Rotor control method and device of magnetic drive system, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a rotor control method and device of a magnetic drive system, electronic equipment and a storage medium, and relates to the technical field of control, the magnetic drive system comprises a plurality of rotors, and the method comprises the steps that workpiece parameters of a target carrying workpiece are acquired; determining the number of combined rotors corresponding to the target carrying workpiece according to the workpiece parameters; according to the number of the combined movers, controlling the movers with the corresponding number to move to a preset combination area for combination to form a combined mover unit; acquiring combined mover position information of the combined mover unit in real time; and based on the combined rotor position information, the combined rotor unit is controlled to carry the target carrying workpiece to a preset workpiece machining area for machining. The rotor can be subjected to combined control according to workpieces of different specifications, dynamic adjustment of the load capacity of the rotor is completed on the premise that shutdown transformation is not needed, and then the production efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a mover control method and device, electronic equipment, and storage medium of a magnetic drive system. Background Art

[0002] As a core drive solution in industrial automation, magnetic drive technology achieves contactless precision control of movers through electromagnetic interaction and is widely used in material transport systems in electronics assembly, automotive manufacturing, and other fields. As the core carrier, the mover fulfills the critical functions of carrying workpieces, accurately positioning, and transmitting power.

[0003] In related technologies, to accommodate workpieces of varying sizes or weights, multiple specifications of movers must be pre-manufactured and the mechanical structure frequently adjusted. This results in time-consuming line switching and limited flexibility. Especially when mixed loads are handled on the same production line, the system cannot dynamically adjust the mover's load capacity. Load adaptation can only be achieved by stopping the line to replace the mover or modifying mechanical components, severely limiting production efficiency. Summary of the Invention

[0004] The embodiments of the present application provide a mover control method and device, electronic equipment and storage medium for a magnetic drive system, which can perform combined control of the mover for workpieces of different specifications, and dynamically adjust the mover load capacity without shutting down for modification, thereby improving production efficiency.

[0005] To achieve the above-mentioned object, a first aspect of an embodiment of the present application provides a mover control method of a magnetic drive system, wherein the magnetic drive system includes a plurality of movers, and the method includes:

[0006] Obtaining workpiece parameters of the target transported workpiece;

[0007] Determine the number of combined movers corresponding to the target transported workpiece according to the workpiece parameters;

[0008] According to the number of combined movers, a corresponding number of movers are controlled to move to a preset combination area for combination to form a combined mover unit;

[0009] Acquiring the combined mover position information of the combined mover unit in real time;

[0010] Based on the combined mover position information, the combined mover unit is controlled to carry the target workpiece to a preset workpiece processing area for processing.

[0011] In some embodiments, after controlling the combined mover unit to carry the target workpiece to a preset workpiece processing area for processing based on the combined mover position information, the method further includes:

[0012] Based on the position information of the combined mover, the combined mover unit is controlled to carry the processed target transport workpiece to a preset workpiece separation area for workpiece separation;

[0013] After the processed target transport workpiece is separated from the combined mover unit, the multiple movers in the combined mover unit are controlled to separate.

[0014] In some embodiments, the workpiece parameters include workpiece weight and workpiece size, and determining the number of combined movers corresponding to the target workpiece according to the workpiece parameters includes:

[0015] Calculating a first number of combinations according to the weight of the workpiece and a preset rated load capacity of a single mover;

[0016] Calculating the second number of combinations according to the workpiece size and a preset effective bearing area of ​​a single mover;

[0017] The larger value of the first combination quantity and the second combination quantity is determined as the combined mover quantity.

[0018] In some embodiments, controlling a corresponding number of movers according to the number of combined movers to move to a preset combination area for combination to form a combined mover unit includes:

[0019] Determining a plurality of movers to be combined according to the number of combined movers;

[0020] Controlling a first mover among the plurality of movers to be combined to move to the combination area and keep it stationary;

[0021] The other movers to be combined are controlled to move toward the combination area in sequence. In response to the magnetic grating spacing between two adjacent movers to be combined being less than a preset locking threshold, the physical coupling device between the two adjacent movers to be combined is triggered to lock, thereby obtaining the combined mover unit.

[0022] In some embodiments, the magnetic drive system further includes a magnetic drive conveying track, and a plurality of magnetic induction modules are provided below the magnetic drive conveying track. The real-time acquisition of the combined mover position information of the combined mover unit includes:

[0023] Acquiring position feedback data of each mover on the magnetic drive conveying track in real time through a plurality of magnetic induction modules;

[0024] The movers whose adjacent mover spacing is less than or equal to a preset intra-group spacing threshold are divided into the same control logic group;

[0025] The frontmost mover in the control logic group is determined as the head mover, and the position feedback data of the head mover is determined as the combined mover position information of the same control logic group.

[0026] In some embodiments, a plurality of stator modules are provided below the magnetic drive conveying track, and the stator modules are used to drive the mover to move after being energized. The stator modules are used to drive the mover to move on the magnetic drive conveying track after being energized. The control of the combined mover unit to carry the target workpiece to a preset workpiece processing area for processing based on the combined mover position information includes:

[0027] generating a motion trajectory according to the position information of the combined mover and the workpiece processing area;

[0028] Calculating the driving current value of the stator module in real time based on the combined mover position information and the motion trajectory;

[0029] Calculating the magnetic field coverage of the combined mover unit according to the number of combined movers and the preset mover magnetic grid length;

[0030] The driving current value is synchronously sent to the stator modules within the coverage range of the magnetic field, so that the combined mover unit moves as a whole along the motion trajectory until it reaches the workpiece processing area.

[0031] In some embodiments, the calculating of the magnetic field coverage of the combined mover unit according to the number of combined movers and the preset mover magnetic grid length includes:

[0032] Determine the leading edge position and trailing edge position of the magnetic grating of each mover according to the combined mover position information and the mover magnetic grating length

[0033] The leading edge position and the trailing edge position of the magnetic grid of each mover are mapped to the physical coordinates of the magnetic drive conveying track, and the magnetic field coverage range of the combined mover unit is calculated.

