Mover module control method, apparatus, and automated transport system

Abstract

The application discloses a mover module control method and device and an automatic transportation system. The number of the mover modules is multiple, the mover modules move along a stator track, and the stator track is used for arranging at least one work station. The method comprises the following steps: determining a target work station from the at least one work station in response to a homing instruction; controlling the mover modules to move to the target work station and to stop at the target work station or around the target work station according to real-time position information of the mover modules and coordinate information of the target work station. Through the application, the technical problem of low efficiency of manual homing of the mover modules 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 method, apparatus and automatic transportation system for controlling a moving submodule. Background Technology

[0002] In automated transportation scenarios, multiple workstations can be set up based on the stator track, and the moving module moves between different workstations to complete one or more rounds of process tasks.

[0003] In related technologies, manual operation is still required to return the moving sub-modules to their positions. This involves manually pushing each moving sub-module to a designated location, or manually selecting the corresponding moving sub-module identifiers and modifying the target positions for moving sub-modules scattered across different locations on the stator track before they can be returned to their original positions. As the number of moving sub-modules increases and the number of stator tracks grows, manual return is not only time-consuming but also prone to human error leading to problems such as moving sub-modules not being returned to their original positions, resulting in overall low efficiency.

[0004] The technical problem of low efficiency in manually returning moving sub-modules to their original positions needs to be solved by those skilled in the art. Summary of the Invention

[0005] The main objective of this application is to provide a method, apparatus, and automated transport system for controlling moving submodules, in order to solve the technical problem of low efficiency in manually returning moving submodules to their positions in related technologies.

[0006] To achieve the above objectives, according to one aspect of this application, a method for controlling moving submodules is provided. The moving submodules are multiple in number and move along a stator track, which is used to set at least one workstation. The method includes: in response to a homing command, determining a target workstation from the at least one workstation; controlling each moving submodule to move towards the target workstation based on real-time position information of each moving submodule and coordinate information of the target workstation, and controlling each moving submodule to stop at or around the target workstation.

[0007] To achieve the above objectives, according to another aspect of this application, a submodule 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 submodule control method described above during runtime.

[0008] To achieve the above objectives, according to another aspect of this application, an automated transportation system is provided, the system comprising a moving submodule, a stator track, and a control device, wherein the control device is configured to execute the steps of any of the moving submodule control methods described above after receiving a homing command, the homing command being used to indicate the homing mode of the moving submodule.

[0009] In this embodiment, by responding to the homing command, the target workstation is determined, and based on the real-time position information of each moving sub-module and the coordinate information of the target workstation, each moving sub-module is controlled to move towards and stop at the target workstation. This allows multiple moving sub-modules to move automatically and orderly towards the same target workstation, avoiding delays and misoperations caused by manual intervention. The original repetitive and scattered manual process is optimized into an automatic control process that is triggered once and executed in batches, thereby improving the homing efficiency of the moving sub-modules.

[0010] In this embodiment, by responding to the homing command, the target workstation corresponding to each of the multiple moving sub-modules is determined. Based on the real-time position information of each moving sub-module and the coordinate information of the target workstation, each moving sub-module is controlled to move to and stop at its corresponding target workstation. This achieves automatic and rapid determination of the target workstation corresponding to each moving sub-module based on the homing command, and enables multiple moving sub-modules to move to their respective target workstations automatically and orderly. This avoids delays and misoperations caused by manual intervention, and optimizes the original repetitive and scattered manual process into an automatic control process that is triggered once and executed in batches, thereby improving the homing efficiency of the moving sub-modules. Attached Figure Description

[0011] 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:

[0012] Figure 1 This is a flowchart of a moving submodule control method provided according to an embodiment of this application;

[0013] Figure 2 This is a schematic diagram of a scenario before a moving submodule is returned to its original position, according to an embodiment of this application.

[0014] Figure 3 This is a scenario illustration of a moving submodule control method provided in an embodiment of this application. Figure 1 ;

[0015] Figure 4 This is a scenario illustration of a moving submodule control method provided in an embodiment of this application. Figure 2 ;

[0016] Figure 5 This is a scenario illustration of a moving submodule control method provided in an embodiment of this application. Figure 3 ;

[0017] Figure 6 This is a flowchart of another moving submodule control method provided according to an embodiment of this application;

[0018] Figure 7This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 1 ;

[0019] Figure 8 This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 2 ;

[0020] Figure 9 This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 3 ;

[0021] Figure 10 This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 4 ;

[0022] Figure 11 This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 5 ;

[0023] Figure 12 These are schematic diagrams of various multi-path stator track layouts provided according to embodiments of this application;

[0024] Figure 13 This is a schematic diagram of the moving submodule control device provided according to an embodiment of this application;

[0025] Figure 14 This is a structural block diagram of an automated transportation system provided according to an embodiment of this application. Detailed Implementation

[0026] 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.

[0027] 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.

[0028] In an optional embodiment, this application provides as follows: Figure 1 The illustrated moving submodule control method involves multiple moving submodules that move along a stator track, which is used to set at least one workstation. Figure 1 This is a flowchart illustrating a moving submodule control method according to an embodiment of this application. The moving submodule control method includes:

[0029] Step S101: In response to the homing command, a target station is determined from at least one station.

[0030] In some embodiments, a device with submodule control function serves as the execution subject of the submodule control method. Depending on the specific application requirements, the execution subject can be an electronic device such as a controller, server, or processor.

[0031] In some embodiments, the moving submodule, the stator track, and the relationship between them are illustrated by example. For example, the stator track is the track component in an automated transportation system. Automated transportation systems can be applied to various automated transportation scenarios, such as automated production lines for new energy components, assembly and testing lines for electronic products, and logistics sorting and material handling. The moving submodule is configured to move along the stator track, and the stator track is configured to be magnetically coupled to the moving submodule to control its movement or stationary position relative to the stator track. The stator track includes a stator module, and the moving submodule is interlocked with the stator module. One of the moving submodule and the stator module is provided with a winding, and the other is provided with a permanent magnet. Based on the current drive parameters and the moving submodule motion parameters, the winding is dynamically selected, and the current magnitude and direction are dynamically adjusted, so that the winding current excitation generates a traveling wave magnetic field. The traveling wave magnetic field interacts with the magnetic field of the permanent magnet, generating a force on the moving submodule to control its movement.

[0032] In some embodiments, the structure (or shape) of the stator track may include at least one of the following: a straight structure, a ring structure, a cross-shaped structure, a T-shaped structure, a triangular structure, or a bifurcation and merging structure. From a continuity perspective, the stator track as a whole may be continuously distributed (e.g., a closed stator track) or discontinuously distributed (e.g., a non-closed stator track). In terms of the number of paths formed by the stator track, the stator track as a whole may be a single-path distribution or a multi-path distribution. The structure of the stator track can be flexibly set according to actual needs, and is not specifically limited in this embodiment.

[0033] When there is a need for the moving submodule to return to its original position, the executing entity of the moving submodule control method (or other electronic devices connected to the executing entity) can generate a return command through manual operation or automatic monitoring. The return command triggers the moving submodule to return to its target workstation. For example, when the moving submodule needs maintenance or initialization, the device controlling the moving submodule generates a return command to control it to return to the target workstation. Alternatively, a host computer connected to the device controlling the moving submodule may have a periodic return task. When the host computer detects that the return cycle has been reached, it generates a return command and sends it to the device controlling the moving submodule.

[0034] After responding to the homing command, a target station is determined from at least one station set based on the stator track. The station set based on the stator track indicates the position that the moving submodule can reach. During normal operation, selecting different stations facilitates control of the moving submodule's direction of movement and arrival position. During the homing phase, selecting at least one station facilitates the homing control of multiple subsequent moving submodules. The station can be a virtual station formed by virtual points configured by software, or a physical station formed by physical sensors. The aforementioned physical sensors can be photoelectric sensors, RFID (Radio Frequency Identification) readers, limit switches, weighing modules, or charging contacts, etc. For example, Figure 2 This is a schematic diagram of a scenario before a moving submodule is returned to its original position, according to an embodiment of this application. Figure 2 As shown, moving modules 1-5 and workstations 1-6 are distributed in the stator track.

[0035] In some implementations, the target workstation can be determined based on the content of the homing instruction. For example, the homing instruction includes workstation identification information, which is used to uniquely identify the workstation, and the workstation indicated by the workstation identification information is set as the target workstation.

[0036] In some implementations, after receiving a homing instruction, the target workstation can be determined based on preset selection rules. For example, the preset selection rules can be one of the following: polling rule, priority rule, nearest distance rule, or random selection rule. The selection rules can be stored in the automated transport system in text form or in the form of an executable file. The automated transport system can determine the target workstation based on the selection logic indicated by the selection rules.

[0037] In some implementations, after receiving the homing command, the target workstation can be dynamically determined based on real-time data (such as the real-time position information of the moving submodule). For example, the target workstation can be determined based on the real-time position information of the specified moving submodule; for instance, the workstation closest to the specified moving submodule can be determined as the target workstation.

[0038] Step S102: Based on the real-time position information of each moving submodule and the coordinate information of the target workstation, control each moving submodule to move towards the target workstation, and control each moving submodule to stop at the target workstation or stop around the target workstation.

[0039] The real-time position information of the moving submodule can be used to represent the real-time coordinate information of the moving submodule on the stator track.

[0040] In some implementations, the return direction of each moving submodule can be determined first. Then, based on the real-time position information of each moving submodule and the coordinate information of the target workstation, each moving submodule can be controlled to move towards the target workstation according to its corresponding return direction. The return directions of different moving submodules can be the same or different.

[0041] In some implementations, during the process of controlling the movement of each moving sub-module towards the target workstation based on the return direction, the movement speed of each moving sub-module can also be controlled. For example, the moving sub-module control method has a preset motion control parameter table, which stores parameters such as collision avoidance conditions, maximum acceleration, and maximum speed between moving sub-modules. The movement speed of each moving sub-module is controlled based on the motion control parameter table. Alternatively, the movement speed of each moving sub-module can be dynamically controlled based on real-time data (e.g., real-time position information of the moving sub-modules, real-time changes in homing requirements). Furthermore, during the homing process of each moving sub-module, it is possible to flexibly switch between preset control based on the motion control parameter table and dynamic control based on real-time data.

