Transport control method and apparatus, automated transport system

Abstract

The application discloses a kind of transport control method and device, automatic transport system.It relates to the field of automation control technology, and the method comprises: after detecting that the two mover modules of collaborative object holding prepare to enter the arc stator section from the straight stator section, periodically acquire the signal acquisition information related to the arc stator section;Determine the first position change information and the second position change information of the corresponding acquisition period based on the periodically acquired signal acquisition information;Based on the first position change information of the corresponding acquisition period, control one of the two mover modules of collaborative object holding to move, based on the second position change information of the corresponding acquisition period, control the other of the two mover modules of collaborative object holding to move.Through the present application, the technical problem of object transport risk of 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 transportation control method and apparatus, and an automated 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 transportation control method and apparatus, and an automated 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 transport control method is provided. The method includes: after detecting that two moving sub-modules cooperating in carrying an object are preparing to move from a straight stator segment into an arc stator segment, periodically acquiring signal acquisition information related to the arc stator segment; wherein the straight stator segment includes at least one straight stator module, and the arc stator segment includes at least one arc stator module; based on the periodically acquired signal acquisition information, determining first position change information and second position change information corresponding to the acquisition period; based on the first position change information corresponding to the acquisition period, controlling one of the two moving sub-modules cooperating in carrying the object to move, and based on the second position change information corresponding to the acquisition period, controlling the other moving sub-module to move, so that when at least one of the two moving sub-modules cooperating in carrying the object is located on the arc stator segment, the actual carrying distance between the two moving sub-modules is controlled within a permissible distance range; wherein the permissible distance range indicates the range within which the actual carrying distance can change when a target object being transported by the two moving sub-modules cooperatingly safely passes through the arc stator segment.

[0006] To achieve the above objectives, according to another aspect of this application, a transportation control device is provided. The device includes: a memory storing an executable program; and a processor for running the program, wherein the program executes the aforementioned transportation control method during runtime.

[0007] To achieve the above objectives, according to another aspect of this application, an automated transportation 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; a moving module for moving along the stator track; and a control device for periodically acquiring signal acquisition information related to the curved stator segment after detecting that two moving modules cooperating in carrying a load are preparing to move from the straight stator segment into the curved stator segment; wherein the straight stator segment includes at least one straight stator module, and the curved stator segment includes at least one curved stator module; based on the periodically acquired signal acquisition information... The system acquires signal information to determine first and second position change information for a corresponding acquisition cycle. Based on the first position change information for the corresponding acquisition cycle, it controls one of the two moving sub-modules that are cooperating in carrying the object to move, and based on the second position change information for the corresponding acquisition cycle, it controls the other moving sub-module to move, so that when at least one of the two moving sub-modules is located on the arc 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 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 arc stator segment.

[0008] In this embodiment, after detecting that the two moving sub-modules cooperating in carrying the object are about to enter the curved stator section from the straight stator section, the system periodically acquires signal acquisition information related to the curved stator section to obtain the first and second position change information of the two moving sub-modules. Based on this, the system implements position control on the two moving sub-modules respectively, ensuring that after the moving sub-modules themselves undergo angular deflection, the actual carrying distance between the two moving sub-modules cooperating in carrying the object changes within the allowable distance range. 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 to 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. 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 2This is a flowchart of a transportation control method provided according to an embodiment of this application;

[0012] Figure 3 This is a schematic diagram of the transportation control method provided according to the embodiments of this application. Figure 1 ;

[0013] Figure 4 This is a schematic diagram of the transportation control method provided according to the embodiments of this application. Figure 2 ;

[0014] Figure 5 This is a schematic diagram of the transportation control method provided according to the embodiments of this application. Figure 3 ;

[0015] Figure 6 This is a schematic diagram of the transportation control method provided according to the embodiments of this application. Figure 4 ;

[0016] Figure 7 This is a schematic diagram of the transportation control method provided according to the embodiments of this application. Figure 5 ;

[0017] Figure 8 This is a schematic diagram of a cooperative cornering control device for multiple moving submodules provided according to an embodiment of this application;

[0018] Figure 9 This is a schematic diagram of an automated transportation system according to an embodiment of this application. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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 an arc stator module 111. The linear 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 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 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).

[0023] To address the aforementioned technical problems, this application provides the following: Figure 2 The transportation control method shown. Figure 2 This is a flowchart of a transportation control method provided according to an embodiment of this application. The transportation control method includes:

[0024] Step S201: After detecting that the two moving sub-modules cooperating in carrying the object are preparing to move from the straight stator segment to the curved stator segment, periodically acquire signal acquisition information related to the curved stator segment; wherein, the straight stator segment includes at least one straight stator module, and the curved stator segment includes at least one curved stator module.

[0025] In some embodiments, the cooperative cornering control method of multiple moving submodules provided in this application can be applied to a linear motor device, which includes a stator track and multiple moving submodules. The stator track is composed of multiple stator modules spliced ​​together. The multiple stator modules include a straight stator module and an arc stator module. At least one straight stator module forms a straight stator segment, and at least one arc stator module forms an arc stator segment.

[0026] 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 two 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-module 1 and second moving sub-module 2 transport target object A, and adjacent moving sub-module 2 and moving sub-module 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.

[0027] A time-varying magnetic field can be formed between the moving module and the stator track through a distributed coil array. The controller dynamically adjusts the three-phase alternating current in each stator module according to the preset current waveform and phase distribution, generating a traveling wave magnetic field that moves along the track direction, thereby inducing a Lorentz force inside the moving module and propelling it forward along the stator track.

[0028] 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.

[0029] The curved stator segment has an acquisition cycle. After determining that two moving sub-modules that are cooperating in carrying the object are about to enter the curved stator segment from the straight stator segment, the relevant signal acquisition information of the curved stator segment is periodically acquired according to the length of the acquisition cycle and the moment when the moving sub-modules are detected to be about to enter the curved stator segment, so as to control the movement of the two moving sub-modules respectively.

[0030] In some embodiments, based on the detected position information of two moving sub-modules cooperating in transporting the same target object, it is determined whether the two moving sub-modules cooperating in transporting the same target object are preparing to move from the straight stator segment into the curved stator segment.

[0031] 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.

[0032] In some embodiments, such as Figure 3 The schematic diagram shows that the stator track includes a linear stator module 110 and an arc stator module 111. The linear 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 is equipped with a first holding mechanism 141, and the second moving sub-module 122 is equipped with a second holding mechanism 142. 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 coordinated transportation. Figure 3 As shown, a corresponding entry area can be set on the curved stator segment (e.g., Figure 3 (As shown in the curved stator segment entry area), when the first of the two moving submodules inputs the curved stator segment entry area, it is determined that the two moving submodules cooperating in holding the object are ready to enter the curved stator segment from the straight stator segment.

[0033] In some embodiments, signal acquisition information is used to control the movement of two moving sub-modules of the collaborative holding object. For example, the signal acquisition information can be generated based on the number of signals from a specified signal source acquired within a corresponding acquisition period. That is, the signal acquisition information is used to indicate the number of signals acquired within a corresponding acquisition period, and the movement of the two moving sub-modules of the collaborative holding object is controlled based on the number of signals acquired within the corresponding acquisition period. As another example, the signal acquisition information can also be generated based on a selected signal source. For example, the signal acquisition information can be used to indicate the identification information of the signal source. Based on the signal acquisition information, the number of signals sent by the corresponding signal source within the corresponding acquisition period is retrieved, and then the movement of the two moving sub-modules of the collaborative holding object is controlled based on the number of signals acquired within the corresponding acquisition period.

[0034] In some embodiments, the curved stator segment is provided with one acquisition cycle or multiple different acquisition cycles. When multiple acquisition cycles are set for the curved stator segment, the multiple acquisition cycles correspond to different parts of the curved stator segment, and the different parts of the curved stator segment corresponding to the multiple acquisition cycles can be combined to form a complete curved stator segment. By setting different multiple acquisition cycles for the curved stator segment, different parts of the curved stator segment can be controlled differently, and one or more acquisition cycles can be selectively adjusted according to the actual situation, which has higher control flexibility.

