment element, the flow can proceed to the operation corresponding to operation 1 or operation 2 element based on the judgment result of the judgment element. It should be understood that when implementing the execution of the corresponding operation when the judgment condition is true based on the judgment element, the parent element of the judgment element in the control flow diagram can also be other operation elements with different operation types than those indicated by the first function selection parameter of the judgment element.

[0065] For example Figure 7 Taking the control flow diagram shown as an example, if the parent element of the judgment element is an operation element (i.e., operation 1 element) with the same operation type indicated by the second function selection parameter of the judgment element, then after running the program corresponding to the judgment element, it determines whether operation 1 indicated by the set second function selection parameter has been successfully executed based on the judgment element. According to the judgment result of the judgment element, it flows to either the operation 2 element or the end element. It should be understood that when determining whether the operation indicated by the second function selection parameter has been successfully executed based on the judgment element, the next level element of the judgment element in the control flow diagram can be any type of element, not limited to operation 2 element or end element shown in the diagram.

[0066] In some embodiments, the process verification method provided in this application may further include, after running the control flowchart: after determining that the process does not meet the requirements, adjusting the control flowchart and rerunning the adjusted control flowchart to determine whether the process requirements are met. Specifically, adjusting the control flowchart may include adjusting the element parameters, element types, and arrangement relationships between elements in the control flowchart, such as swapping the hierarchical relationship between adjacent elements, modifying the attribute parameters of the judgment element, or modifying the parameters of the operation element.

[0067] Those skilled in the art will understand that all or part of the processes in the methods of any of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include any entity or device capable of carrying computer program code, media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0068] On the other hand, embodiments of this application also provide a motor control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program, which, when executed by at least one processor, implements the process verification method in any of the above embodiments.

[0069] This application also provides a computer-readable storage medium storing a plurality of program codes adapted to be loaded and run by a processor to perform the process verification method in any of the above embodiments.

[0070] This application also provides a computer program product, including a computer program adapted to perform the process verification method in any of the above embodiments.

[0071] It should be understood that the program in the motor control device or computer program product includes, but is not limited to, a program that executes the process verification method of the above-described method embodiments. For ease of explanation, only the parts related to the embodiments of the present invention are shown; for specific technical details not disclosed, please refer to the method section of the embodiments of the present invention.

[0072] On the other hand, embodiments of this application also provide an industrial automation system, including at least one moving part, at least one stator assembly, at least one control device, and at least one display device, wherein: Operating devices are distributed around the stator assembly; The moving part is used for magnetic coupling with the stator assembly and for moving along the stator assembly; the display device is used to display at least one interactive interface, the interactive interface being used to display judgment elements; The control device is used to configure the attribute parameters of the judgment elements according to the preset process requirements, and after running the program corresponding to the judgment elements, to determine whether the operation process of the linear motor equipment meets the process requirements based on the attribute parameters of the judgment elements.

[0073] Specifically, one of the stator assembly and the mover component is equipped with an excitation element, which generates a variable magnetic field when energized. The other of the stator assembly and the mover component is equipped with a magnetic element. After the magnetic element and the variable magnetic field generated by the excitation element interact, an electromagnetic force is generated acting on the mover component. The electromagnetic force drives each mover component to move along the stator assembly. Depending on the shape of the movement path formed by the stator assembly along the deployment direction, multiple mover components can perform linear motion (such as linear motion or curvilinear motion) along the stator assembly. The excitation element can be based on a coil; the magnetic element is an object with a magnetic field, such as a permanent magnet or a magnetic material.

[0074] The stator assembly may further include at least one stator component, which may be a connected stator component or a non-connected stator component.

[0075] It should be understood that the various modules in this application are merely for illustrating the functional units of the device or system of this application. The modules shown in the figures may be one or more, and may be part of software, part of hardware, or a combination of software and hardware. Therefore, the number of modules in the figures is merely illustrative.

[0076] Those skilled in the art will understand that the various component modules can be adaptively split or merged. Such splitting or merging of specific modules will not cause the technical solution to deviate from the principles of this application; therefore, the technical solutions after splitting or merging will fall within the protection scope of this application.