[0042] Since the target workstation is a single workstation, while multiple moving submodules need to be returned to their positions, not all moving submodules can accurately stop at the target workstation. In some implementations, one of the multiple moving submodules can be controlled to stop at the target workstation, while the other moving submodules stop around the target workstation. In some implementations, all moving submodules can be controlled to stop around the target workstation, where the target workstation is located between two adjacent stator modules, or on one side of the first / last stator module.

[0043] By responding to the homing command, the target workstation is determined, and based on the real-time position information of each moving submodule and the coordinate information of the target workstation, the moving submodule is controlled to move towards and stop at the target workstation. This allows multiple moving submodules to start in parallel and move collaboratively towards the same target workstation, avoiding delays and misoperations caused by manual intervention. The original repetitive and scattered manual process is optimized into an automatic control process that is triggered once and executed in batches, thus improving the homing efficiency of the moving submodules.

[0044] In some embodiments, determining the target workstation from at least one workstation includes one of the following: parsing the homing instruction to obtain workstation identification information, and setting the workstation indicated by the parsed workstation identification information as the target workstation; determining the target workstation from at least one workstation according to a preset selection rule; or determining the target workstation according to the real-time position information of the designated moving submodule.

[0045] In some implementations, the homing instruction can be structured data, including workstation identification information. This workstation identification information is used to uniquely identify the workstation; for example, it can be a workstation number or workstation coordinates. By parsing the homing instruction, the workstation identification information can be obtained, and the workstation indicated by the workstation identification information can be set as the target workstation.

[0046] In some implementations, the target workstation can be determined using preset selection rules. These rules can be one of the following: polling, priority, nearest-distance, or random selection. For example, in a polling rule, workstations are selected sequentially by their numbers. If the previously selected target workstation was G3, G4 is automatically selected this time, and so on until G12, then back to G1. In a priority rule, each workstation is assigned a priority, and a workstation in the stator track that is idle and has a higher priority can be selected as the target workstation. In a nearest-distance rule, the workstation with the smallest total distance to all moving submodules is selected as the target workstation. In a random selection rule, an idle workstation is randomly selected as the target workstation.

[0047] In some implementations, the target workstation can be determined based on the real-time position information of the designated moving submodule. For example, in an automated transport system, designated moving submodules are pre-set. When selecting a target workstation, the idle workstation closest to the real-time position information of the designated moving submodule is determined as the target workstation. Alternatively, based on the real-time position information of the designated moving submodule and the homing constraints, the idle workstation that the moving submodule can reach first is determined, and that workstation is then determined as the target workstation. The homing constraints are used to constrain the homing movement of the moving submodule. For example, homing constraints can be used to constrain the return direction of the moving submodule (e.g., no reciprocating motion, fixed clockwise / counterclockwise motion), the homing sequence of the moving submodule (e.g., the following situation cannot occur: a homing moving submodule interrupts the homing path of a subsequently homing moving submodule), the movement speed of the moving submodule (e.g., maximum movement speed, minimum movement speed, maximum acceleration), and collision avoidance conditions of the moving submodule, etc.

[0048] In some implementations, the automated transport system has at least one pre-defined target workstation selection method, which is one of the aforementioned parsing instructions, preset selection rules, or dynamic determination based on real-time location information. In this case, the target workstation is determined based on the pre-defined target workstation selection method.

[0049] In some implementations, the automated transport system does not have a predefined target workstation selection method. In this case, the automated transport system can first parse the homing command to determine whether the target workstation can be determined based on that method. If it can, the target workstation is directly determined; if not, the next target workstation selection method is selected (e.g., preset selection rules or dynamic determination). If the next target workstation selection method can determine the target workstation, the target workstation is directly determined; if the next target workstation selection method cannot determine the target workstation, the remaining target workstation selection method is used to determine the target workstation.

[0050] In some embodiments, providing the three optional but independent target workstation determination mechanisms described above helps to improve the applicability and flexibility of target workstation selection. Specifically, instruction parsing helps improve the accuracy of external scheduling, preset selection rules help improve the reliability of automated transportation system decisions, and dynamic selection based on the real-time location information of the moving submodules helps improve the flexibility of local intervention.

[0051] In some embodiments, before controlling each moving submodule to move towards the target workstation based on the real-time position information of each moving submodule and the coordinate information of the target workstation, at least one of the following is further included: obtaining preset return direction parameters and determining the return direction of each moving submodule, wherein the return direction parameters are related to the layout information of the stator track, and the number of return directions is at least one; setting the return direction of each moving submodule based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track, wherein the number of return directions is at least one.

[0052] In some embodiments, the regression direction can be determined statically. The preset regression direction parameters are static attributes configured offline, which can be pre-set according to the stator track layout information and stored in a configuration file. The regression direction parameters are used to represent the regression direction of each moving submodule. The stator track layout information can be used to represent the geometric structure of the stator track. For example, the stator track layout information represents the spatial distribution coordinates of each stator module in the stator track, the size of each stator module, and the type of each stator module. Through the stator track layout information, it can be determined whether the stator track is continuously distributed, discontinuously distributed, single-path distributed, or multi-path distributed.

[0053] In some implementations, the return direction parameter is at least related to the stator track layout information. For example, when the layout information indicates that the stator track is a closed loop, the corresponding return direction parameter can be defined as: all moving submodules move in the first direction by default. As another example, in a multi-path scenario, direction switching may occur, and each moving submodule may have different return directions on different movement paths. When the layout information indicates that the stator track is a multi-path track, the return direction parameter is defined as: some moving submodules move in the first segment of the stator track in the first direction, and when they reach the second segment, they move in the second direction; the remaining moving submodules move in the third segment of the stator track in the third direction, and so on.

[0054] In some implementations, the regression direction parameter is related not only to the stator track layout information but also to the relative positional relationship between the target station and the moving submodule. In other words, the regression direction parameter can be used to define the regression direction of the moving submodule under different layout information and different relative positional relationships with the target station. For example, when the layout information indicates that the stator track is a non-closed loop, the corresponding regression direction parameter can be defined as: searching for a continuous track between each moving submodule and the target station, and taking the direction of the moving submodule toward the target station on that continuous track as the regression direction.

[0055] In some embodiments, the return direction can be dynamically determined, that is, it does not rely on preset return direction parameters, but is determined by the real-time position information of the moving submodule, the coordinate information of the target station and the layout information of the stator track each time the return command is triggered.

[0056] For example, a target mathematical model can be constructed based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track. The target mathematical model includes an objective function and at least one relocation constraint. For instance, the objective function aims to minimize the sum of the movement paths of the moving submodules. The relocation constraint can constrain the relocation direction of the moving submodules (e.g., no reciprocating motion, fixed clockwise / counterclockwise motion), the relocation order of the moving submodules (e.g., the following situation cannot occur: a relocated moving submodule cuts off the relocation path of a subsequently relocated moving submodule), the movement speed of the moving submodules (e.g., maximum movement speed, minimum movement speed, maximum acceleration), and collision avoidance conditions of the moving submodules. By solving the target mathematical model, the relocation direction of each moving submodule is obtained. For example, operations research algorithms can be used to solve the target mathematical model; these algorithms can be genetic algorithms, dynamic programming algorithms, etc.

[0057] For example, a pre-defined relocation logic can be used to determine the return direction of each moving submodule based on its real-time position information and the coordinate information of the target workstation. For instance, multiple moving submodules can be assigned to at least one return direction based on factors such as the distance between the moving submodule and the target workstation, the number of moving submodules, and whether the moving submodule can move to the target workstation. For example, for a linear stator track, the direction from the real-time position (represented by real-time position information) to the target workstation can be determined as the return direction; for a circular stator track, the distance from the real-time position to the target workstation can be calculated, and the direction with the smaller distance can be determined as the return direction of the moving submodule.

[0058] Based on the different real-time position information of each moving submodule, each moving submodule can have the same or different regression directions. For example, Figure 3 This is a scenario illustration of a moving submodule control method provided in an embodiment of this application. Figure 1 It should be noted that, for ease of understanding, the target workstations are marked with rectangles in the attached diagrams. In actual applications, if there is a display interface that shows the corresponding on-site scene in real time, or if there is a display interface that shows the corresponding simulated scene in real time, then the target workstations can be marked with visual graphics (including but not limited to rectangles) on the display screen. This application does not impose any specific restrictions on this. Figure 2 The moving submodules 1-5 in the middle can be as follows Figure 3 The direction shown (i.e.) Figure 3The dashed arrow on the right side of the diagram indicates the direction the module moves towards the target workstation (workstation 1) to activate the submodule (e.g., ...). Figure 3 In the moving submodule 1), stop at the target workstation or make the moving submodule (e.g., Figure 3 The moving sub-modules 2-5) stop near the target workstation.

[0059] Figure 4 This is a scenario illustration of a moving submodule control method provided in an embodiment of this application. Figure 2 ,like Figure 4 As shown, Figure 2 The moving submodules 1-5 in the middle can be as follows Figure 4 The direction shown (i.e.) Figure 4 The dashed arrow on the right side of the diagram indicates the direction the module moves towards the target workstation (workstation 1) to activate the submodule (e.g., ...). Figure 4 In the moving submodule 5), stop at the target workstation or make the moving submodule (e.g., Figure 4 The moving sub-modules 1-4) stop near the target workstation.

[0060] Figure 5 This is a scenario illustration of a moving submodule control method provided in an embodiment of this application. Figure 3 ,like Figure 5 As shown, Figure 2 The moving submodules 1-5 in the middle can be as follows Figure 5 The diagram shows movement towards the target station (station 2) in two different return directions, wherein the moving submodules 1-2 move along... Figure 5 The direction indicated by the dashed arrow shown on the right side of the image is the return direction, and the moving submodule 3-5 moves along... Figure 5 The direction indicated by the dashed arrow shown on the left is the return.

[0061] In some embodiments, statically determining the regression direction of the moving submodule by providing preset regression direction parameters helps to quickly and accurately determine the regression direction based on preset data. Dynamically determining the regression direction of the moving submodule based on information such as its real-time position helps to flexibly determine the regression direction based on real-time data, thereby improving the reliability of the regression direction determination in this application.