[0035] In some embodiments, the linear stator segment is configured with at least one signal acquisition area, each signal acquisition area corresponding to a signal source. The signal source is used to output a signal. After detecting the presence of at least one moving submodule within the signal acquisition area, the movement control of at least one moving submodule within the signal acquisition area is performed according to the signal output of the signal source. Among the signal sources corresponding to the linear stator segment, one signal source is selected and bound to the arc stator segment, or multiple signal sources are selected and bound to different parts of the arc stator segment respectively, and the different parts of the arc stator segment corresponding to the multiple signal sources can be combined to form a complete arc stator segment.

[0036] After detecting that the two moving sub-modules that are cooperating in carrying the object are preparing to move from the straight stator section to the curved stator section, the system can control the movement of the two moving sub-modules in the curved stator section based on information obtained from periodically acquired signals.

[0037] Depending on the number of acquisition cycles and signal sources corresponding to the arc stator segment, there can be a one-to-one, one-to-many, or many-to-one correspondence between the acquisition cycle and the signal source. This application does not impose specific limitations on this.

[0038] In some embodiments, after determining the current acquisition period T corresponding to the arc stator segment, signal acquisition information related to the arc stator segment is periodically acquired according to the acquisition period T. Based on the signal acquisition information, the signal output status of the signal source corresponding to each acquisition period is determined (e.g., ...). Figure 4In one acquisition cycle T, the corresponding signal source outputs n pulse signals to control the movement of the two moving sub-modules that cooperate in holding the object in the arc stator segment.

[0039] It should be understood that, depending on the actual application scenario, the signal source can output different types of signals such as pulse signals, square wave signals, and triangular wave signals, and the embodiments of this application do not impose specific limitations on this.

[0040] In some embodiments, the signal source can be a physical signal source (such as an operating device, a signal generator, etc.) or a virtual signal source (such as an operating device model, a signal generator model, etc., obtained by software program simulation).

[0041] In some embodiments, the signal source of an entity has an interface capable of outputting signals. By periodically detecting the signal output of the signal source interface, corresponding signal acquisition information can be obtained periodically. For example, an encoder in an operating device is used to collect the motion (specifically, rotation or linear movement) of the execution module in the operating device and output corresponding electrical signals. By detecting the signal output of the encoder interface, the number of signals detected within an acquisition cycle can be determined, thereby obtaining the signal acquisition information corresponding to that acquisition cycle. As another example, a controller in an operating device controls the motion of the execution mechanism through electrical signals. By detecting the electrical signals output by the controller in the operating device, the number of signals detected within an acquisition cycle can be determined, thereby obtaining the signal acquisition information corresponding to that acquisition cycle.

[0042] In some embodiments, the signal source of the entity does not have an interface capable of outputting signals or all interfaces capable of outputting signals are occupied. The motion of the actuator of the operating device can be collected by additionally configured sensors (such as image sensors or motion sensing sensors) and the corresponding electrical signals can be output. By detecting the signal output of the additionally configured sensors, the number of signals detected in an acquisition cycle can be determined, thereby obtaining the signal acquisition information corresponding to an acquisition cycle.

[0043] In some embodiments, the number of signals received within an acquisition cycle is determined by the signal output of the signal source; the higher the signal output frequency of the signal source, the more signals are detected within an acquisition cycle. If the signal source is an operating device, the number of signals received within an acquisition cycle is related to the movement of the actuator of the operating device. For example, with the encoder unchanged, the faster the execution module in the operating device moves, the more signals the encoder outputs, and the more signals are detected within an acquisition cycle. For a signal generator or a virtual signal source, increasing the signal generation frequency can increase the number of signals detected within an acquisition cycle.

[0044] Step S202: Based on the periodically acquired signal acquisition information, determine the first position change information and the second position change information for the corresponding acquisition period.

[0045] In some embodiments, based on the periodically acquired signal acquisition information, the position changes of the two moving sub-modules corresponding to that period are determined respectively, resulting in first position change information and second position change information. The order of acquisition periods corresponds to the movement control order of the two moving sub-modules cooperating in holding the object. For example, based on the signal acquisition information acquired in the Xth acquisition period, the first position change information and second position change information corresponding to the Yth movement control of the two moving sub-modules cooperating in holding the object are determined; based on the signal acquisition information acquired in the (X+1)th acquisition period, the first position change information and second position change information corresponding to the (Y+1)th movement control of the two moving sub-modules cooperating in holding the object are determined, and so on. Wherein, X and Y are natural numbers, and X and Y can be the same or different.

[0046] In some embodiments, the angular change amount that the two moving sub-modules should move in the arc stator segment is determined by signal acquisition information. Then, the arc length or distance is calculated based on the angular change amount and the relative azimuth angle difference between the two moving sub-modules and the virtual center of the arc stator segment, thereby determining the first position change information and the second position change information.

[0047] In some embodiments, the position change information corresponding to each movement control can be calculated before the preceding moving submodule enters the arc stator segment, or the position change information for each movement control can be calculated when the preceding moving submodule is detected to have entered the arc stator segment.

[0048] Step S203: Based on the first position change information of the corresponding acquisition cycle, control one of the two moving sub-modules of the cooperative carrying to move, and based on the second position change information of the corresponding acquisition cycle, control the other moving sub-module of the two moving sub-modules of the cooperative carrying to move, so that when at least one of the two moving sub-modules of the cooperative carrying is located in the arc stator segment, the actual carrying distance between the two moving sub-modules 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 safely passes through the arc stator segment.

[0049] Optionally, the first position change information is assigned to one of the two moving sub-modules that cooperate in holding the object, and the second position change information is assigned to the other of the two moving sub-modules that cooperate in holding the object. The first position change information and the second position change information are used to characterize the position change amplitude of different moving sub-modules corresponding to a single movement control.

[0050] In some embodiments, the first position change information is used to represent at least one of the first radian angle change information, the first arc length change information, and the first distance change information corresponding to a single movement control, and the second position change information is used to represent at least one of the second radian angle change information, the second arc length change information, and the second distance change information corresponding to a single movement control. At least one set of the first position change information and the second position change information represents different position change amplitudes, thereby enabling slightly different movement control of the two moving submodules that are collaboratively holding the object.

[0051] In some embodiments, the movement of the first moving submodule of the two moving submodules of the collaborative holding can be controlled according to the first position change information of the corresponding acquisition period, and the movement of the second moving submodule of the two moving submodules of the collaborative holding can be controlled according to the second position change information; or the movement of the second moving submodule of the two moving submodules of the collaborative holding can be controlled according to the first position change information, and the movement of the first moving submodule of the two moving submodules of the collaborative holding can be controlled according to the second position change information.

[0052] It should be noted that when controlling the movement of the two moving sub-modules that cooperate in holding the object, it is necessary to ensure that when at least one of the moving sub-modules is located in the arc stator segment, the actual holding distance between the two moving sub-modules is controlled within the allowable distance range.

[0053] 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.

[0054] In some embodiments, such as Figure 3 The schematic diagram shows that the stator track 11 includes a linear stator module 110 and an arc stator module 111. The linear stator module 110 has 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. 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 coordinated transportation. Figure 3As shown, the actual distance d between the first holding mechanism 141 and the second holding mechanism 142 is the actual holding distance between the first moving submodule 121 and the second moving submodule 122.

[0055] 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 another 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 another boundary value of the allowable distance range. The distance reference value can be the actual carrying distance between the two cooperating moving submodules on a straight stator segment.

[0056] In some embodiments, by performing position detection on multiple moving submodules, it is possible to determine whether at least one of the two moving submodules cooperating in carrying the object has entered the curved stator segment. After obtaining the actual position information of each of the two moving submodules cooperating in carrying the object, if the actual distance between the actual position of the first moving submodule and the first end of the curved 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 submodule has entered the curved stator segment; if the actual distance between the actual position of the second moving submodule and the first end of the curved 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 submodule has entered the curved 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 submodule preparing to enter the curved stator segment and the determination mechanism for a moving submodule having entered the curved stator segment can be the same or different.

[0057] 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).

[0058] In some embodiments, the two detected moving submodules are controlled by periodically acquiring signal information related to the arc stator segment until the latter moving submodule leaves the arc stator segment. After the latter moving submodule leaves the arc stator segment and enters the straight stator segment, if the speeds of the two moving submodules are the same, the two moving submodules can be controlled to move in the straight stator segment according to the same motion state (such as uniform speed or variable speed).