[0034] In some embodiments, each of the movers is configured with a unique mover identification serial number, and the control of a corresponding number of movers according to the number of combined movers is moved to a preset combination area for combination to form a combined mover unit, including:

[0035] Determining a plurality of movers to be combined and a mover identification serial number corresponding to each mover to be combined from the plurality of movers based on the number of the combined movers;

[0036] According to the mover identification serial number determined for the first mover to be combined among the movers to be combined, controlling the first mover to be combined to move to the combination area and keep it stationary;

[0037] According to the respective corresponding mover identification serial numbers determined by the other movers to be combined, the other movers to be combined are controlled to move toward the combination area. In response to the magnetic grating spacing between two adjacent movers to be combined identified by their respective mover identification serial numbers being less than a preset locking threshold, the physical coupling device between the two adjacent movers to be combined is triggered to lock until all the selected movers to be combined are combined to obtain the combined mover unit; wherein the identification serial number of the combined mover unit is determined to be the mover identification serial number of the first mover to be combined.

[0038] To achieve the above-mentioned object, a second aspect of an embodiment of the present application provides a mover control device for a magnetic drive system, wherein the magnetic drive system includes a plurality of movers, and the device includes:

[0039] An acquisition module, used to acquire parameters of a target transported workpiece;

[0040] A determination module, configured to determine the number of combined movers corresponding to the target transported workpiece according to the workpiece parameters;

[0041] A combination module, used for controlling a corresponding number of movers according to the number of combined movers to move to a preset combination area for combination to form a combined mover unit;

[0042] The control module is used to obtain the combined mover position information of the combined mover unit in real time, and control the combined mover unit to carry the target workpiece to a preset workpiece processing area for processing based on the combined mover position information.

[0043] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, it implements the mover control method of the magnetic drive system as described in the first aspect.

[0044] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, it implements the mover control method of the magnetic drive system described in the first aspect above.

[0045] The present invention proposes a method for controlling movers in a magnetic drive system. The magnetic drive system includes multiple movers. The method comprises: first obtaining workpiece parameters of a target workpiece to be transported, and dynamically determining the required number of combined movers based on these parameters; then controlling the corresponding movers to move to a preset combination area according to the required number of movers, thereby forming a combined mover unit; and obtaining real-time position information of the combined mover unit to precisely control the movement of the target workpiece to the processing area. The present invention flexibly adjusts the number of movers involved in the combination based on parameter characteristics such as weight and volume of workpieces of different specifications, ensuring that the load capacity of the combined mover unit precisely matches the workpiece requirements. Dynamic combination control of the preset combination area allows for real-time separation and combination of the combined mover units during production line operation, achieving load adjustment without interrupting the production process. Combined with real-time feedback of the combined mover position information, the method ensures motion synchronization and trajectory accuracy during coordinated transport of multiple movers, ensuring stable transportation of the target workpiece. This method effectively solves the problem of equipment downtime adjustment caused by varying workpiece specifications. It enables combined control of movers for workpieces of varying specifications, dynamically adjusting the mover load capacity without requiring downtime or modification, thereby improving production efficiency.

[0046] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. The purposes and other advantages of the present application can be achieved and obtained through the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a structural diagram of a magnetic drive system provided in one embodiment of the present application.

[0048] Figure 2 This is a flow chart of a mover control method of a magnetic drive system provided in one embodiment of the present application.

[0049] Figure 3 This is a flow chart of a mover control method of a magnetic drive system provided in another embodiment of the present application.

[0050] Figure 4 This is a flow chart of a mover control method of a magnetic drive system provided in another embodiment of the present application.

[0051] Figure 5 This is a flow chart of a mover control method of a magnetic drive system provided in another embodiment of the present application.

[0052] Figure 6 This is a flow chart of a mover control method of a magnetic drive system provided in another embodiment of the present application.

[0053] Figure 7This is a flow chart of a mover control method of a magnetic drive system provided in another embodiment of the present application.

[0054] Figure 8 This is a schematic structural diagram of a mover and its internal magnetic grid provided in one embodiment of the present application.

[0055] Figure 9 This is a flow chart of a mover control method of a magnetic drive system provided in another embodiment of the present application.

[0056] Figure 10 Schematic diagram of the structure of a mover control device of a magnetic drive system provided in one embodiment of the present application.

[0057] Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0059] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flowchart.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0061] As a core drive solution in industrial automation, magnetic drive technology achieves contactless precision control of movers through electromagnetic interaction and is widely used in material transport systems in electronics assembly, automotive manufacturing, and other fields. As the core carrier, the mover fulfills the critical functions of carrying workpieces, accurately positioning, and transmitting power.

[0062] In related technologies, to accommodate workpieces of varying sizes or weights, multiple specifications of movers must be pre-manufactured and the mechanical structure frequently adjusted. This results in time-consuming line switching and limited flexibility. Especially when mixed loads are handled on the same production line, the system cannot dynamically adjust the mover's load capacity. Load adaptation can only be achieved by stopping the line to replace the mover or modifying mechanical components, severely limiting production efficiency.

[0063] In order to improve the production efficiency of the magnetic drive system, the embodiment of the present application flexibly adjusts the number of movers involved in the combination according to the weight, volume and other parameter characteristics of workpieces of different specifications, so that the load-bearing capacity of the combined mover unit accurately corresponds to the workpiece requirements; through the dynamic combination control of the preset combination area, the splitting and combination of the combined mover unit can be completed in real time during the operation of the production line, and load adjustment can be achieved without interrupting the production process; combined with the real-time feedback of the position information of the combined mover, the movement synchronization and trajectory accuracy of the multiple movers during collaborative transportation are ensured, and the stability of the target transport workpiece is guaranteed. This method effectively solves the problem of equipment shutdown adjustment caused by changes in workpiece specifications. It can perform combined control of movers for workpieces of different specifications, and complete the dynamic adjustment of the mover load capacity without the need for shutdown and modification, thereby improving production efficiency.

[0064] The following further describes the mover control method and device, electronic device, and storage medium of the magnetic drive system provided in the embodiments of the present application. The mover control method of the magnetic drive system provided in the embodiments of the present application can be applied to smart terminals, servers, computers, etc. connected to the magnetic drive system.