[0062] In some embodiments, before controlling each moving submodule to move towards the target workstation based on the real-time position information of each moving submodule and the coordinate information of the target workstation, the moving submodule control method includes: determining a moving sub-sequence based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the return direction, wherein the moving sub-sequence is used to represent a moving submodule moving in a corresponding return direction; controlling each moving submodule to move towards the target workstation based on the real-time position information of each moving submodule and the coordinate information of the target workstation includes: controlling the moving sub-sequence to move towards the target workstation in a corresponding return direction based on the real-time position information of each moving submodule and the coordinate information of the target workstation.

[0063] After determining the return direction of each moving submodule, before controlling the movement of each moving submodule towards the target workstation, all moving submodules to be returned to their positions are grouped and sorted according to the consistency of their movement path direction, forming one or more moving subsequences. A moving subsequence refers to a queue of multiple moving submodules moving in the same return direction, arranged according to their spatial position and forming a sequential relationship. This sequence is not random, but rather based on the relative position of the moving submodules on the stator track and the direction of their return, forming a "head-tail" logical structure. Assigning moving submodules with the same return direction to the same moving subsequence helps avoid directional conflicts and path interference.

[0064] In some implementations, for moving sub-modules moving along the same return direction, the moving sub-module at the head of the queue when moving along the return direction is determined as the first moving sub-module in the moving sub-sequence, and the moving sub-module at the tail of the queue when moving along the return direction is determined as the last moving sub-module in the moving sub-sequence. This determines the order of the non-first and non-last moving sub-modules in the moving sub-sequence. For example, it can be... Figure 2 The moving submodules 1-5 in the middle are used as the initial state, such as Figure 4 As shown, the moving submodules 1-5 can be based on Figure 4 The direction shown (i.e.) Figure 4 (In the direction indicated by the dotted arrow on the right) it moves to station 1. At this time, there is only one moving sub-sequence 5-4-3-2-1, with moving sub-module 5 at the head of the queue and moving sub-module 1 at the tail. Figure 5 As shown, moving sub-modules 1-5 can move to station 2 based on two different return directions. At this time, there are two moving sub-sequences, namely 5-4-3 and 1-2. Moving sub-modules 5-4-3 move sequentially... Figure 5 Move to the target workstation (workstation 2) in the direction indicated by the dashed arrow on the left. Sub-modules 1-2 will then move sequentially... Figure 5 The module moves to the target workstation (workstation 2) in the direction indicated by the dashed arrow on the right. That is, in the above sequence of moving modules, the moving module that moves closer to the target workstation first will be ranked higher in the sequence.

[0065] After determining the sequence of moving parts, the moving modules can be controlled to return to their positions one by one or in parallel, based on the sequence and the corresponding regression direction. For example, in the scenario of returning to their positions one by one, the moving modules can be controlled to move towards the target workstation sequentially according to the order in the sequence. Before controlling the movement of each moving module, it is checked whether there is a preceding moving part on the path of that regression direction. If there is, the moving module is controlled to move after the preceding moving part stops; otherwise, the moving module is controlled to move directly. As another example, in the scenario of parallel return, multiple moving modules can be controlled to move towards the target workstation simultaneously to achieve parallel return.

[0066] In some implementations, during the process of controlling the movement of the moving sub-sequence to the target workstation based on the regression direction, the movement speed of each moving sub-module can also be controlled to prevent collisions between moving sub-modules in the moving sub-sequence, and to prevent collisions between moving sub-modules in different moving sub-sequences.

[0067] In some embodiments, by determining the sequence of moving sub-modules based on the real-time position information of each moving sub-module, the coordinate information of the target workstation, and the return direction, the multiple moving sub-modules that originally moved independently are transformed into control units that are classified and arranged in an orderly manner according to the return direction. By controlling the sequence of moving sub-modules to move towards the target workstation according to the corresponding return direction, the control of the moving sub-modules is transformed from individual control to group collaboration, thereby helping to improve the return efficiency of the moving sub-modules.

[0068] In some embodiments, a sequence of moving submodules is determined based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the return direction, including at least one of the following: in the case of one return direction, determining the first moving submodule among multiple moving submodules, and determining the order of the moving submodules that are not first among multiple moving submodules based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the return direction, to obtain a sequence of moving submodules; in the case of multiple return directions, determining the first moving submodule corresponding to different return directions among multiple moving submodules, and determining the order of the moving submodules that are not first among different return directions based on the real-time position information of multiple moving submodules, the coordinate information of the target workstation, and the return direction, to obtain multiple sequences of moving submodules.

[0069] In some implementations, when there is only one regression direction, the first moving submodule is determined among multiple moving submodules. For example, each moving submodule has a number, and the moving submodule with the smallest (or largest) number among the multiple moving submodules can be determined as the first moving submodule among the multiple moving submodules. Another example is that multiple moving submodules are connected in series along the stator track to obtain an initial sequence, and the moving submodule located at a certain end of the initial sequence (e.g., the rightmost end, or the top end, etc.) is determined as the first moving submodule among the moving submodules.

[0070] After identifying the leading moving submodule from multiple moving submodules, the order of the non-leading moving submodules is determined based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the return direction, resulting in a moving submodule sequence. In some implementations, the relative order between the leading moving submodule and the target workstation is determined according to the return direction. This relative order determines whether to sort the non-leading moving submodules according to the return direction or the reverse direction. Regardless of whether the sorting is done according to the return direction or the reverse direction, the order of each moving submodule in the corresponding direction is determined based on its real-time position information.

[0071] For example, if the target workstation is determined to be ahead of the first moving submodule among multiple moving submodules based on the regression direction, the moving submodules that are not in the first position are sorted according to the regression direction. Figure 2 , 3 As shown, assuming that moving submodule 1 is determined to be the first moving submodule among multiple moving submodules, the initial positions of moving submodules 1-5 are as follows: Figure 2 As shown, when the regression direction is Figure 3 When the direction indicated by the dashed arrow is used, the target workstation is determined to be in front of the moving submodule 1. Among multiple moving submodules, the moving submodule that is arranged at the head of the queue when moving along the return direction is the moving submodule 1. In this case, the moving submodule sequence is determined to be 1-2-3-4-5.

[0072] For example, if the target workstation is determined to be behind the first moving submodule among multiple moving submodules based on the regression direction, the moving submodules that are not in the first position are sorted according to the opposite direction of the regression direction. Figure 2 , 4 As shown, assuming that moving submodule 1 is determined to be the first moving submodule among multiple moving submodules, the initial positions of moving submodules 1-5 are as follows: Figure 2 As shown, when the regression direction is Figure 4When the direction indicated by the dashed arrow is used, the target workstation is determined to be behind the moving submodule 1. Among multiple moving submodules, the moving submodule 1 is arranged at the tail of the queue when moving along the return direction. In this case, the moving submodule sequence is determined to be 5-4-3-2-1.

[0073] In some implementations, when there are multiple regression directions, the leading moving submodule corresponding to each regression direction is determined among the multiple moving submodules. For example, the multiple moving submodules are first grouped based on the regression direction to obtain multiple moving subgroups, where the moving submodules in the same moving subgroup have the same regression direction. Then, based on the method described above for determining the leading moving submodule in the case of a single regression direction, the leading moving submodule in each moving subgroup can be determined, that is, the leading moving submodule corresponding to each regression direction can be determined, which will not be elaborated here.

[0074] After determining the leading dynamic submodules for different regression directions from multiple dynamic submodules, for each dynamic subgroup, the sorting method of non-leading dynamic submodules can be determined based on the single regression direction case described above. This determines the sorting of non-leading dynamic submodules in the dynamic subgroup, which is also the sorting of non-leading dynamic submodules for different regression directions. Therefore, this will not be elaborated further here.

[0075] In some embodiments, for moving sub-modules belonging to the same regression direction, by first determining the first moving sub-module in that regression direction, and then determining the order of the moving sub-modules that are not in the first position based on the regression direction, the real-time position information of the moving sub-modules, and the coordinate information of the target workstation, it is helpful to determine an accurate and reasonable moving sub-sequence in different regression directions. This avoids the shortcomings of sorting according to a fixed pattern or distance method, which makes it difficult to adapt to all scenarios, thereby helping to improve the accuracy of determining the moving sub-sequence.

[0076] In some embodiments, based on the real-time position information of each moving submodule and the coordinate information of the target workstation, each moving submodule is controlled to move towards the target workstation, and each moving submodule is controlled to stop at or around the target workstation. This includes: determining whether the moving submodule sequence is close to the target workstation based on any moving submodule in the moving submodule sequence or a designated moving submodule; after recognizing that the moving submodule sequence is close to the target workstation, controlling each moving submodule in the moving submodule sequence to decelerate, so that one moving submodule in the moving submodule sequence stops at the target workstation, and the remaining moving submodules in the moving submodule sequence stop at intervals around the target workstation, wherein the distance between the multiple stopped moving submodules meets the collision avoidance conditions.

[0077] In some implementations, the proximity of a moving submodule to the target workstation can be used as a prerequisite for deceleration. Any moving submodule or a designated moving submodule can be used as the target for determination of proximity. The designated moving submodule can be specified in the homing command or pre-set in the automated transport system. For example, the system detects the closest distance between a moving submodule in the sequence and the target workstation in the return direction; if the closest distance is less than a preset stopping distance, the system determines that the moving submodule is close to the target workstation. As another example, the system detects the distance between a designated moving submodule and the target workstation in the return direction; if this distance is less than a preset stopping distance, the system determines that the moving submodule is close to the target workstation.

[0078] The distance between the moving submodule and the target workstation can be determined based on the real-time position information of the moving submodule and the coordinate information between the target workstation.

[0079] In some implementations, after determining that the moving sub-module sequence is close to the target workstation, each moving sub-module in the sequence is controlled to decelerate to facilitate precise stopping and avoid inertial collisions. During the deceleration and return process, one moving sub-module (e.g., the moving sub-module closest to the target workstation, or a designated moving sub-module) is ultimately controlled to accurately stop at the target workstation, while the other moving sub-modules are controlled to stop around the target workstation. The moving sub-modules maintain a non-contact, non-overlapping interval that meets preset anti-collision conditions. The moving sub-modules can be arranged uniformly or non-uniformly. The anti-collision conditions refer to the minimum safe distance standard set to avoid physical collisions between moving sub-modules.