[0059] In summary, after detecting that the two moving sub-modules carrying the object are about to enter the curved stator section from the straight stator section, the system periodically acquires signal information related to the curved stator section to obtain the first and second position change information of the two moving sub-modules. Based on this, position control is implemented on the two moving sub-modules respectively. This ensures that after the moving sub-modules themselves deflect at an angle, the actual carrying distance between the two moving sub-modules carrying the object changes within the allowable range, improving the controllability of the carrying distance change. This ensures that the actual carrying distance between the two moving sub-modules is sufficient for 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.

[0060] Optionally, in the transportation control method provided in this application embodiment, determining the first position change information and the second position change information for the corresponding acquisition period based on periodically acquired signal acquisition information includes: determining the number of signals acquired within the corresponding acquisition period based on the periodically acquired signal acquisition information; determining the reference position change amount for the corresponding acquisition period based on a preset arc signal increment parameter and the number of acquired signals; wherein the arc signal increment parameter is used to indicate the correspondence between the number of signals and the reference position change amount; determining the first position change information and the second position change information for the corresponding acquisition period based at least on the reference position change amount, wherein the first position change information and the second position change information are different for at least one acquisition period.

[0061] In some embodiments, the first position change information and the second position change information of the corresponding acquisition period can be determined by counting the pulse sequence output from the signal source during the corresponding acquisition period to obtain the number of pulse signals acquired within that period. For example, as... Figure 4 As shown, within one acquisition cycle T, the corresponding signal source outputs n pulse signals. A preset arc signal increment parameter is acquired. This parameter is used after detecting that the two moving sub-modules cooperating in carrying the object are about to enter the arc stator segment. The arc signal increment parameter characterizes the position change increment corresponding to a unit number of signals. The position change increment can include at least one of the following: radian angle change increment, arc length change increment, and straight line length change increment. It should be understood that a straight signal increment parameter can also be configured on the straight stator segment. The straight signal increment parameter is used on the straight stator segment, and the value of the position change increment corresponding to the straight signal increment parameter can be the same as or different from the value of the position change increment corresponding to the arc signal increment parameter. Then, based on the preset arc signal increment parameter and the number of acquired signals, the reference position change for the corresponding acquisition cycle is calculated.

[0062] In some embodiments, a signal source is selected and bound to the arc stator segment, or multiple signal sources are selected and bound to different parts of the arc stator segment respectively, and the different parts of the arc stator segment corresponding to the multiple signal sources can be combined to form a complete arc stator segment.

[0063] In some embodiments, corresponding to the different cases of one signal source bound to the arc stator segment and multiple signal sources bound to the arc stator segment, one or more arc signal increment parameters may be set, and the values ​​of the position change increments corresponding to multiple arc signal increment parameters may be the same or different.

[0064] In some embodiments, at least one set of arc increment mapping parameters can be set, and each set of arc signal increment parameters is used after detecting that two moving submodules cooperating in carrying the object are about to enter the arc stator segment. A first arc increment parameter in one set of arc increment mapping parameters is used to determine first position change information, and a second arc increment parameter in another set of arc increment mapping parameters is used to determine second position change information. The first arc signal increment parameter characterizes the first position change increment corresponding to a unit number of signals. The first position change increment may include at least one of radian angle change increment, arc length change increment, and straight line length change increment. Based on the first arc signal increment parameters of the same set and the number of signals acquired, the first position change information is determined. The second arc signal increment parameter characterizes the second position change increment corresponding to a unit number of signals. The second position change increment may include at least one of radian angle change increment, arc length change increment, and straight line length change increment. Based on the second arc signal increment parameters of the same set and the number of signals acquired, the second position change information is determined. The value of the position change increment corresponding to the first arc signal increment parameter and the value of the position change increment corresponding to the second arc signal increment parameter of the same set are different.

[0065] For example, the arc increment mapping parameter represents the position change increment corresponding to one pulse signal as ΔL, where ΔL can be a radian angle, arc length, or straight line length. Assuming the number of pulses acquired in one acquisition cycle is n, the reference position change in that acquisition cycle can be obtained as n×ΔL.

[0066] When the orientation of the target object relative to the arc stator segment is known and remains unchanged, the first position change information and the second position change information of the corresponding acquisition cycle are determined based on the change in the reference position.

[0067] When the orientation of the target object relative to the curved stator segment is unknown, or when the orientation of the target object relative to the curved stator segment is variable, the different orientations of the target object relative to the curved stator segment will cause different variations in the actual holding distance between the two moving sub-modules when at least one of the two moving sub-modules cooperating in holding the object is located on the curved stator segment. Therefore, the first position change information and the second position change information can be determined based on the reference position change and the relative orientation information of the target object. The relative orientation information of the target object refers to the relative orientation relationship between the target object and the curved stator segment. For example, the target object may be located around the relative inner arc edge or the relative outer arc edge of the curved stator segment. "Around" can be understood as sideways, above, below, diagonally above, or diagonally below.

[0068] In some embodiments, such as Figure 5The schematic diagram shown includes a linear stator segment and a curved stator segment. The linear stator segment includes linear stator module 110 and linear stator module 113, and the curved stator segment includes curved stator module 111. Figure 5 The curved stator segment in (a) consists of two curved stator modules (i.e., curved stator module 111 and curved stator module 112). Figure 5 The curved stator segment in (b) consists of a curved stator module (curved stator module 111). The first holding mechanism 141 of the first moving submodule 121 and the second holding mechanism 142 of the second moving submodule 122 cooperate to transport the target object O-1, as shown in the figure. Figure 5 The target object O-1 shown in (a) is located around the outer arc edge. Figure 5 As shown in (b), the target object O-1 is located around the inner arc edge of the arc stator segment.

[0069] like Figure 5 As shown in (a), when the target object O-1 is located around the outer arc edge of the arc stator segment, the actual holding distance between the first moving submodule 121 and the second moving submodule 122 tends to increase during the turning process, that is, the distance between the first holding mechanism 141 and the second holding mechanism 142 tends to increase. In order to maintain the actual holding distance between the two moving submodules within the allowable range when at least one of the two moving submodules holding the object is located in the arc stator segment, it is necessary to make the moving length of the second moving submodule 122 greater than the moving length of the first moving submodule 121 in at least one position change.

[0070] like Figure 5 As shown in (b), when the target object O-1 is located around the inner arc edge of the arc stator segment, the actual holding distance between the first moving submodule 121 and the second moving submodule 122 becomes smaller when the first moving submodule 121 and the second moving submodule 122 move along their respective tracks during the curve. That is, the distance between the first holding mechanism 141 and the second holding mechanism 142 becomes smaller. In order to maintain the actual holding distance between the two moving submodules within the allowable range when at least one of the two moving submodules that are cooperating in holding the object is located in the arc stator segment, it is necessary to make the moving length of the second moving submodule 122 less than the moving length of the first moving submodule 121 in at least one position change.

[0071] In this embodiment, signal acquisition information related to the arc stator segment is acquired periodically to determine the number of signals received within the corresponding acquisition period. The change in the reference position is calculated by combining the preset arc signal increment parameter and the number of acquired signals. Based on this, the displacement of the two moving sub-modules is further differentiated by combining the relative orientation information of the target object in the arc stator segment. This ensures that the actual holding distance maintained by the two moving sub-modules in cooperating to hold the object is always within the allowable range when passing through the arc stator segment. This helps to avoid adverse situations such as the object falling or being damaged due to changes in spacing during transportation, and improves the stability and safety of cooperative transportation.

[0072] Optionally, in the transportation control method provided in the embodiments of this application, at least based on the change in reference position, the determination of the first position change information and the second position change information for the corresponding acquisition period includes one of the following: using the change in reference position as the first position change information, and determining the second position change information based on the first offset corresponding to the relative orientation information of the target object and the change in reference position; determining the first position change information based on the second offset corresponding to the relative orientation information of the target object and the change in reference position, and determining the second position change information based on the third offset corresponding to the relative orientation information of the target object and the change in reference position.

[0073] In some embodiments, the first position change information and the second position change information for the corresponding acquisition period can be determined using one of the following methods:

[0074] Method 1: The change in the reference position is used as the first position change information, and the second position change information is determined based on the change in the reference position and the preset first offset Δd1.

[0075] In some embodiments, the preset first offset Δd1 can be a preset offset value based on the relative orientation information, relative orientation situation and / or allowable distance range of the target object.