[0065] In order to better illustrate the mover control method of the magnetic drive system provided in the embodiment of the present application, this embodiment first describes the magnetic drive system to which the mover control method is applied. Figure 1 Figure 2 is a schematic diagram of the structure of a magnetic drive system provided by an embodiment of the present application. The magnetic drive system includes a magnetic drive conveyor track, on which a mover carrying a workpiece runs. Multiple stators are disposed beneath the magnetic levitation conveyor track to provide magnetic buoyancy for the mover running on the magnetic levitation conveyor track. Furthermore, while the mover runs on the magnetic levitation conveyor track, the workpiece it carries must be processed in a specific processing area.

[0066] Based on the above magnetic drive detection system, the mover control method of the magnetic drive system in the embodiment of the present application will be described in detail below. Figure 2 , which is an optional flow chart of the mover control method of the magnetic drive system provided in an embodiment of the present application, Figure 2 The method may include but is not limited to steps 201 to 205. It is also understood that this embodiment is for Figure 2 The order of step 201 to step 205 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0067] Step 201: Obtain parameters of a target transported workpiece.

[0068] Step 202: Determine the number of combined movers corresponding to the target workpiece according to the workpiece parameters.

[0069] Step 203: controlling a corresponding number of movers according to the number of combined movers to move to a preset combination area for combination to form a combined mover unit.

[0070] Step 204: Acquire the combined mover position information of the combined mover unit in real time.

[0071] Step 205: Based on the position information of the combined mover, the combined mover unit is controlled to carry the workpiece to a preset workpiece processing area for processing.

[0072] In step 201 of some embodiments, the workpiece parameters of the target transported workpiece can be obtained by a weighing sensor, a three-dimensional visual inspection device, or a material database communication interface with the production management system deployed at the workpiece entrance of the magnetic drive conveying system. The workpiece parameters specifically include, but are not limited to, the weight, outer contour dimensions, and the transportation efficiency level required by the processing procedure of the workpiece. For example, in the electronic component assembly scenario, when the workpiece is a PCB circuit board, its weight data can be measured in real time by a high-precision weighing sensor, while the length and width dimensions of the workpiece can be obtained by non-contact scanning by a high-speed visual inspection module equipped with a linear array camera; for standardized workpieces with parameters pre-stored in the database, their pre-registered mass-size parameter set can be directly called.

[0073] In step 202 of some embodiments, based on the workpiece parameters obtained in step 201, the number of combined movers required to carry the target workpiece is determined through a preset mover load capacity mapping table or dynamic calculation. The mover load capacity mapping table defines the rated load capacity, maximum acceleration threshold and safety margin factor of a single mover under different working conditions. For example, when the acceleration is 1.5m / s 2 When the effective load of a single mover is 18kg, a 10% dynamic margin can be reserved to cope with sudden inertia forces. When calculating, the weight of the workpiece can be matched with the effective load of the mover under the current working condition: if the weight of the workpiece is Q and the available load-bearing capacity of a single mover is P, then the calculation formula for the number of combined movers N is N = Q / (P × k), where k is the safety factor (usually 0.8-0.95), and N is rounded up. For example, when transporting a car gearbox housing with a weight of 65kg and the P value of a single mover under the target acceleration is 20kg, k = 0.9, and N = 65 / (20 × 0.9) ≈ 4 movers can be obtained. In addition, in an optional embodiment, the historical carrying data can be trained through a machine learning model to establish a nonlinear mapping relationship between the workpiece parameters and the number of movers. For example, the three-dimensional contour features of the workpiece can be extracted based on a convolutional neural network, and the dynamic load requirements can be predicted in combination with real-time magnetic field strength data, thereby optimizing the decision-making accuracy and response speed of the combination quantity.

[0074] See also Figure 3In some embodiments, step 202 may include, but is not limited to, steps 301 to 303 .

[0075] Step 301: Calculate the first number of combinations based on the weight of the workpiece and the preset rated load capacity of a single mover.

[0076] Step 302: Calculate the second number of combinations based on the workpiece size and the preset effective bearing area of ​​a single mover.

[0077] Step 303: Determine the larger value of the first combination quantity and the second combination quantity as the combined mover quantity.

[0078] In step 301 of some embodiments, a first number of combinations is calculated using a load matching algorithm based on the weight parameter of the target workpiece and the preset rated load capacity of a single mover. Specifically, the rated load capacity is the maximum safe load capacity of the mover under a specific acceleration, for example, when the mover acceleration is 1.2 m / s 2 , its rated load capacity is 25kg. When calculating, the total weight of the workpiece can be divided by the rated load capacity of a single mover, multiplied by the preset safety factor, and then the result is rounded up to obtain the first combination quantity. For example, if the workpiece weight is 90kg, the rated load capacity of a single mover is 30kg, and the safety factor is 0.9, the calculation process is 90 / (30×0.9)=3.33, and the first combination quantity after rounding up is 4 movers. This safety factor is used to compensate for inertial force fluctuations under dynamic conditions to prevent the mover from becoming unstable due to instantaneous overload.

[0079] In step 302 of some embodiments, the minimum number of movers required to cover the bottom surface of the workpiece, i.e., the second combination number, can be calculated based on the geometric parameters of the workpiece (such as length and width) and the effective bearing area of ​​a single mover. The effective bearing area is defined as the area on the surface of the mover that can be used to stably support the workpiece. For example, the effective bearing area of ​​a single mover is 200mm×200mm. When calculating, the length and width of the workpiece can be divided by the effective bearing side length of the mover and rounded up to obtain the number of movers arranged in the horizontal and vertical directions. The product of the two is the second combination number. For example, if the bottom surface size of the workpiece is 600mm×450mm and the effective bearing side length of the mover is 200mm, the horizontal number is 600 / 200=3, the vertical number is 450 / 200≈3, and the second combination number is 3×3=9 movers. For non-rectangular workpieces, the above calculation can be performed after projecting it to the minimum circumscribed rectangle to ensure that the bearing area of ​​the combined mover unit completely covers the workpiece.

[0080] In step 303 of some embodiments, the first and second combination quantities obtained in steps 301 and 302, respectively, can be compared and analyzed, and the larger value can be selected as the final number of combined movers. This strategy ensures that the combined mover unit meets both the load capacity and the load-bearing area requirements through a dual constraint mechanism: if only relying on weight calculation, the number of movers may be insufficient to cover the bottom surface of the workpiece, causing the risk of overloading; if only relying on area calculation, the actual load capacity of the movers may be ignored, resulting in insufficient carrying capacity. For example, when the first combination quantity is 4 and the second combination quantity is 6, 6 movers are finally selected, which not only meets the weight-bearing requirements, but also enhances the workpiece support stability through the distributed layout of multiple movers.