[0080] In some implementations, collision avoidance conditions can be dynamically calculated based on the maximum outer diameter of the moving submodule (including its load status) and the type of track segment (straight track segment or curved track segment). In other words, different collision avoidance conditions can be set according to whether the moving submodule is loaded or not, and the location of the target workstation (e.g., straight segment or curved segment). For example, the collision avoidance condition when there is no load can be that the distance between adjacent moving submodules is greater than a first distance; the collision avoidance condition when there is a load can be that the distance between adjacent moving submodules is greater than a second distance, and the second distance is greater than the first distance, where the second distance is set based on load-related information. As another example, the collision avoidance condition for a straight track segment can be that the distance between adjacent moving submodules is greater than a third distance; the collision avoidance condition for a curved track segment can be that the distance between adjacent moving submodules is greater than a fourth distance, and the fourth distance is greater than the third distance. Furthermore, the conditions such as whether the moving submodule is loaded or not, and the location of the target workstation, can be combined to obtain more diverse scenarios, such as a straight track segment with a load, or a curved track segment with a load, and corresponding collision avoidance conditions can be set based on these combined scenarios.

[0081] In some implementations, the distances specified in the collision avoidance conditions (e.g., the first distance, second distance, third distance, fourth distance, etc. mentioned above) can be determined based on test experiments to improve the reliability of the collision avoidance conditions.

[0082] In some embodiments, by setting the moving sub-sequence to decelerate when it approaches the target workstation, it helps to avoid the situation where the moving sub-sequences collide due to inertia when they are about to stop. By setting the distance between multiple stopped moving sub-modules to meet the anti-collision conditions, it helps to prevent the moving sub-modules from affecting each other, thereby helping to improve the reliability of the automatic return of the moving sub-modules.

[0083] In some embodiments, before controlling each moving submodule to stop at or around the target workstation, the method further includes: determining the target stopping position of each moving submodule based on the collision avoidance conditions, the return direction and the coordinate information of the target workstation, and controlling each moving submodule to remain stationary at the corresponding target stopping position based on the target stopping position, wherein the target stopping position overlaps with or is distributed around the target workstation.

[0084] In some implementations, one moving submodule can be first determined as a reference. Then, using the target stopping position of this reference moving submodule as the reference position, the target stopping positions of the other moving submodules among the multiple moving submodules can be determined based on the collision avoidance conditions, return direction, and coordinate information of the target workstation. The other moving submodules are those moving submodules other than the reference moving submodule.

[0085] In some implementations, the target stopping position of the reference moving submodule may overlap with the target workstation, or the distance between the reference moving submodule and the target workstation may be equal to a preset distance.

[0086] In some implementations, the homing command specifies a reference moving submodule, which can be directly determined from the homing command. In some implementations, the information (e.g., number) of the reference moving submodule can be preset in the automated transport system, allowing the automated transport system to determine it directly. In some implementations, a moving submodule can be randomly selected from multiple moving submodules as the reference moving submodule.

[0087] After determining the target stopping position of the reference moving submodule, the minimum interval between adjacent moving submodules is determined according to the collision avoidance conditions. Then, based on the regression direction, the minimum interval between adjacent moving submodules, and the sorting relationship between multiple moving submodules, the target stopping position corresponding to each moving submodule is determined.

[0088] For example, such as Figure 4As shown, taking moving submodule 5 as the reference, the target stopping position of moving submodule 5 overlaps with workstation 1, while other moving submodules are arranged sequentially around the target workstation according to the aforementioned intervals that meet the anti-collision conditions, and are sequentially superimposed along the opposite direction of the regression direction based on the coordinate information of the target workstation. Figure 4 The intervals corresponding to the situations shown (i.e., non-loaded and curved track segments) can be used to obtain the target stopping positions of moving sub-module 4 (with an interval of one times the coordinate information of the target workstation), moving sub-module 3 (with an interval of two times the coordinate information of the target workstation), moving sub-module 2 (with an interval of three times the coordinate information of the target workstation), and moving sub-module 1 (with an interval of four times the coordinate information of the target workstation).

[0089] In some embodiments, the target stopping position of each moving submodule is determined by using collision avoidance conditions, return direction and target station coordinate information, and based on the target stopping position, each moving submodule is controlled to remain stationary at the corresponding target stopping position, which helps to avoid collisions during the return of the moving submodule and improves the return efficiency and reliability of the moving submodule.

[0090] To address the aforementioned technical problems, this application provides the following: Figure 6 The control method shown involves multiple moving sub-modules that move along a stator track, which is used to set up multiple workstations. Figure 6 This is a flowchart of another moving submodule control method provided according to an embodiment of this application. The moving submodule control method includes:

[0091] Step S601: In response to the homing command, determine the target station corresponding to each moving submodule from multiple stations. The number of target stations is multiple.

[0092] In some embodiments, a device with submodule control function serves as the execution subject of the submodule control method. Depending on the specific application requirements, the execution subject can be an electronic device such as a controller, server, or processor.

[0093] When there is a need for the moving submodule to return to its original position, the executing entity of the moving submodule control method (or other electronic devices connected to the executing entity) can generate a return command through manual operation or automatic monitoring. The return command triggers the moving submodule to return to its target workstation. For example, when the moving submodule needs maintenance or initialization, the device controlling the moving submodule generates a return command to guide it to the target workstation. Alternatively, a host computer connected to the device controlling the moving submodule may have a periodic return task. When the host computer detects that the return cycle has been reached, it generates a return command and sends it to the device controlling the moving submodule. After receiving the return command, the device controlling the moving submodule determines multiple target workstations corresponding to each moving submodule from multiple workstations on the stator track. These multiple target workstations can be all or some of the multiple workstations.

[0094] In some implementations, the target workstation corresponding to each moving submodule can be determined based on the instruction content of the homing command. For example, the homing command includes workstation identification information and moving submodule identification information corresponding to each workstation identification information. The workstation identification information is used to uniquely identify the workstation, and the moving submodule identification information is used to uniquely identify the moving submodule. The workstation indicated by the workstation identification information is set as the target workstation, and the moving submodule to which the moving submodule identification information corresponding to the workstation identification information belongs is determined as the moving submodule corresponding to the target workstation.

[0095] In some implementations, after receiving the homing command, the target workstation corresponding to each moving submodule can be determined based on a preset allocation rule. For example, the allocation rule can be one of the following: polling rule, priority rule, nearest distance rule, or fixed allocation rule. The allocation rule can be stored in the automated transport system in text form or in the form of an executable file. The automated transport system can determine the target workstation corresponding to each moving submodule based on the selection logic indicated by the allocation rule.

[0096] In some implementations, after receiving the homing command, the target station corresponding to each moving submodule can be dynamically determined based on real-time data (such as the maximum outer diameter information of the moving submodule). For example, based on the maximum outer diameter information, the coordinate information of multiple stations, and the collision avoidance conditions, the target station corresponding to each moving submodule can be determined so that the collision avoidance conditions are met between each adjacent moving submodule.

[0097] In some implementations, when there are multiple target workstations, the correspondence between multiple moving submodules and multiple target workstations can include at least one of the following: one-to-one or many-to-one. For example, if the total number of workstations is less than the total number of moving submodules, some moving submodules will be assigned to the same target workstation (many-to-one), while the remaining moving submodules and remaining target workstations can have a one-to-one correspondence (one-to-one). Another example is when the total number of workstations is less than the total number of moving submodules, each target workstation corresponds to at least two moving submodules. When the total number of workstations is greater than or equal to the total number of moving submodules, the moving submodules and target workstations can have a one-to-one correspondence (one-to-one). Figure 7 This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 1 ,like Figure 7 As shown, each of the moving sub-modules 1-5 corresponds to a target workstation 1-5.

[0098] Step S602: Based on the real-time position information of each moving submodule and the coordinate information of the corresponding target workstation, control each moving submodule to move towards the corresponding target workstation, and control each moving submodule to stop at the corresponding target workstation or stop around the corresponding target workstation.

[0099] The real-time position information of the moving submodule can be used to represent the real-time coordinate information of the moving submodule on the stator track.

[0100] In some implementations, the return direction of each moving submodule can be determined first. Then, based on the real-time position information of each moving submodule and the coordinate information of the target workstation, each moving submodule can be controlled to move towards the corresponding target workstation according to its corresponding return direction. The return directions of different moving submodules can be the same or different.

[0101] In some implementations, during the process of controlling each moving submodule to move towards its corresponding target workstation based on the return direction, the movement speed of each moving submodule can also be controlled. For example, the moving submodule control method may have a preset motion control parameter table, which stores parameters such as collision avoidance conditions, maximum acceleration, and maximum speed between moving submodules. The movement speed of each moving submodule can be controlled based on this motion control parameter table. Alternatively, the movement speed of each moving submodule can be dynamically controlled based on real-time data (e.g., real-time position information of the moving submodules, and real-time changes in homing requirements). Furthermore, during the homing process of each moving submodule, the system can flexibly switch between preset control based on the motion control parameter table and dynamic control based on real-time data.

[0102] When a target workstation corresponds to at least two moving submodules, not all moving submodules can accurately stop at the target workstation. In some implementations, one of the at least two moving submodules corresponding to the target workstation can be controlled to stop at the target workstation, while the other moving submodules of the aforementioned at least two moving submodules stop around the target workstation. In some implementations, each of the aforementioned at least two moving submodules can also be controlled to stop around the target workstation, where the target workstation is located between two adjacent stator modules of the aforementioned at least two moving submodules, or the target workstation is located on one side of the first / last stator module of the aforementioned at least two moving submodules.

[0103] By responding to the homing command, the target workstation corresponding to each of the multiple moving sub-modules is determined. Based on the real-time position information of each moving sub-module and the coordinate information of the target workstation, the moving sub-module is controlled to move and stop to the corresponding target workstation. This realizes the automatic and rapid determination of the target workstation corresponding to each moving sub-module based on the homing command, and enables multiple moving sub-modules to move to their respective target workstations automatically and orderly. This avoids the delay and misoperation caused by manual intervention, and optimizes the original manual process of repetitive operation and scattered execution into an automatic control process of single trigger and batch execution, thereby improving the homing efficiency of the moving sub-modules.