[0076] In some embodiments, when the target object is located around the outer arc edge of the arc stator segment, the actual holding distance between the cooperating moving sub-modules increases as they move along their respective tracks during the curve. To maintain the actual holding distance between the two moving sub-modules within the allowable range when at least one of them is located on the arc stator segment, the moving length of the latter moving sub-module needs to be greater than the moving length of the former moving sub-module in at least one position change. If the reference position change is used as the first position change information of the former moving sub-module, then the value of the reference position change plus a preset first offset is used as the second position change information of the latter moving sub-module; if the reference position change is used as the first position change information of the latter moving sub-module, then the value of the reference position change minus the preset first offset is used as the second position change information of the former moving sub-module.

[0077] In some embodiments, when the target object is located around the inner arc edge of the arc stator segment, the actual holding distance between the cooperating moving sub-modules decreases as they move along their respective tracks during the curve. To maintain the actual holding distance between the two moving sub-modules within the allowable range when at least one of them is located on the arc stator segment, the moving length of the latter moving sub-module needs to be less than the moving length of the former moving sub-module in at least one position change. If the reference position change is used as the first position change information of the former moving sub-module, then the value obtained by subtracting a preset first offset from the reference position change is used as the second position change information of the latter moving sub-module; if the reference position change is used as the first position change information of the latter moving sub-module, then the value obtained by adding the preset first offset to the reference position change is used as the second position change information of the former moving sub-module.

[0078] It should be understood that during multiple position changes of the two moving submodules, the magnitude of the first offset used each time may be the same or different. If multiple first offsets exist, the magnitude of the first offset used when one moving submodule is in a straight stator segment and the other is in a curved stator segment is greater than the magnitude of the first offset used when both moving submodules are in curved stator segments. If multiple first offsets are used when the latter moving submodule is in a straight stator segment and the former is in a curved stator segment, the multiple first offsets will decrease overall according to the order of their use. If multiple first offsets are used when the former moving submodule is in a straight stator segment and the latter is in a curved stator segment, the multiple first offsets will increase overall according to the order of their use. This reduces the spacing adjustment time between the two moving submodules in the straight stator segment.

[0079] Method 2: Apply offsets to both moving sub-modules. That is, calculate the second offset Δd2 and the third offset Δd3 based on the relative orientation information of the target object, and then superimpose them onto the reference position change to obtain the first position change information and the second position change information.

[0080] In some embodiments, the offset can have two attributes: direction and magnitude. Then, at least one of the directions and magnitudes of the second offset Δd2 and the third offset Δd3 is different. This is to ensure that 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 remains within the allowable range. For example, the first position change information is n×ΔL+Δd2, and the second position change information is n×ΔL+Δd3. If both Δd2 and Δd3 are positive, then their magnitudes are different. If one Δd2 and Δd3 is positive and the other is negative, then their magnitudes can be the same.

[0081] In some embodiments, when the offset has both direction and magnitude attributes, when the target object is located around the outer arc edge of the arc stator segment, the movement length of the subsequent moving submodule needs to be greater than the movement length of the preceding moving submodule. If the first position change information is set to n×ΔL+Δd2, and the second position change information is set to n×ΔL+Δd3, and the first position change information is the position change information of the preceding moving submodule, and the second position change information is the position change information of the subsequent moving submodule, then the second offset Δd2 can be negative and the third offset Δd3 can be positive; or, both the second and third offsets Δd2 and Δd3 can be positive, but the second offset Δd2 is less than the third offset Δd3; or, both the second and third offsets Δd2 and Δd3 can be negative, but the second offset Δd2 is greater than the third offset Δd3. When the target object is located around the inner arc edge of the arc stator segment, the movement length of the subsequent moving submodule needs to be less than the movement length of the preceding moving submodule. If we define the first position change information as n×△L+Δd2 and the second position change information as n×△L+Δd3, and the first position change information is the position change information of the preceding moving submodule, and the second position change information is the position change information of the following moving submodule, then the second offset Δd2 can be positive and the third offset Δd3 can be negative; or, both the second and third offsets Δd2 and Δd3 can be positive, but the second offset Δd2 is greater than the third offset Δd3; or, both the second and third offsets Δd2 and Δd3 can be negative, but the second offset Δd2 is less than the third offset Δd3. It should be understood that the situation where the target object is located around the inner arc edge of the arc stator segment can be directly derived by referring to relevant descriptions, and will not be elaborated here.

[0082] In some embodiments, the offset may only have a magnitude attribute. In this case, the magnitudes of the second offset Δd2 and the third offset Δd3 can be the same or different. For example, if the first position change information is n×ΔL+Δd2 and the second position change information is n×ΔL+Δd3, then Δd2 and Δd3 will have different magnitudes. As another example, if the first position change information is n×ΔL-Δd2 and the second position change information is n×ΔL+Δd3, then Δd2 and Δd3 will have the same magnitude.

[0083] In some embodiments, when the offset only has a magnitude attribute, if the second offset Δd2 and the third offset Δd3 are different in magnitude, the relationship between their magnitudes can be determined based on the relative orientation information of the target object. When the target object is located around the outer arc edge of the arc stator segment, the movement length of the subsequent moving submodule needs to be greater than that of the preceding moving submodule. If the first position change information is set to n×ΔL+Δd2, the second position change information is set to n×ΔL+Δd3, and the first position change information is the position change information of the preceding moving submodule, and the second position change information is the position change information of the subsequent moving submodule, then the second offset Δd2 is less than the third offset Δd3. If the first position change information is set to n×ΔL-Δd2, the second position change information is set to n×ΔL-Δd3, and the first position change information is the position change information of the preceding moving submodule, and the second position change information is the position change information of the subsequent moving submodule, then the second offset Δd2 is greater than the third offset Δd3. When the target object is located around the inner arc edge of the curved stator segment, the movement length of the subsequent moving submodule needs to be less than that of the preceding moving submodule. If the first position change information is set as n×ΔL+Δd2 and the second position change information is set as n×ΔL+Δd3, and the first position change information is the position change information of the preceding moving submodule, and the second position change information is the position change information of the following moving submodule, then the second offset Δd2 is greater than the third offset Δd3. If the first position change information is set as n×ΔL-Δd2 and the second position change information is set as n×ΔL-Δd3, and the first position change information is the position change information of the preceding moving submodule, and the second position change information is the position change information of the following moving submodule, then the second offset Δd2 is less than the third offset Δd3. It should be understood that the situation where the target object is located around the inner arc edge of the curved stator segment can be directly derived by referring to relevant descriptions, and will not be elaborated here.

[0084] It should be understood that when multiple pairs of second and third offsets are used while one of the two moving submodules is located in a straight stator segment and the other in a curved stator segment, these multiple pairs of second and third offsets cause the distance between the two moving submodules to gradually decrease or increase. When both moving submodules are located in a curved stator segment, at least one pair of second and third offsets is used to ensure that the distance between the two moving submodules remains consistent before and after the position change. If multiple pairs of second and third offsets are used while the latter moving submodule is located in a straight stator segment and the former is located in a curved stator segment, these multiple pairs of second and third offsets cause the distance between the two moving submodules to gradually increase or decrease. Therefore, the adjustment time for the distance between the two moving submodules in the straight stator segment can be reduced.

[0085] In this embodiment, by using the change in the reference position as the first or second position change information, and combining it with the first, second, or third offset corresponding to the relative orientation information of the target object in the arc stator segment, the position change information required by the two moving sub-modules when entering the arc stator segment is dynamically calculated. This helps to ensure that the actual holding distance of the two moving sub-modules that are cooperating in holding the object is always constrained within the allowable distance range when entering the arc stator segment, 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.

[0086] 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, the larger the deflection angle of the former moving submodule as it moves, the greater the change in the actual carrying distance. Conversely, 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, the smaller the deflection angle of the latter moving submodule as it moves, the weaker the change in the actual carrying distance. Based on this, when one moving submodule is located in a straight stator segment and the other moving submodule is located in a curved stator segment, the limitation of the actual carrying distance change by the two position change information (the first position change information and the second position change information corresponding to the same acquisition cycle) in the same acquisition cycle can also be correspondingly enhanced or weakened, thereby reducing the speed adjustment time or spacing adjustment time after the latter moving submodule leaves the curved stator segment.