[0081] Through steps 301 to 303, this embodiment realizes dynamic decision-making on the number of mover combinations. Through the dual verification mechanism of weight and size, it effectively avoids overload or unreasonable layout problems under a single evaluation dimension, thereby improving the transportation safety and system adaptability of the combined mover unit.

[0082] In step 203 of some embodiments, a mover scheduling instruction is generated based on the number of combined movers determined in step 202, and a corresponding number of movers are driven by a magnetic field control signal to move along the magnetic drive track to a preset combination area for collaborative combination. The combination area is a pre-planned logical or physical space in the magnetic drive system, and its magnetic field distribution is optimized to support the precise docking and synchronous control of multiple movers. For example, when three movers need to be combined, the path planning algorithm is used to assign an optimal movement trajectory to each mover to ensure that it arrives at the combination area with the minimum time difference while avoiding collisions with other movers. After the movers arrive at the combination area, the connection operation is performed according to the preset combination mode. The movers are rigidly connected through an electromagnetic adsorption mechanism or a mechanical interlocking device to form a combined mover unit with a unified motion reference. In this way, this step realizes the dynamic reorganization of mover resources and the on-demand expansion of load capacity. It can adapt to the transportation needs of workpieces of different specifications without stopping the machine to adjust the mechanical structure, significantly improving the efficiency of the production line.

[0083] See also Figure 4 In some embodiments, step 203 may include, but is not limited to, steps 401 to 403 .

[0084] Step 401: Determine a plurality of movers to be combined according to the number of combined movers.

[0085] Step 402: Control the first mover among the plurality of movers to be combined to move to the combination area and keep it stationary.

[0086] Step 403 : sequentially controlling other movers to be combined to move toward the combination area. In response to the magnetic grid spacing between two adjacent movers to be combined being less than a preset locking threshold, triggering the physical coupling device between the two adjacent movers to be combined to lock, thereby obtaining a combined mover unit.

[0087] In step 401 of some embodiments, based on the number of combined movers determined in step 202, multiple movers to be combined that meet the requirements are screened from the multiple movers on the magnetic drive conveyor track. The screening conditions for the movers to be combined include but are not limited to the current status (idle / occupied) of the movers and the path distance to the combination area. For example, when four movers need to be combined, the movers closest to the combination area and idle can be prioritized. The movers in maintenance mode or whose load tasks are about to be completed are excluded through a dynamic priority algorithm to ensure the efficiency and reliability of the combination process.

[0088] In step 402 of some embodiments, the first mover in the group of movers to be assembled can be driven to the assembly area by magnetic field control instructions and switched to a stationary locking mode upon arrival. The stationary locking mode adjusts the current phase of the stator winding to maintain the mover at zero speed. This mover serves as a reference point for subsequent mover assembly, and its stationary state provides a spatial anchor for the alignment of other movers.

[0089] In step 403 of some embodiments, the remaining movers to be combined can be scheduled to move to the combination area in sequence, and the spacing between adjacent movers can be monitored in real time by the magnetic grating position detection module. When the magnetic grating spacing between two adjacent movers (i.e., the spacing between the magnetic grating edges of the movers) is less than a preset locking threshold (such as 2 mm), the automatic locking procedure of the physical coupling device is triggered. The physical coupling device can be mechanically locked or magnetically locked. For example, when the second mover approaches the first mover to a spacing of 1.5 mm, a locking instruction is sent, and the two movers complete the physical connection to form a double mover unit; subsequent movers repeat this process in sequence until the combination is completed. In some embodiments, the entire combination process can verify the connection strength through a force sensor. If the coupling force is detected to be lower than the safety threshold, an alarm is triggered and the combination operation is re-executed.

[0090] Through steps 401 to 403, this embodiment realizes the sequential and precise combination of multiple movers. Through the reference mover anchoring and progressive locking mechanism, the position cumulative error of the multi-body collaborative combination is effectively reduced. At the same time, the force feedback verification of the physical coupling device ensures the mechanical reliability of the combination unit, providing a stable power foundation for subsequent heavy-load transportation.

[0091] In some embodiments, each mover is configured with a unique mover identification serial number, and step 203 may further include, but is not limited to, the following steps.

[0092] Determining a plurality of movers to be combined and a mover identification serial number corresponding to each mover to be combined from the plurality of movers based on the number of combined movers;

[0093] According to the mover identification serial number determined by the first mover to be combined among the movers to be combined, the first mover to be combined is controlled to move to the combination area and remain stationary;

[0094] According to the corresponding mover identification serial numbers determined by the other movers to be combined, the other movers to be combined are controlled to move toward the combination area. In response to the magnetic grating spacing between two adjacent movers to be combined identified by their respective mover identification serial numbers being less than a preset locking threshold, the physical coupling device between the two adjacent movers to be combined is triggered to lock until all the selected movers to be combined are combined to obtain a combined mover unit; wherein the identification serial number of the combined mover unit is determined to be the mover identification serial number of the first mover to be combined.

[0095] In some embodiments, each independent mover in the magnetic drive conveying system is pre-configured with a unique mover identification serial number. Each mover can be given a globally unique identity via an RFID tag. After determining the number of movers required for the task, based on this number, the multiple movers to be combined are determined from the multiple movers available in the current line or area. This determination process not only selects any movers that meet the quantity requirement, but also requires clarifying the unique mover identification serial number corresponding to each selected mover to be combined. With its unique identity, it will be scheduled to participate in the next combination operation. Next, for the movers to be combined that have been selected and whose mover identification serial numbers have been clarified, a control instruction is sent to that specific mover using the previously determined unique mover identification serial number of the first mover to be combined, driving it to move precisely to the preset combination area and remain stationary upon arrival. Subsequently, the remaining movers to be combined are processed in sequence. For each subsequent mover to be combined, its previously determined unique mover identification serial number is used to individually address and control it, instructing it to move towards the first mover (or partially formed mover chain) that has already been stationary in the combination area. During this process, the magnetic grating spacing between two adjacent movers to be assembled, identified and tracked by their respective mover identification serial numbers, is continuously monitored. When this magnetic grating spacing decreases to less than or equal to a preset locking threshold, it indicates that the two movers, identified by their unique IDs, have reached a sufficiently close distance for physical connection. At this point, the physical coupling device installed between the adjacent movers is triggered to lock the two movers, thereby physically and securely connecting them. This process is repeated for each mover until all previously selected movers to be assembled, designated by their unique IDs, have been moved into position and physically locked, ultimately forming a complete, multi-motor assembled mover unit. After all movers are physically assembled, the identification serial number of this newly formed assembled mover unit will be determined to be the unique mover identification serial number of the original mover to be assembled, thus providing a unified, identifiable, and traceable identity for the assembly.