[0104] In some embodiments, determining the target workstation corresponding to each moving submodule from multiple workstations includes one of the following: parsing the homing command to obtain multiple workstation identification information and moving submodule identification information corresponding to each workstation identification information, and determining the target workstation corresponding to each moving submodule based on the moving submodule identification information corresponding to each workstation identification information; allocating a corresponding target workstation to each moving submodule from multiple workstations based on a preset allocation rule; and determining the target workstation corresponding to each moving submodule from multiple workstations based on the maximum outer diameter information of each moving submodule, the coordinate information of multiple workstations, and the anti-collision conditions, wherein the maximum outer diameter information of the moving submodule is determined according to the specification information and loading status information of the moving submodule.

[0105] In some implementations, the homing instruction can be structured data, including station identification information and corresponding mover identification information. The station identification information uniquely identifies the station; for example, it may be a station number or station coordinates. The mover identification information uniquely identifies the mover module; for example, it may be a mover module number. By parsing the homing instruction, the station identification information and the corresponding mover identification information can be obtained. This allows the station indicated by the station identification information to be set as the target station, and the mover module to which the mover identification information belongs to the corresponding target station to be identified.

[0106] In some implementations, target workstations can be determined using preset allocation rules. These rules can be one of the following: polling, priority, nearest-distance, or fixed allocation. For example, in a polling rule, workstations are selected sequentially by number. If the previously selected target workstations were G3 and G4, G4 and G5 are automatically selected this time. Multiple moving submodules are then allocated to G4 and G5 according to preset groups (e.g., moving submodules numbered 1-3 are grouped together, and moving submodules numbered 4-5 are grouped together), and this process continues until G12, then back to G1. Alternatively, in a priority rule, each workstation is assigned a corresponding priority. The N workstations in the stator track that are idle and have high priority can be identified as target workstations, where N is a positive integer greater than 1. Then, multiple moving submodules are allocated to the N target workstations according to preset groups. For example, in the nearest distance rule, the N workstations with the smallest sum of distances to all moving submodules are identified as target workstations. Then, based on the distances between the moving submodules and the N target workstations, multiple moving submodules are assigned to the N target workstations. For example, in the fixed allocation rule, a correspondence is established between multiple moving submodule groups and different target workstations to allocate each moving submodule to its corresponding target workstation.

[0107] In some implementations, the target station corresponding to each moving submodule can be determined from multiple stations based on the maximum outer diameter information of each moving submodule, the coordinate information of multiple stations, and the collision avoidance conditions. The loading status information of the moving submodule is used to indicate whether the moving submodule is carrying anything and the size information of the carrying thing. The size information of the carrying thing can be determined based on the loading status information. The size information and the specification information of the moving submodule can be obtained to calculate the projection information of the moving submodule on the stator track, and the size of the projection information is calculated to obtain the maximum outer diameter information of the moving submodule. After determining the maximum outer diameter information, the target station corresponding to each moving submodule is determined based on the maximum outer diameter information, the coordinate information of multiple stations, and the collision avoidance conditions, so that the collision avoidance conditions are met between each adjacent moving submodule.

[0108] For example, the minimum interval between moving submodules can be determined based on collision avoidance conditions, and the stopping space for each workstation to be assigned can be determined based on the coordinate information of multiple workstations. Then, multiple allocation schemes can be generated based on multiple moving submodules and multiple workstations, and the correspondence between moving submodules and workstations represented by different allocation schemes will not be exactly the same. Afterwards, for multiple allocation schemes, it can be verified whether each workstation to be assigned meets the collision avoidance conditions after the module stops, based on the maximum outer diameter information and the stopping space. Thus, the correspondence between multiple moving submodules and multiple target workstations can be determined based on allocation schemes that fully meet the collision avoidance conditions. For example, the workstations in allocation schemes that fully meet the collision avoidance conditions can be identified as target workstations, and the moving submodules corresponding to the target workstations can be determined accordingly.

[0109] For example, after determining the aforementioned multiple allocation schemes, a goal optimization algorithm can be used to optimize these schemes, thereby determining the correspondence between multiple moving sub-modules and multiple target workstations based on the final optimized allocation scheme. For instance, the goal optimization algorithm could be a genetic algorithm, which optimizes the multiple allocation schemes. The fitness function in the genetic algorithm is determined based on collision avoidance conditions and the distance from the multiple moving sub-modules to the target workstations.

[0110] For example, Figure 8 This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 2 ,like Figure 8 As shown, assuming the highest priority target station is station 1, the minimum interval between moving sub-modules is determined based on the collision avoidance conditions, the stopping space of each station is determined based on the coordinate information of multiple stations, and the number of moving sub-modules corresponding to each stopping space is determined based on the minimum interval and maximum outer diameter information between moving sub-modules. Thus, the target station corresponding to moving sub-module 1, moving sub-module 2 and moving sub-module 3 is station 1, the target station corresponding to moving sub-module 4 is station 2, and the target station corresponding to moving sub-module 5 is station 3.

[0111] Figure 9 This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 3 ,like Figure 9 As shown, Figure 9 The scene shown is Figure 8 The difference between the scenarios shown in the diagram is that... Figure 9 The loading status information of the moving submodules 4 and 5 is that they are not loaded. Therefore, the maximum outer diameter information and anti-collision conditions of the moving submodules allow both moving submodules 4 and 5 to correspond to the target station 2.

[0112] Figure 10 This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 4 ,like Figure 10 As shown, Figure 10 The moving sub-modules 1-5 correspond to target workstations 1, 2, 3, 4, and 6 respectively, and the moving sub-modules 1-5 meet the anti-collision conditions with each other.

[0113] In some implementations, the automated transport system has at least one pre-defined multi-target workstation allocation method, which is one of the aforementioned parsing instructions, preset allocation rules, or dynamic determination based on maximum outer diameter information. In this case, the target workstation is determined based on the pre-defined multi-target workstation allocation method.

[0114] In some implementations, the automated transport system does not have a pre-defined multi-target workstation allocation method. In this case, the automated transport system can first parse the homing command to determine whether the target workstation corresponding to each moving submodule can be determined based on this method. If it can, the target workstation corresponding to each moving submodule is directly determined. If it cannot, the next multi-target workstation allocation method is selected (e.g., preset allocation rules or dynamic determination). If the next multi-target workstation allocation method can determine the target workstation corresponding to each moving submodule, the target workstation corresponding to each moving submodule is directly determined. If the next multi-target workstation allocation method cannot determine the target workstation, the remaining multi-target workstation allocation method is used to determine the target workstation corresponding to each moving submodule.

[0115] In some embodiments, providing the three optional but independent multi-target workstation allocation mechanisms described above helps to improve the applicability and flexibility of target workstation allocation. Specifically, instruction parsing helps improve the accuracy of external scheduling, preset selection rules help improve the reliability of automated transport system decisions, and dynamic selection based on the maximum outer diameter information of the moving submodule helps improve the flexibility of local intervention.

[0116] In some embodiments, determining the target workstation corresponding to each moving submodule from multiple workstations includes at least one of the following: when the number of workstations is greater than or equal to the number of moving submodules, at least two moving submodules are assigned different target workstations; when the number of workstations is less than the number of moving submodules, at least two moving submodules are assigned the same target workstation.

[0117] In some implementations, when the number of workstations is greater than or equal to the number of moving submodules, at least two moving submodules are assigned different target workstations to avoid single-point congestion caused by all moving submodules being located at the same target workstation. For example, when the total number of workstations is greater than or equal to the total number of moving submodules, the moving submodules and target workstations can be matched one-to-one. For instance, if both the number of workstations and the number of moving submodules are 3, the target workstation for moving submodule 1 is workstation 1, the target workstation for moving submodule 2 is workstation 2, and the target workstation for moving submodule 3 is workstation 3.

[0118] In some embodiments, when the number of workstations is less than the number of moving submodules, it indicates that the number of workstations is insufficient. At least two moving submodules are allowed to share a target workstation to avoid some moving submodules from being stuck on the stator track due to the lack of a target workstation, which would cause blockage.

[0119] For example, if the total number of workstations is less than the total number of moving submodules, some moving submodules will be assigned to the same target workstation (many-to-one), while the remaining moving submodules can be assigned to the remaining target workstations (one-to-one). Alternatively, if the total number of workstations is less than the total number of moving submodules, each target workstation will correspond to at least two moving submodules.

[0120] In some embodiments, determining the correspondence between the number of moving submodules and the number of target workstations based on the number of workstations and the number of moving submodules helps to avoid homing failures and improve the homing efficiency and reliability of moving submodules.

[0121] In some embodiments, based on a preset allocation rule, a corresponding target workstation is assigned to each moving submodule among multiple workstations, including: determining multiple workstations to be assigned from multiple workstations based on the preset allocation rule; adjusting the multiple workstations to be assigned after determining that there are workstations among the multiple workstations that do not meet the anti-collision conditions based on the maximum outer diameter information of each moving submodule and the coordinate information of the multiple workstations to be assigned, and assigning a corresponding target workstation to each moving submodule after adjustment.

[0122] In some implementations, a secondary verification (i.e., collision avoidance verification) can be performed on the workstations indicated in the preset allocation rules to determine the final target workstation. That is, based on the preset allocation rules, multiple workstations to be allocated are determined from multiple workstations, then the workstations to be allocated are subjected to secondary verification, and based on the verification results, it is determined whether to make adaptive adjustments to the workstations to be allocated, thereby obtaining the final target workstation.

[0123] In some implementations, the preset allocation rules can store the target workstation corresponding to each moving submodule. For example, if the target workstation for moving submodule 1 is 1, the target workstation for moving submodule 2 is 2, and the target workstation for moving submodule 3 is 3, then target workstations 1-3 can be identified as multiple workstations to be allocated.

[0124] In some implementations, the size information of the load can be determined based on the load status information. The size information and the specification information of the moving submodule can be obtained to calculate the projection information of the moving submodule on the stator track, and the size of the projection information can be calculated to obtain the maximum outer diameter information of the moving submodule.