[0087] For example, when the target object is located around the outer arc edge of the arc stator segment, if the previous moving sub-module is located on the arc stator segment and the next moving sub-module is located on the straight stator segment, the two position change information in the same acquisition cycle can be used to gradually reduce the distance between the two moving sub-modules that are cooperating in holding the object; if the next moving sub-module is located on the arc stator segment and the previous moving sub-module is located on the straight stator segment, the two position change information in the same acquisition cycle can be used to gradually increase the distance between the two moving sub-modules that are cooperating in holding the object.

[0088] In some embodiments, when the target object is located around the outer arc edge of the curved stator segment, if one moving module is located on the straight stator segment and the other on the curved stator segment, the moving module on the curved stator segment moves at a constant speed. The speed of the moving module on the curved stator segment is such that it causes a corresponding position change within one acquisition cycle. The moving module on the straight stator segment is then subjected to variable speed control relative to the other moving module. This variable speed control causes a corresponding position change in the moving module and alters the distance between the two moving modules within one acquisition cycle. Since the moving module on the straight stator segment does not involve deflection, it is easier to control, thereby improving the reliability of the moving module control and reducing the control difficulty. Furthermore, when the preceding moving submodule is located in the straight stator segment and the following moving submodule is located in the curved stator segment, the preceding moving submodule moves away from the following moving submodule through speed control, thereby increasing the distance between them. The following moving submodule does not need to decelerate or stop in the curved stator segment to increase the distance between them, thus avoiding any adverse effects on the movement of other moving submodules downstream of the following moving submodule.

[0089] For example, when the target object is located around the inner arc edge of the arc stator segment, if the previous moving sub-module is located on the arc stator segment and the next moving sub-module is located on the straight stator segment, the two position change information in the same acquisition cycle can be used to gradually increase the distance between the two moving sub-modules that are cooperating in holding the object; if the next moving sub-module is located on the arc stator segment and the previous moving sub-module is located on the straight stator segment, the two position change information in the same acquisition cycle can be used to gradually decrease the distance between the two moving sub-modules that are cooperating in holding the object.

[0090] In some embodiments, when the target object is located around the relative inner arc edges of the curved stator segment, if one moving module is located on the straight stator segment and the other on the curved stator segment, the moving module on the curved stator segment moves at a constant speed, and its speed is such that it causes a corresponding positional change during the acquisition cycle. Meanwhile, the moving module on the straight stator segment undergoes variable speed control relative to the other moving module, and this variable speed control causes a corresponding positional change and alters the distance between the two moving modules during the acquisition cycle. Therefore, by changing the speed of the moving module on the straight stator segment relative to the other moving module, the distance between the two moving modules can be altered. Since the moving module on the straight stator segment does not involve deflection, it is easier to control, thereby improving the reliability of the moving module control and reducing the control difficulty.

[0091] In some embodiments, when the target object is located around the relative inner arc edge of the curved stator segment, if one moving submodule 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 moves at a constant speed, and its speed is such that it causes a corresponding positional change during the acquisition cycle. Meanwhile, the moving submodule located in the curved stator segment undergoes variable speed control relative to the other moving submodule. This variable speed control causes a corresponding positional change in the moving submodule and alters the distance between the two moving submodules during the acquisition cycle. Thus, when the latter moving submodule is located in the straight stator segment and the former moving submodule is located in the curved stator segment, the former moving submodule moves away from the latter moving submodule through variable speed control, thereby increasing the distance between them. The latter moving submodule does not need to decelerate or remain stationary for a long time to increase the distance, and this does not adversely affect the movement of other moving submodules downstream of the latter moving submodule.

[0092] Optionally, in the transportation control method provided in this application embodiment, before determining the number of signals acquired in a corresponding acquisition cycle based on the periodically acquired signal acquisition information, it further includes one of the following: accumulating the number of electrical signals from the same signal output object, and recording the signal acquisition information corresponding to each acquisition cycle according to the acquisition cycle; wherein, the signal acquisition information of two adjacent acquisition cycles is used to determine the number of signals acquired in the next acquisition cycle; accumulating the number of electrical signals from the same signal output object in an acquisition cycle, and outputting the signal acquisition information of the corresponding acquisition cycle after the end of an acquisition cycle, and accumulating the number of electrical signals from the same signal output object in the next acquisition cycle after clearing to zero.

[0093] In some embodiments, it also includes one of the following:

[0094] Method 1: During operation, the total number of electrical signals from the same signal source is continuously accumulated to obtain a globally increasing cumulative count value. This cumulative count value is not reset due to cycle switching. At each fixed control cycle boundary (such as the first time cycle), the current cumulative value is read and the difference is calculated with the cumulative value recorded at the end of the previous time cycle to obtain the actual number of signals received in the current cycle. For example, at the end of an acquisition cycle T1, the cumulative signal count corresponding to acquisition cycle T1 is read. At the end of the next acquisition cycle T2, the cumulative signal count corresponding to acquisition cycle T2 is read. Then, by subtracting the cumulative signal count corresponding to acquisition cycle T1 from the cumulative signal count corresponding to acquisition cycle T2, the number of signals acquired in acquisition cycle T2 can be obtained. Method 1 helps to avoid count loss or jitter caused by counter resetting at the moment of cycle switching. It can also perform trend identification and interpolation compensation for signal loss, noise interference, or instantaneous pulse loss, improving fault tolerance.

[0095] Method 2: The counter only accumulates the pulses received within the current cycle. When a cycle ends, the counter value is read as the signal acquisition information for that cycle. Then, the counter is cleared and the accumulation of signals for the next cycle begins. For example, after an acquisition cycle T1 ends, the counter outputs the number of electrical signals corresponding to acquisition cycle T1. After storing the number of electrical signals corresponding to acquisition cycle T1, or after determining the first and second position change information based on the number of electrical signals corresponding to acquisition cycle T1, the number of electrical signals corresponding to acquisition cycle T1 recorded in the counter is cleared. The counter then re-accumulates the number of electrical signals from the same signal output object in the next acquisition cycle T2, and so on. Further details are omitted.

[0096] In the embodiments of this application, the periodic acquisition of the number of electrical signals is carried out using either Method 1 (global cumulative difference method) or Method 2 (periodic zeroing count method), which helps to improve the accuracy of determining the number of signals acquired within the corresponding acquisition period, thereby helping to maintain the distance between the objects held during the multi-motor coordinated cornering process.

[0097] Optionally, in the transportation control method provided in this application embodiment, periodically acquiring signal acquisition information related to the curved stator segment includes one of the following: acquiring signal acquisition information corresponding to a first signal source associated with the two moving sub-modules cooperating in carrying the goods before entering the curved stator segment, as signal acquisition information related to the curved stator segment; acquiring signal acquisition information corresponding to a second signal source to be associated with the next two moving sub-modules cooperating in carrying the goods, as signal acquisition information related to the curved stator segment, wherein the second signal source is only used for the curved stator segment, or the second signal source is used for the curved stator segment and the straight stator segment downstream of the curved stator segment.

[0098] In some embodiments, one of the following methods can be used to periodically acquire signal acquisition information related to the curved stator segment:

[0099] Method 1: The two moving sub-modules that are cooperating in holding the object can be associated with the first signal source before entering the curved stator segment, and the corresponding signal acquisition information can be obtained directly from the first signal source. It should be noted that the first signal source can be a signal source that controls the movement of the two moving sub-modules that are cooperating in holding the object while they are in the straight moving segment.

[0100] For example, the two moving sub-modules that cooperate in holding the object maintain their association with the first signal source of the straight stator segment before entering the curved stator segment, and directly obtain the corresponding signal acquisition information of the first signal source as the control information of the curved stator segment.

[0101] Method 2: Before the two moving sub-modules that are cooperating in carrying the object enter the curved stator segment, they are unbound from the signal source of the straight stator segment. Then, they are bound to a second signal source that is only used for the curved stator segment, or that acts on the curved stator segment and the straight stator segment downstream of the curved stator segment. The corresponding signal acquisition information is then obtained according to the second signal source, thereby enabling the two moving sub-modules that are cooperating in carrying the object to safely pass through the curved stator segment.

[0102] For example, the system can obtain the operating cycle and position commands of downstream equipment (such as a feeding robot, labeling unit, and inspection station), and then use the obtained signals to control the two moving sub-modules that are cooperating in holding the object to safely pass through the arc stator segment.