[0096] See also Figure 5 In some embodiments, the magnetic drive system further includes a magnetic drive conveying track, and a plurality of magnetic induction modules are arranged below the magnetic drive conveying track. Step 204 may include, but is not limited to, steps 501 to 503.

[0097] Step 501: acquiring position feedback data of each mover on the magnetic drive conveying track in real time through multiple magnetic induction modules.

[0098] Step 502: The movers whose adjacent mover spacing is less than or equal to a preset intra-group spacing threshold are divided into the same control logic group.

[0099] Step 503: Determine the frontmost mover in the control logic group as the head mover, and determine the position feedback data of the head mover as the combined mover position information of the same control logic group.

[0100] In step 501 of some embodiments, multiple magnetic induction modules (e.g., Hall effect sensor arrays or magnetoresistive sensors) deployed beneath the magnetic drive conveyor track collect real-time magnetic field strength and phase information from each mover on the track to generate position feedback data. The magnetic induction modules periodically scan the track magnetic field distribution at a preset sampling frequency and calculate the absolute position coordinates of the mover's center relative to the track by detecting the magnetic field characteristics (e.g., magnetic pole orientation and intensity attenuation gradient) of the mover's built-in permanent magnets.

[0101] In step 502 of some embodiments, the actual spacing between adjacent movers is calculated based on the position feedback data obtained in step 501 and compared with the preset intra-group spacing threshold. If the spacing between adjacent movers is less than or equal to the threshold, they are assigned to the same control logic group and regarded as a combined mover unit. For example, when mover A is located at (X = 1000mm) and mover B is located at (X = 1045mm), the spacing between the two is 45mm (less than the threshold of 50mm), and they are marked as the same control logic group.

[0102] In step 503 of some embodiments, the mover closest to the target processing area can be determined as the head mover within the divided control logic group based on the movement direction (such as +X axis) and position coordinates of the mover. For example, in the control logic group composed of mover C (X=1500mm) and mover D (X=1480mm), mover C is designated as the head mover because it is located closer to the front. The position feedback data (coordinates, speed, acceleration) of the head mover is used as the combined mover position information of the entire control logic group for subsequent path planning and magnetic field control. This strategy simplifies the multi-motor collaborative logic through master-slave control: the slave mover dynamically adjusts its own motion state based on the position information of the head mover to ensure the motion synchronization of the movers in the group.

[0103] Through steps 501 to 503, this embodiment realizes the dynamic division and coordinated control of the mover group: based on the high-precision position feedback of the magnetic induction module, the spatial relationship between adjacent movers can be identified in real time and automatically grouped, reducing the complexity of manual configuration; through the intra-group spacing threshold and the head mover dominant mechanism, the multi-motor coordination problem is simplified to single-motor tracking control, significantly reducing the computational load of the control algorithm; compared with the traditional fixed grouping scheme, this method effectively solves the control mismatch problem caused by changes in the number of movers or position drift, and provides a technical basis for the flexible scheduling of large-scale magnetic drive systems.

[0104] In some embodiments, step 205 involves driving the combined mover units along a planned trajectory based on the real-time position information of the combined mover units and the preset coordinates of the workpiece processing area. Specifically, a motion trajectory is first generated based on the relative relationship between the combined mover units' current position and the target area. This trajectory includes a velocity curve, acceleration constraints, and key points along the path. Subsequently, the drive current parameters of each stator module are calculated to ensure that the combined mover units' thrust distribution dynamically matches the load requirements during motion. For example, during the heavy-load acceleration phase, the stator modules at the front of the trajectory are preferentially activated to provide high-gradient thrust, while during the deceleration and positioning phase, the rear stator modules apply a reverse braking force. When the combined mover unit arrives at the workpiece processing area, it sends a ready signal to the processing equipment to initiate processing. During this process, coordinated control of the combined mover units is achieved through a master-slave communication architecture: the leading mover serves as the motion reference, and the other movers in the group adjust synchronously based on their position data, ensuring motion consistency across multiple movers. This step ensures seamless transition from workpiece transport to processing, significantly improving production line stability and overall equipment efficiency while ensuring positioning accuracy.

[0105] See also Figure 6 In some embodiments, step 205 may include, but is not limited to, steps 601 to 604 .

[0106] Step 601: Generate a motion trajectory according to the combined mover position information and the workpiece processing area.

[0107] Step 602: Calculate the driving current value of the stator module in real time based on the combined mover position information and motion trajectory.

[0108] Step 603: Calculate the magnetic field coverage of the combined mover unit according to the number of combined movers and the preset mover magnetic grid length.

[0109] Step 604: synchronously sending the driving current value to the stator modules within the coverage of the magnetic field, so that the combined mover unit moves along the motion trajectory as a whole until it reaches the workpiece processing area.

[0110] In step 601 of some embodiments, an optimized motion trajectory can be generated by a path planning algorithm based on the real-time position information of the combined mover unit (including global coordinates, direction of movement) and the target coordinates of the workpiece processing area. The motion trajectory must meet acceleration constraints, obstacle avoidance conditions and processing rhythm requirements. For example, a B-spline curve interpolation algorithm is used to generate a smooth trajectory to ensure that the speed and acceleration of the combined mover unit are continuous and without sudden changes during transportation. In the automotive welding line scenario, if the processing area is located at the end of the track (X = 5000mm), the shortest collision-free path will be calculated based on the current position of the combined unit (such as X = 3000mm), and the sections occupied by other movers or equipment will be dynamically avoided.