[0125] In some embodiments, the minimum interval between moving sub-modules is determined based on collision avoidance conditions, and the stopping space for each workstation to be assigned is determined based on the coordinate information of multiple workstations. For example, the stopping space for workstation 1 to be assigned is 'a', the stopping space for workstation 2 to be assigned is 'b', and the stopping space for workstation 3 to be assigned is 'c'. It can be verified whether each workstation to be assigned meets the collision avoidance conditions after the module stops based on the maximum outer diameter information and the stopping space. Figure 11This is a scenario illustration of another moving submodule control method provided in the embodiments of this application. Figure 5 ,like Figure 11 As shown, the maximum outer diameter of moving submodule 2 is d. Since d is greater than the stopping space b of its corresponding assigned workstation 2, it may cause a collision between moving submodule 2 and moving submodule 3, resulting in deformation of the load. Therefore, assigned workstation 2 does not meet the collision avoidance conditions. In this case, assigned workstation 2 can be adjusted. The collision avoidance conditions can be verified by comparing the maximum outer diameter of moving submodule 2 with its adjacent workstations 1 or 3. If moving the moving submodule to adjacent workstation 1 meets the collision avoidance conditions (for example, after moving the moving submodule to workstation 1, moving submodules 1-3 will not collide), then assigned workstation 2 is cancelled, and its adjacent workstation 3 is determined as the target workstation for moving submodule 2. After adjusting multiple assigned workstations, the target workstation for moving submodules 1 and 2 is 1, and the target workstation for moving submodule 3 is 3.

[0126] In some embodiments, after determining multiple workstations to be assigned from multiple workstations based on preset allocation rules, the multiple workstations to be assigned are adjusted using the maximum outer diameter information and anti-collision conditions, and after adjustment, the corresponding target workstations are assigned to each moving sub-module. This realizes secondary verification of workstation allocation based on anti-collision conditions, thereby helping to improve the safety of automatic repositioning of the moving sub-modules.

[0127] In some embodiments, a secondary verification (i.e., anti-collision verification) can be performed on the workstation indicated in the homing instruction to determine the final target workstation. That is, based on the parsed content of the homing instruction, multiple workstations to be assigned are determined from multiple workstations, then a secondary verification is performed on the workstations to be assigned, and based on the verification results, it is determined whether to make adaptive adjustments to the workstations to be assigned, thereby obtaining the final target workstation. This process is the same as the process of performing secondary verification on the preset assignment rules described above, so it will not be repeated here.

[0128] In some implementations, before controlling each moving submodule to move towards the corresponding target workstation based on the real-time position information of each moving submodule and the coordinate information of the corresponding target workstation, at least one of the following is included: obtaining preset return direction parameters and determining the return direction of each moving submodule, wherein the return direction parameters are related to the layout information of the stator track, and the number of return directions is at least one; setting the return direction of each moving submodule based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track, wherein the number of return directions is at least one.

[0129] In some embodiments, the regression direction can be determined statically. The preset regression direction parameters are static attributes configured offline, which can be pre-set according to the stator track layout information and stored in a configuration file. The regression direction parameters are used to represent the regression direction of each moving submodule. The stator track layout information can be used to represent the geometric structure of the stator track. For example, the stator track layout information represents the spatial distribution coordinates of each stator module in the stator track, the size of each stator module, and the type of each stator module. Through the stator track layout information, it can be determined whether the stator track is continuously distributed, discontinuously distributed, single-path distributed, or multi-path distributed.

[0130] In some implementations, the return direction parameter is at least related to the stator track layout information. For example, when the layout information indicates that the stator track is a closed loop, the corresponding return direction parameter can be defined as: all moving submodules move in the first direction by default. As another example, in a multi-path scenario, direction switching may occur, and each moving submodule may have different return directions on different movement paths. When the layout information indicates that the stator track is a multi-path track, the return direction parameter is defined as: some moving submodules move in the first segment of the stator track in the first direction, and when they reach the second segment, they move in the second direction; the remaining moving submodules move in the third segment of the stator track in the third direction, and so on.

[0131] In some implementations, the regression direction parameter is related not only to the stator track layout information but also to the relative positional relationship between the target station and the moving submodule. In other words, the regression direction parameter can be used to define the regression direction of the moving submodule under different layout information and different relative positional relationships with the target station. For example, when the layout information indicates that the stator track is a non-closed loop, the corresponding regression direction parameter can be defined as: searching for a continuous track between each moving submodule and the target station, and taking the direction of the moving submodule toward the target station on that continuous track as the regression direction.

[0132] In some embodiments, the return direction can be dynamically determined, that is, it does not rely on preset return direction parameters, but is determined by the real-time position information of the moving submodule, the coordinate information of the target station and the layout information of the stator track each time the return command is triggered.

[0133] For example, a target mathematical model can be constructed based on the real-time position information of each moving submodule, the coordinate information of the target workstation, the layout information of the stator track, and the target workstation corresponding to each moving submodule. The target mathematical model includes an objective function and at least one repositioning constraint. For instance, the objective function aims to minimize the sum of the motion paths of the moving submodules. The repositioning constraint can be used to constrain the repositioning direction of the moving submodules (e.g., no reciprocating motion, fixed clockwise / counterclockwise motion), the repositioning order of the moving submodules (e.g., the following situation cannot occur: a repositioned moving submodule cuts off the repositioning path of a subsequently repositioning moving submodule), the motion speed of the moving submodules (e.g., maximum motion speed, minimum motion speed, maximum acceleration), and the collision avoidance conditions of the moving submodules. By solving the target mathematical model, the repositioning direction of each moving submodule can be obtained.

[0134] For example, a pre-defined relocation logic can be used to determine the return direction of each moving submodule based on its real-time position information and the coordinate information of the target workstation. For instance, multiple moving submodules can be assigned to at least one return direction based on factors such as the distance between the moving submodule and the target workstation, the number of moving submodules, and whether the moving submodule can move to the target workstation. For example, for a linear stator track, the direction from the real-time position (represented by real-time position information) to the target workstation can be determined as the return direction; for a circular stator track, the distance from the real-time position to the target workstation can be calculated, and the direction with the smaller distance can be determined as the return direction of the moving submodule.

[0135] For example, an automated transportation system can predict the movement paths of each moving submodule based on its real-time location information, the coordinates of the target workstation, and the layout information of the stator track. Based on these predictions, the regression direction of each moving submodule can be determined. For instance, a simulation model can be pre-built to simulate the movement of the moving submodules within the stator track. Based on the predicted movement paths, the pre-built simulation model can be used to deduce whether collisions, congestion, or other risk events are likely to occur when each moving submodule moves along multiple feasible paths. Based on these deductions, the regression direction of each moving submodule can be determined.

[0136] Based on the different real-time position information of each moving submodule, each moving submodule can have the same or different regression directions. For example, the number of regression directions can be two or more. Figure 12 These are schematic diagrams of various multi-path stator track layouts provided in the embodiments of this application, such as... Figure 12 As shown, Figure 12 A box filled with a diagonal line indicates a moving submodule. Figure 12 In the diagram, 'a' represents a double cross-shaped stator track, and the return direction of the moving module can be one of the six directions shown by the arrows in 'a'. Figure 12 In the diagram, b represents the T-shaped stator track, and the return direction of the moving module can be one of the three directions shown by the arrows in b. Figure 12 In the middle, 'c' represents the bifurcation and merging stator track, and the return direction of the moving module can be one of the four directions shown by the arrows in 'c'. Figure 12 In the diagram, d represents the triangular stator track, and the return direction of the moving module can be one of the six directions indicated by the arrows in d.

[0137] In some embodiments, statically determining the regression direction of the moving submodule by providing preset regression direction parameters helps to quickly and accurately determine the regression direction based on preset data. Dynamically determining the regression direction of the moving submodule based on information such as its real-time position helps to flexibly determine the regression direction based on real-time data, thereby improving the reliability of the regression direction determination in this application.

[0138] In some embodiments, the regression direction of each moving submodule is set based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track. This includes: predicting the movement path of each moving submodule based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track; and determining the regression direction of each moving submodule based on the prediction results of the movement path of each moving submodule.

[0139] In some implementations, for each moving submodule, multiple feasible movement paths of the moving submodule to the target workstation can be predicted and deduced based on the real-time position information of the moving submodule, the coordinate information of the target workstation corresponding to the moving submodule, and the layout information of the stator track, so as to obtain the movement path prediction result corresponding to the moving submodule. The movement path prediction result includes multiple feasible movement paths corresponding to the moving submodule.

[0140] After determining the predicted movement paths of each moving submodule, the regression direction of each moving submodule is determined based on these predictions. For example, a simulation model is pre-built to simulate the motion of the moving submodules in the stator track. Based on the predicted movement paths of each moving submodule, the pre-built simulation model is used to deduce whether collisions, congestion, or other risk events are likely to occur when each moving submodule runs along multiple feasible movement paths. The regression direction of each moving submodule is then determined based on the deduction results. For example, multiple simulation schemes are generated based on the predicted movement paths of each moving submodule. The feasible movement paths simulated by each moving submodule in different schemes are not entirely the same. Simulations are performed on each of these schemes using the simulation model, yielding deduction results for each scheme. These results indicate whether risk events are likely to occur when running the corresponding simulation scheme. From these schemes, those less prone to collisions, congestion, or other abnormal events are selected. Then, based on the feasible movement paths corresponding to each moving submodule in the selected simulation scheme, the regression direction of each moving submodule is determined. In cases where multiple simulation schemes are selected, one can be randomly chosen to determine the regression direction of the dynamic submodule.

[0141] In some implementations, when determining multiple feasible movement paths corresponding to each moving submodule, preset directional constraints can be used to determine the multiple feasible movement paths corresponding to the moving submodule. For example, directional constraints can be used to limit at least some moving submodules from returning to their original positions along a certain direction.

[0142] In some implementations, when generating multiple simulation schemes based on the movement path prediction results of each moving submodule, multiple feasible movement paths corresponding to the moving submodule can be determined by combining preset combined constraints. For example, the combined constraints can be used to limit the number of regression directions of multiple moving submodules from exceeding a preset number threshold.