[0103] In some embodiments, such as Figure 6 The stator track shown includes a straight stator segment and a curved stator segment. The straight stator segment includes a straight stator module 110 and a straight stator module 113, and the curved stator segment includes a curved stator module 111 and a curved stator module 112. That is, the curve section includes curved stator modules 111 and 112. The straight stator module 110 is connected to the curved stator module 111, and the straight stator module 113 is connected to the curved stator module 112. Figure 6 As shown, a signal acquisition area 1 is provided on the linear stator module 110, and a signal acquisition area 2 is provided on the linear stator module 113. The signal acquisition areas can be configured with either real or virtual operating devices.

[0104] In some embodiments, assuming the two moving sub-modules of the cooperative load-bearing system move from the straight stator module 110 into the arc stator module 111 in the arc stator segment, and then out of the arc stator module 112 in the arc stator segment and into the straight stator module 113, the movement of the two moving sub-modules of the cooperative load-bearing system in the cornering area can be further controlled based on the signal source of the upstream straight stator segment of the arc stator segment. For example, as... Figure 6As shown, the upstream straight stator segment of the arc stator segment corresponds to the straight stator module 110. It can obtain the corresponding signal acquisition information according to the first signal source corresponding to the signal acquisition area 1, and control the movement of the two moving sub-modules that are cooperating in holding the object in the bending area (i.e., the arc stator module 111 and the arc stator module 112) according to the signal acquisition information corresponding to the signal acquisition area 1.

[0105] It can also control the movement of the two moving sub-modules that are cooperating in holding the object in the bending area based on the signal source of the downstream straight stator segment of the curved stator segment, for example, such as Figure 6 As shown, the downstream straight stator segment of the arc stator segment corresponds to the straight stator module 113. Then, according to the second signal source corresponding to the signal acquisition area 2, the corresponding signal acquisition information is acquired, and the movement of the two moving sub-modules that are cooperating to hold the object in the bending area (i.e., the arc stator module 111 and the arc stator module 112) is controlled according to the signal acquisition information corresponding to the signal acquisition area 2.

[0106] In this embodiment, a first signal source and a second signal source can be selectively used as signal acquisition sources for the arc stator segment. When using the signal from the first signal source, the continuity and stability of the previous stage equipment are maintained, which helps to avoid sudden displacement changes and object swaying caused by signal switching at the beginning of the arc segment and ensures the smoothness of the transportation process. When using the signal from the second signal source, the displacement increment of the moving submodule in the arc segment is pre-adapted to the rhythm of the next stage equipment, which helps to improve the flexibility of controlling the movement of the moving submodule.

[0107] Optionally, in the transportation control method provided in the embodiments of this application, the method further includes at least one of the following: during the process of the two moving sub-modules of the cooperating load moving from the straight stator section to the curved stator section, switching the signal source bound to the two moving sub-modules of the cooperating load, and controlling the two moving sub-modules of the cooperating load to move on the curved stator section based on the switched signal source; during the process of the two moving sub-modules of the cooperating load moving from the curved stator section to the straight stator section, switching the signal source bound to the two moving sub-modules of the cooperating load, and controlling the two moving sub-modules of the cooperating load to move on the straight stator section based on the switched signal source; during the process of the two moving sub-modules of the cooperating load moving along the curved stator section, switching the signal source bound to the two moving sub-modules of the cooperating load, and controlling the two moving sub-modules of the cooperating load to move on the curved stator section based on the switched signal source.

[0108] In some embodiments, device binding of two moving submodules for collaborative holding can be achieved using one of the following methods:

[0109] Method 1: During the process of the two moving sub-modules cooperating in holding the object moving from the straight stator section to the curved stator section, the binding and switching of the signal source is performed. That is, the signal source originally used to control the movement of the two moving sub-modules cooperating in holding the object in the straight stator section is unbound, and a new binding relationship is established with the downstream signal source. This ensures that after the moving sub-modules enter the curved stator section, the two moving sub-modules cooperating in holding the object move on the curved stator section based on the switched signal source.

[0110] In some embodiments, the control of the two moving sub-modules of the co-carrying object can be controlled by different signal sources in different sections. For example, before entering the curved stator section, the two moving sub-modules of the co-carrying object are driven by the signal source of the straight stator section. The signal source of the straight stator section can control the moving sub-modules to move at a constant linear speed or accelerate in segments. When it is detected that one of the two moving sub-modules of the co-carrying object reaches a preset first switching point (i.e., the two moving sub-modules of the co-carrying object will move from the straight stator section to the curved stator section), a binding switching command is sent to the controller of the two moving sub-modules of the co-carrying object, and the signal source associated with the curved stator section (e.g., downstream labeling machine, vision positioning system, or signal simulator) is activated. The two moving sub-modules of the co-carrying object calculate the new reference position change based on the number of periodic pulses of the switched signal source, thereby controlling the two moving sub-modules of the co-carrying object to safely pass through the curved stator section.

[0111] In some embodiments, the first switching point may be located in front of the first end of the arc stator segment that receives the moving module, or directly at the first end of the arc stator segment that receives the moving module.

[0112] 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. Based on the acquired actual position information of the two moving submodules cooperating in holding the object, it is determined whether the two moving submodules cooperating in holding the object have reached the first switching point.

[0113] In some embodiments, a corresponding sensor may be set at the first switching point to detect whether the two moving sub-modules that are cooperating in holding the object have reached the first switching point. When the sensor detects that the two moving sub-modules that are cooperating in holding the object have reached the first switching point, a signal may be sent to the controller of the two moving sub-modules that are cooperating in holding the object, thereby triggering the switching signal source operation.

[0114] Method 2: After the two moving sub-modules of the co-carrying object move from the curved stator section to the straight stator section, switch the signal source bound to the two moving sub-modules of the co-carrying object, and control the movement of the two moving sub-modules of the co-carrying object on the straight stator section based on the switched signal source. That is, the movement of the two moving sub-modules of the co-carrying object on the curved stator section is still controlled by the signal source corresponding to the upstream straight stator section. When the two moving sub-modules of the co-carrying object are about to move from the curved stator section to the downstream straight stator section, switch the bound signal source, and control the movement of the two moving sub-modules of the co-carrying object on the straight stator section through the downstream signal source.

[0115] In some embodiments, the two moving sub-modules of the co-carrying object can continuously use the signal source of the upstream linear stator segment. When it is detected that one of the moving sub-modules of the co-carrying object reaches a preset second switching point (i.e., the two moving sub-modules of the co-carrying object will move from the arc stator segment to the linear stator segment), a binding switching command is sent to the controller of the two moving sub-modules of the co-carrying object, and the two moving sub-modules of the co-carrying object are controlled to move on the linear stator segment based on the switched signal source (e.g., the signal source of the downstream linear stator segment).

[0116] In some embodiments, the second switching point may be located in front of the first end of the linear stator segment that receives the moving submodule, or directly at the first end of the linear stator segment that receives the moving submodule.

[0117] 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. Based on the acquired actual position information of the two moving submodules cooperating in holding the object, it is determined whether one of the two moving submodules cooperating in holding the object has reached the second switching point.

[0118] In some embodiments, a corresponding sensor may be set at the second switching point to detect whether one of the two moving sub-modules that are cooperating in holding the object has reached the second switching point. When the sensor detects that the two moving sub-modules that are cooperating in holding the object have reached the second switching point, a signal may be sent to the controller of the two moving sub-modules that are cooperating in holding the object, thereby triggering the switching signal source operation.

[0119] Method 3: During the movement of the two moving sub-modules that are cooperating in holding the object along the arc stator segment, the signal source can be switched, and the two moving sub-modules that are cooperating in holding the object can be controlled to move on the arc stator segment based on the switched signal source.

[0120] In some embodiments, the two moving sub-modules of the cooperating object use the signal source of the upstream straight stator segment in the first half of the arc stator segment. When it is detected that one of the two moving sub-modules of the cooperating object reaches a preset third switching point (e.g., the middle area of ​​the arc stator segment), a binding switching command is sent to the controller of the two moving sub-modules of the cooperating object. The two moving sub-modules of the cooperating object calculate the new reference position change based on the number of periodic pulses of the switched signal source (e.g., the signal source of the downstream straight stator segment), thereby controlling the two moving sub-modules of the cooperating object to safely pass through the second half of the arc stator segment.

[0121] In some embodiments, the third switching point can be set in the middle region of the arc stator segment. For example, assuming that the arc stator segment is composed of two arc stator modules, the third switching point can be set at the second end of the first arc stator segment (where the first end of the first arc stator segment is the end that receives the moving sub-module), and can be set at the first end of the second arc stator segment that receives the moving sub-module.