[0111] In step 602 of some embodiments, the real-time position of the mover unit is combined with the planned motion trajectory, and the drive current value of each stator module is calculated in real time using a magnetic field-motion coupling model. Specifically, the model maps the target acceleration of the mover into the required electromagnetic thrust and infers the current command based on the stator winding parameters. A distributed thrust distribution strategy is adopted for the combined mover unit, dynamically allocating the total thrust according to the load capacity of each mover to avoid local overload.

[0112] In step 603 of some embodiments, the overall magnetic field coverage of the combined mover unit is calculated based on the number of combined movers and the magnetic grid length of each mover (i.e., the physical length of the permanent magnet array at the bottom of the mover). The coverage is defined as the length of the magnetic active area occupied by the combined unit in the direction of motion, and the calculation formula is:

[0113] L_total=N×L_m+(N-1)×Δ

[0114] Where N is the number of combined rotors, and Δ is the minimum magnetic coupling distance allowed between the rotors (e.g., 10 mm). For example, when N = 2 and L_m = 200 mm, L_total = 2 × 200 + 1 × 10 = 410 mm. This parameter determines the range of stator modules to be activated: current commands can be sent only to the stator windings within the coverage area, while the remaining stator modules enter a dormant state to reduce energy consumption.

[0115] See also Figure 7 In some embodiments, step 603 may include, but is not limited to, steps 701 to 702.

[0116] Step 701: Determine the leading edge position and trailing edge position of the magnetic grid of each mover based on the combined mover position information and the mover magnetic grid length.

[0117] Step 702: Map the leading edge position and trailing edge position of the magnetic grid of each mover to the physical coordinates of the magnetic drive conveying track, and calculate the magnetic field coverage range of the combined mover unit.

[0118] In step 701 of some embodiments, the magnetic grating action range of each mover can be calculated based on the real-time position of each mover in the combined mover unit and the physical length of the magnetic grating at its bottom (for example, the mover body length is 1m and the effective action area of ​​the magnetic grating is 0.6m). Specifically, the leading edge position of the magnetic grating is the absolute coordinate of the end point of the magnetic grating at the bottom of the mover in the direction of movement, and the trailing edge position of the magnetic grating is the absolute coordinate of the starting point of the magnetic grating. Figure 8As shown, if the coordinates of the center of the mover are 1000mm, the total length of the mover is 1000mm, and the length of the magnetic grid is 600mm and is arranged in the center, then the position of the trailing edge of the magnetic grid is 1000mm-300mm=700mm (the starting end of the magnetic grid), and the leading edge of the magnetic grid is 1000mm+300mm=1300mm (the ending end of the magnetic grid). This calculation requires a clear distinction between the length of the mover body and the effective length of the magnetic grid: the parts of the mover body that extend beyond the magnetic grid at both ends (such as the front 200mm and the rear 200mm) have no magnetic grid structure and cannot couple with the stator magnetic field, so no electromagnetic force needs to be applied. By accurately defining the actual effective range of the magnetic grid, energy waste in the ineffective area can be avoided.

[0119] In step 702 of some embodiments, the leading and trailing coordinates of the magnetic grids of all movers obtained in step 701 may be mapped to the physical coordinate system of the magnetic drive conveyor track, and the actual magnetic field coverage of the combined mover unit may be determined by an interval merging algorithm. For example, if the combined unit includes two movers, and their magnetic grid coverage ranges are [700mm, 1300mm] and [1700mm, 2300mm], respectively, then the magnetic field coverage range after merging is two independent intervals, and the stator module corresponding to the middle 400mm magnetic grid-free area (1300mm to 1700mm) does not need to be activated. This mapping process associates the physical locations of the track's stator modules through a coordinate matching table: Assuming the track is divided into stator control units every 50 mm, the magnetic grid coverage area of ​​the first mover corresponds to stator modules 14-26 (700 / 50 = 14, 1300 / 50 = 26), and the second mover corresponds to stator modules 34-46 (1700 / 50 = 34, 2300 / 50 = 46). Drive current commands can be sent only to these modules, while stator modules in the intervening sections (such as 27-33) remain dormant.

[0120] Through step 701 to step 702, through step 701 to step 702, this embodiment realizes the refined control of magnetic field resources and energy efficiency optimization: by accurately calculating the action range of the magnetic grid, the driving current can be applied only to the stator module in the effective coverage area, avoiding invalid excitation of the two ends of the mover body and the interval area. For example, in a scenario where the mover body is 1m and the magnetic grid is 0.6m, the traditional solution needs to activate 20 stator modules (1m / 50mm=20), while this method only activates 12 modules corresponding to the magnetic grid (0.6m / 50mm=12), reducing invalid energy consumption by 40%. At the same time, the discrete interval merging mechanism supports the cooperative transportation of movers with discontinuous magnetic grid layouts, ensuring strict matching of the thrust distribution of multiple mover units during movement, and eliminating the risk of magnetic field rupture. In addition, the dynamic mapping of the stator module range reduces the complexity of the control instructions, improves the real-time response capability of the system, and provides technical guarantees for the stable operation of high-beat production lines.

[0121] In step 604 of some embodiments, the drive current value calculated in step 602 is synchronously transmitted via a real-time communication bus to the stator modules within the magnetic field coverage area. For example, when the combined unit covers stator modules 50-54 on track, current waveforms with adjustable phase differences are sent to each of these five modules, causing the traveling magnetic field generated by them to interact with the mover magnetic grid, driving the combined unit to move along the track.

[0122] See also Figure 9 In some embodiments, after step 205, the process may also include, but not be limited to, steps 901 to 902.

[0123] Step 901: Based on the position information of the combined mover, the combined mover unit is controlled to carry the processed target workpiece to a preset workpiece separation area for workpiece separation.

[0124] Step 902: After the processed target transport workpiece is separated from the combined mover unit, multiple movers in the combined mover unit are controlled to separate.