[0143] For example, suppose the stator track is a circular intersecting track with bidirectional traffic, and moving sub-modules 1, 2, and 3 are distributed on the track. Moving sub-module 1 needs to return from the upper left section of the stator track to the lower right target station 1; moving sub-module 2 needs to return from the middle section of the track to the lower left target station 2; and moving sub-module 3 needs to return from the upper right section of the track to the lower left target station 1. Assuming a simulation scheme in which moving sub-modules 1-3 all return to their respective target stations, the simulation model predicts that moving sub-modules 1 and 2 will collide at the intersection point of the track center, and moving sub-modules 2 and 3 face a risk of congestion. Based on the predicted collision and congestion results (i.e., the simulation results), this simulation scheme carries the risk of collision and congestion, necessitating the selection of other simulation schemes. This helps avoid path conflicts and mutual interference between multiple moving sub-modules, accurately guiding each moving sub-module to return to its corresponding target station in an orderly and safe manner.

[0144] In some embodiments, the movement path is predicted based on the real-time position information of the moving submodule, the coordinate information of the target workstation, and the layout information of the stator track to obtain the return direction. This helps to improve the efficiency of determining the return direction of the moving submodule, thereby helping to improve the return efficiency of the moving submodule in automatic repositioning.

[0145] In some embodiments, before controlling each moving submodule to move towards the corresponding target workstation based on the real-time position information of each moving submodule and the coordinate information of the corresponding target workstation, the method further includes: determining at least one moving subsequence based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the return direction, wherein a moving subsequence is used to represent a moving submodule moving according to a corresponding return direction. When the number of moving subsequences is one, the moving subsequence corresponds to multiple target workstations; when the number of moving subsequences is multiple, one moving subsequence corresponds to at least one target workstation. Controlling each moving submodule to move towards the target workstation based on the real-time position information of each moving submodule and the coordinate information of the target workstation includes: controlling the moving subsequence to move towards the target workstation according to the corresponding return direction based on the real-time position information of each moving submodule and the coordinate information of the target workstation.

[0146] After determining the return direction of each moving submodule, before controlling each moving submodule to move to its corresponding target workstation, all moving submodules to be returned to their positions are grouped and sorted according to the consistency of their motion path direction, forming one or more moving subsequences. A moving subsequence refers to a queue of multiple moving submodules moving in the same return direction, arranged according to their spatial position and forming a sequential relationship. This sequence is not random, but rather based on the relative position of the moving submodules on the stator track and the direction of their return, forming a "head-tail" logical structure. Assigning moving submodules with the same return direction to the same moving subsequence helps avoid directional conflicts and path interference.

[0147] In some implementations, for moving sub-modules moving along the same return direction, the moving sub-module that is at the head of the queue when moving along the return direction is determined as the first moving sub-module in the moving sub-sequence, and the moving sub-module that is at the tail of the queue when moving along the return direction is determined as the last moving sub-module in the moving sub-sequence, thereby determining the order of the non-first and non-last moving sub-modules in the moving sub-sequence.

[0148] After determining the sequence of moving parts, the moving sub-modules can be controlled to return to their positions one by one or in parallel, based on the sequence and the corresponding regression direction. For example, in the scenario of returning to their positions one by one, the moving sub-modules can be controlled to move sequentially to their corresponding target workstations according to the order in the sequence. Before controlling the movement of each moving sub-module, it is checked whether there is a preceding moving part on the path of that regression direction. If there is, the moving sub-module is controlled to move after the preceding moving part stops; otherwise, the moving sub-module is controlled to move directly. As another example, in the scenario of parallel return, multiple moving sub-modules can be controlled to move simultaneously to their respective target workstations to achieve parallel return.

[0149] In some implementations, when there are multiple moving sub-sequences, during the process of controlling the movement of the moving sub-sequences towards the target workstation based on the regression direction, the timing (or order) of the multiple moving sub-sequences' return to their positions can be determined based on the relationship between the regression directions of the multiple moving sub-sequences. For example, for two moving sub-sequences that do not have an intersection path when moving along the regression direction, they can return to their positions in parallel; for two moving sub-sequences that have an intersection path when moving along the regression direction, their movements on the intersection path have a sequential order, and this sequential order can be determined based on the following condition: whether the moving sub-sequence that approaches the intersection path first will stop on the intersection path. For example, a moving sub-sequence that stops on the intersection path will be set to approach the intersection path later to avoid the moving sub-sequence blocking subsequent moving sub-sequences after it stops on the intersection path.

[0150] In some implementations, during the process of controlling the movement of the moving sub-sequence to the target workstation based on the regression direction, the automatic transport system can also control the movement speed of each moving sub-module to prevent collisions between moving sub-modules in the moving sub-sequence, and to prevent collisions between moving sub-modules in different moving sub-sequences.

[0151] In some embodiments, by determining the sequence of moving sub-modules based on the real-time position information of each moving sub-module, the coordinate information of the target workstation, and the return direction, multiple moving sub-modules that originally moved independently are transformed into control units that are classified and arranged in an orderly manner according to the return direction. By controlling the moving sub-module sequence to move towards the target workstation according to the corresponding return direction, the control of the moving sub-modules is transformed from individual control to group collaboration, thereby helping to improve the return efficiency of the moving sub-modules.

[0152] In some embodiments, based on the real-time position information of each moving submodule and the coordinate information of the corresponding target workstation, each moving submodule is controlled to move towards the corresponding target workstation, and each moving submodule is controlled to stop at or around the corresponding target workstation, including at least one of the following:

[0153] In some implementations, when a moving sub-sequence corresponds to a target workstation, upon detecting that the moving sub-sequence is approaching the target workstation, each moving sub-module in the moving sub-sequence is controlled to decelerate, so that one moving sub-module in the moving sub-sequence stops at the target workstation, and the remaining moving sub-modules in the moving sub-sequence stop at intervals around the target workstation, wherein the distance between the stopped moving sub-modules meets the collision avoidance conditions. For example, if the moving sub-sequence is moving sub-modules 1-3, and the corresponding target workstation is workstation 1, when the moving sub-sequence approaches workstation 1, moving sub-modules 1-3 are controlled to decelerate, moving sub-module 1 stops at workstation 1, and moving sub-modules 2-3 stop sequentially around the target workstation at preset moving sub-module intervals.

[0154] In some implementations, when a moving module sequence corresponds to multiple target workstations, if it is determined that a workstation approached by a moving module in the moving module sequence is the target workstation corresponding to the moving module, and there is no stationary moving module at the corresponding target workstation, then the approaching moving module is controlled to decelerate so that it stops at the corresponding target workstation. For example, if the moving module sequence is moving module 1-3, the target workstation of moving module 1 is workstation 1, the target workstation of moving module 2 is workstation 2, and the target workstation of moving module 3 is workstation 3, then when the moving module sequence moves to approach workstation 3, if there is no stationary moving module at workstation 3, the moving module 3 is controlled to decelerate so that it stops at workstation 3.

[0155] In some implementations, when a moving module sequence corresponds to multiple target workstations, if it is determined that a moving module in the moving module sequence is stationed at a corresponding target workstation, then at least the moving modules in the moving module sequence corresponding to the same target workstation are controlled to decelerate and stop around the target workstation. The distance between the stationed moving modules meets the collision avoidance conditions. For example, if the moving module sequence is moving modules 1-3, the target workstation for moving module 1 is workstation 1, the target workstation for moving module 2 is workstation 2, and the target workstation for moving module 3 is workstation 3, and workstation 3 already has other moving modules stationed there, then moving module 3 is controlled to decelerate and stop around workstation 3. The distance between moving module 3 and the stationed moving modules meets the collision avoidance conditions.

[0156] In some implementations, when a moving module sequence corresponds to multiple target workstations, if it is determined that a workstation approached by a moving module in the moving module sequence is the target workstation corresponding to that moving module, then each moving module in the moving module sequence is controlled to decelerate. For example, if the moving module sequence is moving module 1-3, the target workstation of moving module 1 is workstation 1, the target workstation of moving module 2 is workstation 2, and the target workstation of moving module 3 is workstation 3, if moving module 1 approaches workstation 1 first, then moving modules 1-3 are controlled to decelerate.

[0157] In some implementations, when a moving sub-sequence corresponds to multiple target workstations, if it is determined that the workstation closest to a moving sub-module in the moving sub-sequence is not the target workstation corresponding to that moving sub-module, then the moving sub-module is controlled to accelerate or move at a constant speed. For example, if the moving sub-sequence consists of moving sub-modules 1-3, the target workstation of moving sub-module 1 is workstation 1, the target workstation of moving sub-module 2 is workstation 2, and the target workstation of moving sub-module 3 is workstation 3, the moving sub-sequence can accelerate or move at a constant speed when passing workstation 5 to quickly pass through workstation 5.

[0158] In some embodiments, by controlling the moving modules in the moving sequence to stop based on whether the moving module has stopped at the target station, under different correspondences between the moving sequence and the target station, it helps to improve the homing efficiency and reliability of the moving modules.

[0159] 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.

[0160] This application also provides a moving submodule control device. It should be noted that the moving submodule control device of this application can be used to execute the moving submodule control method provided in this application. The moving submodule control device provided in this application will be described below.

[0161] According to an embodiment of this application, a moving submodule control device for implementing the above-described moving submodule control method is also provided. Figure 13 This is a schematic diagram of the moving submodule control device provided according to an embodiment of this application, such as... Figure 13 As shown, the device includes: a memory 1301 storing an executable program; and a processor 1302 for running the program, wherein the program executes the aforementioned submodule control method during runtime.

[0162] Those skilled in the art will understand that Figure 13 The structure shown is for illustrative purposes only. The control device for the moving submodule can also be an electronic device such as a host computer, industrial control computer, or computer. Figure 13 This does not limit the structure of the aforementioned electronic device. For example, electronic devices may also include components that are more... Figure 13 The more or fewer components shown (such as network interfaces, display devices, etc.), or having the same Figure 13 The different configurations shown.

[0163] 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.

[0164] According to an embodiment of this application, an automated transportation system is also provided. Figure 14 This is a structural block diagram of an automated transportation system provided according to an embodiment of this application, such as... Figure 14 As shown, the system includes a moving submodule 1401, a stator track 1402, and a control device 1403. The control device 1403, upon receiving a homing command, executes any of the steps of the moving submodule control method described above. The homing command indicates the homing mode of the moving submodule. For example, the homing mode may include parameters such as the return direction.

[0165] By executing any of the steps of the above-mentioned moving submodule control method after receiving the homing command, the homing efficiency of the moving submodule is improved.