[0122] In some embodiments, detecting whether one of the two moving sub-modules that are cooperating in holding the object has reached a preset third switching point can be triggered by the switching of the signal source when the first moving sub-module reaches the third switching point, or by the switching of the signal source when the second moving sub-module reaches the third switching point.

[0123] In some embodiments, such as Figure 7 The stator track shown includes a linear stator segment and a curved stator segment. The linear stator segment includes a linear stator module 110 and a linear stator module 113, and the curved stator segment includes a curved stator module 111 and a curved stator module 112. The linear stator module 110 is connected to the curved stator module 111, and the linear stator module 113 is connected to the curved stator module 112. Figure 6 As shown, a signal acquisition area 1 is provided on the linear stator module 110, and a signal acquisition area 2 is provided on the linear stator module 113. The signal acquisition areas can be configured with either a real signal source or a virtual signal source.

[0124] like Figure 7 As shown in (a), a first switching point X0 is provided at the first end of the arc stator module 111. The signal source for the two moving sub-modules of the cooperating object to move when the linear stator module 110 moves is the signal source corresponding to signal acquisition area 1. When it is detected that one of the two moving sub-modules of the cooperating object moves to X0, the signal source bound to the two moving sub-modules of the cooperating object is switched, and the signal source is switched from the signal source corresponding to signal acquisition area 1 to the signal source corresponding to signal acquisition area 2. The movement of the two moving sub-modules of the cooperating object on the arc stator segment (i.e., arc stator module 111 and arc stator module 112) is controlled by the signal source corresponding to signal acquisition area 2.

[0125] like Figure 7 As shown in (b), a second switching point X1 can be set at the second end of the arc stator module 112. The signal sources of the two moving sub-modules that cooperate in holding the object are the signal sources corresponding to signal acquisition area 1 when they move in the straight stator segment and the arc stator segment. When it is detected that one of the moving sub-modules of the two moving sub-modules that cooperate in holding the object has moved to X1, the signal sources bound to the two moving sub-modules of ...

[0126] like Figure 7 As shown in (c), a third switching point X2 can also be set at the first end of the arc stator module 112. The signal sources of the two moving sub-modules that cooperate in holding the object are the signal sources corresponding to signal acquisition area 1 when they move in the straight stator segment and the arc stator module 111. When it is detected that one of the moving sub-modules that cooperate in holding the object has moved to X2, the signal sources bound to the two moving sub-modules that cooperate in holding the object are switched, and the signal source is switched from the signal source corresponding to signal acquisition area 1 to the signal source corresponding to signal acquisition area 2. The movement of the two moving sub-modules that cooperate in holding the object on the arc stator module 112 and the straight stator segment 112 is controlled by the signal source corresponding to signal acquisition area 2.

[0127] In this embodiment, when the two moving sub-modules that control the co-carrying of the object move in the arc stator segment, the signal sources bound to the two moving sub-modules that control the object are dynamically switched. Based on the position change information periodically collected by the newly bound device, the displacement of the two moving sub-modules is controlled. This helps to maintain the object holding distance within the allowable range, realize the smooth co-control of the moving sub-modules in the transition phase of different track forms, and improve the stability and safety of the transportation process.

[0128] Optionally, in the transportation control method provided in this application embodiment, the linear signal increment parameters of the two moving sub-modules that cooperate in holding the object when moving in the straight stator segment are the same as or different from the arc signal increment parameters of the two moving sub-modules that cooperate in holding the object when moving in the arc stator segment.

[0129] In some embodiments, the linear signal increment parameters used by the two moving sub-modules that cooperate in holding the object when moving in the linear stator segment may be the same as or different from the arc signal increment parameters used when moving in the arc stator segment.

[0130] In some embodiments, different signal increment parameters are set for the straight stator segment and the curved stator segment, respectively. The straight signal increment parameter ΔL1 for the straight stator segment and the curved signal increment parameter ΔL2 for the curved stator segment are different from each other. The signal increment parameter ΔL1 for the straight segment can be the same as... Figure 7 The signal acquisition 2 in the signal acquisition is matched with the unit rotation of the corresponding signal source, which helps to ensure that the motion rhythm and speed of the moving module are quickly synchronized with the downstream workstations (such as labeling machines, sorting arms, and detection platforms) after entering the linear stator section.

[0131] In some embodiments, the same signal increment parameters are set for both the straight and curved stator segments. Regardless of whether the moving submodule is in a straight or curved stator segment, the same signal increment parameters ΔL=ΔL1=ΔL2 are used. In the curved stator segment, ΔL is not changed; instead, different offsets are applied to the preceding and following moving submodules (e.g., Δd1 for the preceding submodule and Δd2 for the following submodule, where Δd1≠Δd2). This adjusts the distance between the two moving submodules while maintaining a consistent pulse counting reference. For example, when the target object is located around the outer edge of the curve, a larger offset is applied to the following moving submodule than the preceding one, causing a larger displacement in the following submodule compared to the preceding one, thus reducing the distance between the two moving submodules. Similarly, when the target object is located around the outer edge of the curve, a larger offset is applied to the preceding moving submodule than the following one, causing a larger displacement in the preceding moving submodule compared to the following one, thus increasing the distance between the two moving submodules.

[0132] Optionally, in the transportation control method provided in the embodiments of this application, the method further includes: adjusting the arc signal increment parameter based on the expected time for the latter of the two moving sub-modules that are cooperating in carrying the goods to exit the arc stator segment.

[0133] In some embodiments, the arc signal increment parameter can be adaptively adjusted according to the expected time required for the latter of the two moving sub-modules of the cooperating load to exit the arc stator segment. For example, when it is necessary to control the latter of the two moving sub-modules of the cooperating load to exit the arc stator segment for a shorter expected time, the magnitude of the arc signal increment indicated by the arc signal increment parameter can be increased; or, when the expected time becomes longer, the magnitude of the arc signal increment indicated by the arc signal increment parameter can be decreased.

[0134] In some embodiments, the length of the arc stator segment and the expected time for the latter moving submodule of the two cooperating moving submodules to exit the arc stator segment can also be obtained, and the signal increment parameter corresponding to a pulse signal can be simulated and calculated based on the length of the arc stator segment and the expected time.

[0135] In this embodiment, the magnitude of the arc signal increment parameter is adjusted in response to the expected time for the latter moving submodule of the two moving submodules to exit the arc segment, which improves the flexibility of controlling the single movement of the two moving submodules and allows the target object to safely pass through the arc stator segment according to actual needs.

[0136] In some embodiments, the expected time for the latter of the two moving sub-modules that are cooperating in holding the object to exit the arc stator segment is adjusted; based on the adjusted expected time, the number of signals acquired in one cycle is adjusted; based on the adjusted number of signals acquired in one cycle and the signal increment parameter, the two moving sub-modules that are cooperating in holding the object are controlled to move on the arc stator segment.

[0137] In some embodiments, when it is necessary to adjust the expected time for the latter of the two moving submodules of the cooperating load to exit the arc stator segment, the number of signals emitted by the signal source within one cycle can be directly adjusted according to the adjusted expected time. This allows for the acceleration or deceleration of the time for the two moving submodules of the cooperating load to exit the arc stator segment.

[0138] In this embodiment of the application, by dynamically adjusting the number of pulses output by the signal source in each control cycle, without recalibrating the position of the mover, modifying the underlying control algorithm, or reconfiguring the encoder mapping relationship, the running speed and exit time of the mover in the arc segment can be controlled without disturbing the existing control closed loop.

[0139] The transportation control method provided in this application periodically acquires signal acquisition information related to the curved stator segment after detecting that two moving sub-modules cooperating in carrying the object are preparing to move from a straight stator segment to a 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. Based on the periodically acquired signal acquisition information, first position change information and second position change information for the corresponding acquisition period are determined. Based on the first position change information for the corresponding acquisition period, one of the two moving sub-modules cooperating in carrying the object is controlled to move, and based on the second position change information for the corresponding acquisition period, the other moving sub-module is controlled to move. This ensures that after at least one of the two moving sub-modules enters the curved stator segment, the actual carrying distance between the two moving sub-modules is controlled within an allowable range. The allowable range indicates 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 segment, thus solving the technical problem of object transportation risk in curved stator segments for two moving sub-modules in related technologies.