[0077] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A process verification method, characterized in that, Applicable to linear motor equipment, the method includes: Based on the interactive interface, display the judgment elements; Configure the attribute parameters of the judgment element according to the preset process requirements; After running the program corresponding to the judgment element, the linear motor equipment is judged to meet the process requirements based on the attribute parameters of the judgment element. The attribute parameters include judgment object parameters, judgment logic parameters, and judgment value parameters. The step of determining whether the obtained equipment operation information meets the process requirements based on the attribute parameters of the judgment element includes: Based on the judgment object parameters of the judgment element, the corresponding device operation information is obtained; the judgment object parameters are used to indicate the source of the device operation information. The system determines whether the equipment operation information and the judgment value parameter satisfy the judgment logic relationship indicated by the judgment logic parameter, so as to determine whether the obtained equipment operation information meets the process requirements.

2. The process verification method according to claim 1, characterized in that, The method further includes: Based on the interactive interface, non-judgment elements are displayed; Based on the interactive interface, a control flowchart is created. The control flowchart includes at least one decision element and at least one non-decision element, and there is an arrangement relationship between the multiple elements included in the control flowchart. The arrangement relationship includes hierarchical relationship and / or parallel relationship. Run the control flow chart.

3. The process verification method according to claim 2, characterized in that, The device operation information comes from the linear motor device, or the device operation information comes from the parent element of the judgment element, and the parent element is used to control the linear motor device to perform at least one type of operation.

4. The process verification method according to claim 2, characterized in that, The attribute parameters configured for the determined graphic element include at least one of the following: Set the judgment object parameters for the judgment element; Set the judgment logic parameters for the judgment element; Set the judgment value parameter for the judgment element.

5. The process verification method according to claim 4, characterized in that, The method further includes at least one of the following: After determining that the process requirements are met, the linear motor device is controlled to perform the corresponding type of operation according to at least one operation type indicated by the attribute parameters of the determined graphic element; After determining that the process requirements are met, the next level of the judgment element is started. The next level of the judgment element is a judgment element or a non-judgment element whose attribute parameters are not completely the same.

6. The process verification method according to claim 5, characterized in that, The attribute parameters configured for the determined graphic element also include at least one of the following: Set a first function selection parameter, which is used to indicate at least one operation type; A second function selection parameter is set, which is used to indicate the operation type for the judgment element to perform process requirement judgment.

7. The process verification method according to claim 6, characterized in that, The method further includes: determining whether the judgment element and the previous level element are correctly connected according to the second function selection parameter of the judgment element.

8. The process verification method according to claim 5, characterized in that, The operation type includes at least one of the following: actuator control type, system control type, and information acquisition type.

9. The process verification method according to claim 2, characterized in that, The method further includes: after determining that the process requirements are not met, adjusting the control flow chart and rerunning the adjusted control flow chart to determine whether the process requirements are met.

10. A motor control device, characterized in that, include: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores a computer program, which, when executed by the at least one processor, implements the process verification method according to any one of claims 1 to 9.

11. A computer-readable storage medium storing a plurality of program codes, characterized in that, The program code is adapted to be loaded and run by a processor to perform the process verification method according to any one of claims 1 to 9.

12. An industrial automation system, characterized in that, It includes at least one moving part, at least one stator assembly, at least one control device, and at least one display device, wherein: Operating devices are distributed around the stator assembly; The moving part is used for magnetic coupling with the stator assembly and for moving along the stator assembly; The display device is used to display at least one interactive interface, the interactive interface being used to display judgment elements; The control device is used to configure the attribute parameters of the judgment element according to the preset process requirements, and after running the program corresponding to the judgment element, to determine whether the operation process of the linear motor equipment meets the process requirements according to the attribute parameters of the judgment element. The attribute parameters include judgment object parameters, judgment logic parameters, and judgment value parameters. The step of determining whether the obtained equipment operation information meets the process requirements based on the attribute parameters of the judgment element includes: Based on the judgment object parameters of the judgment element, the corresponding device operation information is obtained; the judgment object parameters are used to indicate the source of the device operation information. The system determines whether the equipment operation information and the judgment value parameter satisfy the judgment logic relationship indicated by the judgment logic parameter, so as to determine whether the obtained equipment operation information meets the process requirements.

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