[0125] In step 901 of some embodiments, a path replanning algorithm is used to generate a path based on the real-time position information of the combined mover unit and the preset workpiece separation area coordinates, and the combined mover unit is controlled to carry the processed target workpiece to the separation area. The separation area is equipped with a workpiece unloading mechanism (such as a robotic arm, a lifting platform, or a pneumatic gripper), whose trigger signal is linked to the position of the mover: when the combined unit reaches the separation area coordinates, a separation instruction can be sent to the unloading mechanism, such as by de-energizing the electromagnet to release the workpiece, or by using a lifting mechanism to lift the workpiece off the mover support surface.

[0126] In step 902 of some embodiments, when the workpiece is successfully separated, a splitting instruction is sent to the combined mover unit to release the physical connection between the movers. For physically coupled mover units, the electromagnetic adsorption mechanism is controlled to be powered off or the mechanical lock is retracted to restore the mover to an independent state; when splitting, a progressive separation strategy is adopted: first, the connection force between the movers is released, and then the movers are controlled to disperse and move with reverse acceleration to avoid collisions due to inertia. For example, in the electromagnetic adsorption scheme, the adsorption current can be linearly reduced from 10A to 0A in 0.5 seconds, and different target positions are assigned to each mover (such as ±X direction offset of 200mm) to ensure a safe distance. After the split is completed, the mover returns to the idle queue or receives a new task instruction and enters the next round of combined scheduling cycle.

[0127] Through steps 901 to 902, this embodiment realizes the full process automation of workpiece transportation and mover resource recovery after processing: based on dynamic path planning and coordinated control of separation areas, the accuracy and efficiency of workpiece transfer are ensured; the progressive mover splitting mechanism avoids mechanical impact and position interference through force control and motion decoupling, thereby ensuring equipment safety; the movers after splitting are immediately returned to the resource pool, supporting rapid reorganization to adapt to new workpiece requirements, and reducing production line interruptions caused by manual intervention in traditional solutions.

[0128] The present application also provides a mover control device for a magnetic drive system, which can implement the mover control method of the magnetic drive system. Figure 10 , the device comprises:

[0129] An acquisition module 1001 is used to acquire parameters of a target transported workpiece;

[0130] A determination module 1002 is used to determine the number of combined movers corresponding to the target workpiece according to the workpiece parameters;

[0131] The combination module 1003 is used to control the corresponding number of movers according to the number of combined movers to move to a preset combination area for combination to form a combined mover unit;

[0132] The control module 1004 is used to obtain the combined mover position information of the combined mover unit in real time, and control the combined mover unit to carry the target workpiece to a preset workpiece processing area for processing based on the combined mover position information.

[0133] In the above embodiments, the description of each embodiment has its own focus. For the part that is not described in detail in a certain embodiment, the specific implementation of the mover control device of the magnetic drive system is basically the same as the specific implementation of the mover control method of the above magnetic drive system, and will not be repeated here.

[0134] An embodiment of the present application further provides an electronic device, including:

[0135] The magnetic drive system mover control method and device proposed in the embodiment of the present application accurately calculates the required number of combined movers based on the weight and size of the target workpiece through a preset mover load capacity mapping table and a geometric coverage model: the workpiece weight is divided by the rated load capacity of a single mover and rounded up to obtain the minimum number of movers that meets the load requirement; at the same time, based on the geometric dimensions of the workpiece and the effective load-bearing area of ​​the mover, the minimum number of movers arranged to cover the bottom surface of the workpiece is calculated, and the larger value of the two is finally selected as the combination number to ensure the dual protection of load capacity and support stability. In the combination stage, a magnetic field cooperative scheduling algorithm is used to control the specified number of movers to move to the preset combination area, and electromagnetic adsorption or mechanical coupling is used to form a combined mover unit. The real-time position feedback and master-slave control architecture are used to ensure the synchronization of the movement of multiple movers. During the transportation process, the system dynamically calculates the magnetic field coverage range based on the real-time position information of the combined unit, and only activates the drive current of the corresponding stator module, avoiding ineffective excitation of the non-magnetic grid area (such as the gap between adjacent movers) and reducing energy consumption. Furthermore, after the combined unit arrives at the processing area, a progressive splitting strategy is used to disconnect the movers, freeing up redundant mover resources and enabling rapid reorganization to accommodate new workpiece requirements, reducing downtime and adjustment time. Through the aforementioned technical means, this solution effectively addresses the lack of production line flexibility inherent in traditional solutions due to fixed mover specifications: Through a dynamic combination mechanism, it can cover loads across multiple orders of magnitude, avoiding frequent mover replacement or mechanical structure modifications. At the same time, the precise excitation and resource recovery mechanism based on the magnetic grating's active range significantly improves energy efficiency and equipment utilization, increasing the production efficiency of the entire production line.

[0136] at least one memory;

[0137] at least one processor;

[0138] at least one program;

[0139] The program is stored in the memory, and the processor executes the at least one program to implement the mover control method of the magnetic drive system implemented in the present application. The electronic device can be any smart terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), an in-vehicle computer, etc.

[0140] See also Figure 11 , Figure 11 The hardware structure of an electronic device according to another embodiment is shown. The electronic device includes:

[0141] The processor 1101 can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0142] The memory 1102 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1102 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1102 and is called by the processor 1101 to execute the mover control method of the magnetic drive system of the embodiments of this application;

[0143] Input / output interface 1103, used to implement information input and output;

[0144] Communication interface 1104, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0145] Bus 1105 , which transmits information between various components of the device (e.g., processor 1101 , memory 1102 , input / output interface 1103 , and communication interface 1104 );

[0146] The processor 1101 , the memory 1102 , the input / output interface 1103 and the communication interface 1104 are connected to each other in communication within the device via a bus 1105 .

[0147] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the mover control method of the magnetic drive system is implemented.

[0148] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory can include a high-speed random access memory, and can also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state memory device. In some embodiments, the memory can optionally include a memory disposed remotely with respect to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0149] The embodiments described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0150] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and can include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0151] The device embodiments described above are only schematic, and the units described as separate components can or can not be physically separate, that is, can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0152] Those skilled in the art can understand that all or some of the steps in the above disclosed method, the functional modules / units in the system and the device can be implemented as software, firmware, hardware and their appropriate combinations.