[0166] 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 submodule control method provided in Embodiment 1.

[0167] 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.

[0168] This application also provides a computer program product, which, when executed on a data processing device, is adapted to perform the steps of a submodule control method.

[0169] 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.

[0170] 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.

[0171] 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 coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] 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 method for controlling a moving submodule, characterized in that, The number of moving submodules is multiple, and the moving submodules move along the stator track. The stator track is used to set at least one workstation. The method includes: In response to a homing command, a target workstation is determined from the at least one workstation; Based on the real-time position information of each moving sub-module and the coordinate information of the target workstation, each moving sub-module is controlled to move toward the target workstation, and each moving sub-module is controlled to stop at the target workstation or stop around the target workstation.

2. The method according to claim 1, characterized in that, Determining a target workstation from the at least one workstation includes one of the following: The homing instruction is parsed to obtain workstation identification information, and the workstation indicated by the parsed workstation identification information is set as the target workstation. The target workstation is determined from the at least one workstation according to a preset selection rule; The target workstation is determined based on the real-time position information of the designated moving submodule.

3. The method according to claim 1, characterized in that, Before controlling each of the moving submodules to move towards the target workstation based on the real-time position information of each of the moving submodules and the coordinate information of the target workstation, at least one of the following is also included: Obtain preset regression direction parameters and determine the regression direction of each moving submodule, wherein the regression direction parameters are related to the layout information of the stator track, and the number of regression directions is at least one; Based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track, the return direction of each moving submodule is set, wherein the number of the return directions is at least one.

4. The method according to claim 3, characterized in that, Before controlling each of the moving submodules to move towards the target workstation based on the real-time position information of each of the moving submodules and the coordinate information of the target workstation, the process includes: Based on the real-time position information of each moving sub-module, the coordinate information of the target workstation, and the return direction, a moving sub-sequence is determined, wherein the moving sub-sequence is used to represent a moving sub-module moving in a corresponding return direction; The step of controlling each moving submodule to move towards the target workstation based on the real-time position information of each moving submodule and the coordinate information of the target workstation includes: Based on the real-time position information of each of the moving sub-modules and the coordinate information of the target workstation, the moving sub-sequence is controlled to move towards the target workstation according to the corresponding regression direction.

5. The method according to claim 4, characterized in that, Based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the regression direction, a moving subsequence is determined, including at least one of the following: In the case of a regression direction, the first moving submodule is determined among multiple moving submodules, and the order of the moving submodules that are not first among the multiple moving submodules is determined based on the real-time position information of each moving submodule, the coordinate information of the target workstation and the regression direction, so as to obtain a moving sub-sequence. In the case of multiple regression directions, the first moving sub-module corresponding to each regression direction is determined among the multiple moving sub-modules. Based on the real-time position information of the multiple moving sub-modules, the coordinate information of the target workstation, and the regression direction, the order of the non-first moving sub-modules corresponding to each regression direction is determined, resulting in multiple moving sub-sequences.

6. The method according to claim 4, characterized in that, Based on the real-time position information of each moving submodule and the coordinate information of the target workstation, control each moving submodule to move towards the target workstation, and control each moving submodule to stop at the target workstation or stop around the target workstation, including: Based on any one of the moving sub-modules in the moving sub-sequence or a designated moving sub-module, determine whether the moving sub-sequence is close to the target workstation; After detecting that the moving sub-sequence is approaching the target workstation, the moving sub-modules in the moving sub-sequence are controlled to decelerate so that one moving sub-module in the moving sub-sequence stops at the target workstation, and the remaining moving sub-modules in the moving sub-sequence stop at intervals around the target workstation, wherein the distance between the multiple stopped moving sub-modules meets the collision avoidance conditions.

7. The method according to claim 4, characterized in that, Before controlling each of the aforementioned moving submodules to stop at or around the target workstation, the method further includes: Based on the collision avoidance conditions, the return direction, and the coordinate information of the target workstation, the target stopping position of each moving submodule is determined, and based on the target stopping position, each moving submodule is controlled to remain stationary at the corresponding target stopping position, wherein the target stopping position overlaps with or is distributed around the target workstation.

8. A method for controlling a moving submodule, characterized in that, The number of moving submodules is multiple, and the moving submodules move along the stator track. The stator track is used to set up multiple workstations. The method includes: In response to the homing command, a target workstation corresponding to each of the multiple workstations is determined, wherein the number of target workstations is multiple; Based on the real-time position information of each moving sub-module and the coordinate information of the corresponding target workstation, each moving sub-module is controlled to move towards the corresponding target workstation, and each moving sub-module is controlled to stop at the corresponding target workstation or stop around the corresponding target workstation.

9. The method according to claim 8, characterized in that, The target workstation corresponding to each of the multiple workstations is determined, including one of the following: The homing command is parsed to obtain multiple workstation identification information and the corresponding mover identification information of each workstation identification information. Based on the mover identification information corresponding to each workstation identification information, the target workstation corresponding to each mover module is determined. Based on preset allocation rules, a corresponding target workstation is allocated to each of the multiple workstations for each moving submodule; Based on the maximum outer diameter information of each moving submodule, the coordinate information of the multiple workstations, and the anti-collision conditions, the target workstation corresponding to each moving submodule is determined from the multiple workstations. The maximum outer diameter information of the moving submodule is determined according to the specification information and loading status information of the moving submodule.

10. The method according to claim 8, characterized in that, Determining the target workstation corresponding to each of the plurality of workstations includes at least one of the following: When the number of workstations is greater than or equal to the number of moving submodules, at least two moving submodules are assigned to different target workstations; When the number of workstations is less than the number of moving submodules, at least two moving submodules will be assigned the same target workstation.

11. The method according to claim 9, characterized in that, Based on preset allocation rules, among the multiple workstations, each of the moving submodules is assigned a corresponding target workstation, including: Based on preset allocation rules, multiple workstations to be allocated are determined from the multiple workstations; Based on the maximum outer diameter information of each moving submodule and the coordinate information of the multiple workstations to be assigned, after determining that there are multiple workstations to be assigned that do not meet the anti-collision conditions, the multiple workstations to be assigned are adjusted, and after adjustment, a corresponding target workstation is assigned to each moving submodule.

12. The method according to claim 8, characterized in that, Before controlling each moving submodule to move towards its corresponding target workstation based on the real-time position information of each moving submodule and the coordinate information of the corresponding target workstation, at least one of the following is also included: Obtain preset regression direction parameters and determine the regression direction of each moving submodule, wherein the regression direction parameters are related to the layout information of the stator track, and the number of regression directions is at least one; Based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track, the return direction of each moving submodule is set, wherein the number of the return directions is at least one.

13. The method according to claim 12, characterized in that, Based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track, the return direction of each moving submodule is set, including: Based on the real-time position information of each moving submodule, the coordinate information of the target workstation, and the layout information of the stator track, the movement path of each moving submodule is predicted; Based on the movement path prediction results of each of the moving sub-modules, the regression direction of each of the moving sub-modules is determined.

14. The method according to claim 12, characterized in that, Before controlling each moving submodule to move towards its corresponding target workstation based on the real-time position information of each moving submodule and the coordinate information of the corresponding target workstation, the method further includes: Based on the real-time position information of each moving sub-module, the coordinate information of the target workstation, and the return direction, at least one moving sub-sequence is determined. A moving sub-sequence is used to represent a moving sub-module moving in a corresponding return direction. When the number of moving sub-sequences is one, the moving sub-sequence corresponds to multiple target workstations. When the number of moving sub-sequences is multiple, one moving sub-sequence corresponds to at least one target workstation. The step of controlling each moving submodule to move towards the target workstation based on the real-time position information of each moving submodule and the coordinate information of the target workstation includes: Based on the real-time position information of each of the moving sub-modules and the coordinate information of the target workstation, the moving sub-sequence is controlled to move towards the target workstation according to the corresponding regression direction.

15. The method according to claim 14, characterized in that, Based on the real-time position information of each moving submodule and the coordinate information of the corresponding target workstation, control each moving submodule to move towards the corresponding target workstation, and control each moving submodule to stop at or around the corresponding target workstation, including at least one of the following: When a moving sub-sequence corresponds to a target workstation, after detecting that the moving sub-sequence is approaching the target workstation, the moving sub-modules in the moving sub-sequence are controlled to decelerate, so that one moving sub-module in the moving sub-sequence stops at the target workstation, and the remaining moving sub-modules in the moving sub-sequence stop at intervals around the target workstation, wherein the distance between the multiple stopped moving sub-modules meets the collision avoidance conditions; In the case where a moving module sequence corresponds to multiple target workstations, if it is determined that there is a workstation in the moving module sequence that the moving module is close to is the target workstation corresponding to the moving module, and there is no moving module that is stopped at the target workstation, then the moving module that is close to the moving module is controlled to decelerate so that the moving module that is close to the moving module stops at the target workstation. In the case where a moving sub-sequence corresponds to multiple target workstations, if it is determined that there is a moving sub-module in the moving sub-sequence that is stopped at the corresponding target workstation, then at least the moving sub-modules in the moving sub-sequence that correspond to the same target workstation are controlled to decelerate and stop around the target workstation, wherein the distance between the multiple stopped moving sub-modules meets the anti-collision conditions. In the case where a moving sub-sequence corresponds to multiple target workstations, if it is determined that there is a workstation in the moving sub-sequence that the moving sub-module is close to as the target workstation corresponding to the moving sub-module, then each moving sub-module in the moving sub-sequence is controlled to decelerate. In the case where a moving sub-sequence corresponds to multiple target workstations, if it is determined that the workstation closest to the moving sub-module in the moving sub-sequence is not the target workstation corresponding to the moving sub-module, then the moving sub-module is controlled to accelerate or move at a constant speed.

16. A moving submodule control device, characterized in that, The device includes: Memory, which stores executable programs; A processor for running the program, wherein the program executes the submodule control method according to any one of claims 1 to 15 when it runs.

17. An automated transportation system, characterized in that, The system includes a moving submodule, a stator track, and a control device, wherein the control device is used to execute the steps of the moving submodule control method according to any one of claims 1 to 15 after receiving a homing command, and the homing command is used to indicate the homing mode of the moving submodule.

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