[0140] In this embodiment, when it is detected that the two moving sub-modules carrying the object are about to enter the curved stator section from the straight stator section, signal acquisition information related to the curved stator section is acquired periodically to obtain the first position change information and the second position change information corresponding to the two moving sub-modules. Based on this, position control is implemented on the two moving sub-modules respectively. Thus, after at least one of the two moving sub-modules carrying the object enters the curved stator section, it is ensured that after the moving sub-module itself undergoes angular deflection, the actual carrying distance between the two moving sub-modules carrying the object changes within the allowable distance range. 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 to 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.

[0141] 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.

[0142] This application also provides a transportation control device. It should be noted that the transportation control device of this application can be used to execute the transportation control method provided in this application. The transportation control device provided in this application is described below.

[0143] According to an embodiment of this application, a transportation control device for implementing the above-described transportation control method is also provided, such as... Figure 8 As shown, the device includes: a memory 801 storing an executable program; and a processor 802 for running the program, wherein the program executes the transportation control method described in any of the above-mentioned embodiments when it is running.

[0144] Those skilled in the art will understand that Figure 8 The structure shown is for illustrative purposes only. The collaborative cornering control device for the multi-movement sub-module can also be a smartphone, tablet, handheld computer, mobile internet device (MID), PAD and other terminal devices. Figure 8 This does not limit the structure of the aforementioned electronic device. For example, electronic devices may also include components that are more... Figure 8 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 8 The different configurations shown.

[0145] Embodiments of this application also provide an automated transportation system, such as Figure 9As shown, it includes: a stator track 90, wherein the stator track 90 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 module 91 for moving along the stator track; and a control device 92 for periodically acquiring signal acquisition information related to the curved stator segment after detecting that two moving modules 91 cooperating in carrying an object are preparing to move from the straight stator segment into the curved stator segment; wherein the straight stator segment includes at least one straight stator module, and the curved stator segment includes at least one curved stator module; and determining a first position change for the corresponding acquisition period based on the periodically acquired signal acquisition information. The system acquires first position change information and second position change information. Based on the first position change information of the corresponding acquisition cycle, it controls one of the two moving sub-modules 91 that are cooperating in carrying the object to move, and based on the second position change information of the corresponding acquisition cycle, it controls the other moving sub-module 91 that is cooperating in carrying the object to move, so that when at least one of the two moving sub-modules 91 that are cooperating in carrying the object is located in the arc stator segment, the actual carrying distance between the two moving sub-modules 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 91 safely passes through the arc stator segment.

[0146] 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.

[0147] 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 transportation control method provided in Embodiment 1.

[0148] 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.

[0149] This application also provides a computer program product that, when executed on a data processing device, is suitable for performing the steps of a transportation control method.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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 transportation control method, characterized in that, include: After detecting that two moving sub-modules cooperating in carrying the object are preparing to move from the straight stator segment to the curved stator segment, signal acquisition information related to the curved stator segment is periodically acquired; wherein, the straight stator segment includes at least one straight stator module, and the curved stator segment includes at least one curved stator module; Based on the periodically acquired signal acquisition information, the first position change information and the second position change information of the corresponding acquisition period are determined; Based on the first position change information of the corresponding acquisition cycle, one of the two moving sub-modules of the cooperative object-holding is controlled to move, and based on the second position change information of the corresponding acquisition cycle, the other moving sub-module of the cooperative object-holding is controlled to move, so that when at least one of the two moving sub-modules of the cooperative object-holding is located in the arc stator segment, the actual object-holding distance between the two moving sub-modules is controlled within the allowable distance range; wherein, the allowable distance range is used to indicate the range within which the actual object-holding distance is allowed to change when the target object being transported by the two moving sub-modules cooperatively passes through the arc stator segment.

2. The method according to claim 1, characterized in that, The determination of the first position change information and the second position change information for the corresponding acquisition period based on the periodically acquired signal acquisition information includes: Based on the signal acquisition information obtained periodically, the number of signals acquired within the corresponding acquisition period is determined; Based on the preset arc signal increment parameters and the number of acquired signals, the change in the reference position for the corresponding acquisition period is determined; wherein, the arc signal increment parameters are used to indicate the correspondence between the number of signals and the change in the reference position; Based at least on the change in the reference position, first position change information and second position change information for the corresponding acquisition cycle are determined, wherein the first position change information and second position change information are different for at least one acquisition cycle.

3. The method according to claim 2, characterized in that, The determination of the first position change information and the second position change information for the corresponding acquisition period based at least on the reference position change includes one of the following: The change in the reference position is used as the first position change information, and the second position change information is determined based on the first offset corresponding to the change in the reference position and the relative orientation information of the target object. Based on the second offset corresponding to the reference position change and the relative orientation information of the target object, the first position change information is determined, and based on the third offset corresponding to the reference position change and the relative orientation information of the target object, the second position change information is determined.

4. The method according to claim 2, characterized in that, Before determining the number of signals acquired within a corresponding acquisition period based on the periodically acquired signal acquisition information, one of the following is also included: The number of electrical signals from the same signal output object is accumulated, and the signal acquisition information corresponding to each acquisition cycle is recorded according to the acquisition cycle; among them, the signal acquisition information of two adjacent acquisition cycles is used to determine the number of signals acquired in the later acquisition cycle. The system accumulates the number of electrical signals from the same signal output object within an acquisition cycle, outputs the signal acquisition information for the corresponding acquisition cycle after the acquisition cycle ends, and accumulates the number of electrical signals from the same signal output object in the next acquisition cycle after clearing the data.

5. The method according to claim 1, characterized in that, The periodic acquisition of signal acquisition information related to the arc stator segment includes one of the following: Based on the first signal source associated with the two moving sub-modules of the cooperative carrying before entering the arc stator segment, the corresponding signal acquisition information of the first signal source is obtained as the signal acquisition information related to the arc stator segment; Based on the second signal source to be associated next to the two moving sub-modules of the cooperative holding, the corresponding signal acquisition information of the second signal source is obtained as the signal acquisition information related to the arc stator segment. The second signal source is only used for the arc stator segment, or the second signal source is used for the arc stator segment and the straight stator segment downstream of the arc stator segment.

6. The method according to claim 1, characterized in that, The method further includes at least one of the following: During the process of the two moving sub-modules of the cooperative object holding moving from the straight stator section to the curved stator section, the signal source bound to the two moving sub-modules of the cooperative object holding is switched, and the two moving sub-modules of the cooperative object holding are controlled to move on the curved stator section based on the switched signal source; During the process of the two moving sub-modules of the cooperative object holding moving from the arc stator section to the straight stator section, the signal source bound to the two moving sub-modules of the cooperative object holding is switched, and the two moving sub-modules of the cooperative object holding are controlled to move on the straight stator section based on the switched signal source; During the movement of the two moving sub-modules of the cooperating object along the arc stator segment, the signal source bound to the two moving sub-modules of the cooperating object is switched, and the movement of the two moving sub-modules of the cooperating object on the arc stator segment is controlled based on the switched signal source.

7. The method according to claim 2, characterized in that, The linear signal increment parameters of the two moving sub-modules that cooperate in holding the object when they move in the linear stator segment are the same as or different from the arc signal increment parameters of the two moving sub-modules that cooperate in holding the object when they move in the arc stator segment.

8. The method according to claim 2, characterized in that, The method further includes: Based on the expected time for the latter of the two moving sub-modules of the cooperative holding to exit the arc stator segment, the arc signal increment parameter is adjusted.

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

10. 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; The moving submodule is used to move along the stator track; A control device is configured to periodically acquire signal acquisition information related to the curved stator segment after detecting that two moving sub-modules cooperating in carrying an object are preparing to move from a straight stator segment into a curved stator segment; wherein the straight stator segment includes at least one straight stator module, and the curved stator segment includes at least one curved stator module; based on the periodically acquired signal acquisition information, determine first position change information and second position change information corresponding to the acquisition period; based on the first position change information corresponding to the acquisition period, control one of the two moving sub-modules cooperating in carrying the object to move, and based on the second position change information corresponding to the acquisition period, control the other moving sub-module to move, 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 permissible distance range; wherein the permissible distance range is used to indicate the range within which the actual carrying distance is allowed to change when the target object being transported by the two moving sub-modules cooperatingly passes through the curved stator segment.

Images