[0153] The terms "first", "second", "third", "fourth" and the like used in the specification of the present application and the above-described drawings (if any) are used to distinguish similar objects, and do not necessarily have to describe a particular order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0154] It should be understood that, in the application, "at least one" refers to one or more, and "multiple" refers to two or more. "And / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent three cases of only A, only B and A and B existing at the same time, wherein A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or the like means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b or c can represent a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b and c can be single or multiple.

[0155] In several embodiments provided in the application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the above units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection between devices or units, which can be electrical, mechanical or other forms.

[0156] The units described above as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment scheme.

[0157] In addition, the functional units in each embodiment of the application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0158] If the integrated unit is implemented in the form of 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 the present application, 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, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0159] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A method for controlling a mover of a magnetic drive system, characterized in that: The magnetic drive system includes a plurality of movers, and the method includes: Obtaining workpiece parameters of the target transported workpiece; Determine the number of combined movers corresponding to the target transported workpiece according to the workpiece parameters; According to the number of combined movers, a corresponding number of movers are controlled to move to a preset combination area for combination to form a combined mover unit; Acquiring the combined mover position information of the combined mover unit in real time; Based on the combined mover position information, the combined mover unit is controlled to carry the target workpiece to a preset workpiece processing area for processing.

2. The mover control method of the magnetic drive system according to claim 1, characterized in that: After controlling the combined mover unit to carry the target workpiece to a preset workpiece processing area for processing based on the combined mover position information, the method further includes: Based on the position information of the combined mover, the combined mover unit is controlled to carry the processed target transport workpiece to a preset workpiece separation area for workpiece separation; After the processed target transport workpiece is separated from the combined mover unit, the multiple movers in the combined mover unit are controlled to separate.

3. The mover control method of the magnetic drive system according to claim 1, characterized in that: The workpiece parameters include the workpiece weight and the workpiece size. The step of determining the number of combined movers corresponding to the target workpiece according to the workpiece parameters includes: Calculating a first number of combinations according to the weight of the workpiece and a preset rated load capacity of a single mover; Calculating the second number of combinations according to the workpiece size and a preset effective bearing area of ​​a single mover; The larger value of the first combination quantity and the second combination quantity is determined as the combined mover quantity.

4. The mover control method of the magnetic drive system according to claim 1, characterized in that: The control of the corresponding number of movers according to the number of combined movers to move to a preset combination area for combination to form a combined mover unit includes: Determining a plurality of movers to be combined according to the number of combined movers; Controlling a first mover among the plurality of movers to be combined to move to the combination area and keep it stationary; The other movers to be combined are controlled to move toward the combination area in sequence. In response to the magnetic grating spacing between two adjacent movers to be combined being less than a preset locking threshold, the physical coupling device between the two adjacent movers to be combined is triggered to lock, thereby obtaining the combined mover unit.

5. The mover control method of the magnetic drive system according to claim 1, characterized in that: The magnetic drive system further includes a magnetic drive conveying track, and a plurality of magnetic induction modules are provided below the magnetic drive conveying track. The real-time acquisition of the combined mover position information of the combined mover unit includes: Acquiring position feedback data of each mover on the magnetic drive conveying track in real time through a plurality of magnetic induction modules; The movers whose adjacent mover spacing is less than or equal to a preset intra-group spacing threshold are divided into the same control logic group; The frontmost mover in the control logic group is determined as the head mover, and the position feedback data of the head mover is determined as the combined mover position information of the same control logic group.

6. The mover control method of the magnetic drive system according to claim 5, characterized in that: A plurality of stator modules are provided below the magnetic drive conveying track, and the stator modules are used to drive the mover to move after being energized. The stator modules are used to drive the mover to move on the magnetic drive conveying track after being energized. The combined mover unit is controlled based on the position information of the combined mover to carry the target workpiece to a preset workpiece processing area for processing, including: generating a motion trajectory according to the position information of the combined mover and the workpiece processing area; Calculating the driving current value of the stator module in real time based on the combined mover position information and the motion trajectory; Calculating the magnetic field coverage of the combined mover unit according to the number of combined movers and the preset mover magnetic grid length; The driving current value is synchronously sent to the stator modules within the coverage range of the magnetic field, so that the combined mover unit moves as a whole along the motion trajectory until it reaches the workpiece processing area.

7. The mover control method of the magnetic drive system according to claim 6, characterized in that: The calculating of the magnetic field coverage of the combined mover unit according to the number of the combined movers and the preset mover magnetic grid length includes: Determining the leading edge position and trailing edge position of the magnetic grating of each mover according to the combined mover position information and the mover magnetic grating length; The leading edge position and the trailing edge position of the magnetic grid of each mover are mapped to the physical coordinates of the magnetic drive conveying track, and the magnetic field coverage range of the combined mover unit is calculated.

8. The mover control method of the magnetic drive system according to claim 4, characterized in that: Each of the movers is configured with a unique mover identification serial number. The corresponding number of movers is controlled according to the number of combined movers to move to a preset combination area for combination, forming a combined mover unit, including: Determining a plurality of movers to be combined and a mover identification serial number corresponding to each mover to be combined from the plurality of movers based on the number of the combined movers; According to the mover identification serial number determined for the first mover to be combined among the movers to be combined, controlling the first mover to be combined to move to the combination area and keep it stationary; According to the respective corresponding mover identification serial numbers determined by the other movers to be combined, the other movers to be combined are controlled to move toward the combination area. In response to the magnetic grating spacing between two adjacent movers to be combined identified by their respective mover identification serial numbers being less than a preset locking threshold, the physical coupling device between the two adjacent movers to be combined is triggered to lock until all the selected movers to be combined are combined to obtain the combined mover unit; wherein the identification serial number of the combined mover unit is determined to be the mover identification serial number of the first mover to be combined.

9. A mover control device for a magnetic drive system, characterized in that: The magnetic drive system includes a plurality of movers, and the device includes: An acquisition module, used to acquire parameters of a target transported workpiece; A determination module, configured to determine the number of combined movers corresponding to the target transported workpiece according to the workpiece parameters; A combination module, used for controlling a corresponding number of movers according to the number of combined movers to move to a preset combination area for combination to form a combined mover unit; The control module is used to obtain the combined mover position information of the combined mover unit in real time, and control the combined mover unit to carry the target workpiece to a preset workpiece processing area for processing based on the combined mover position information.

10. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and is characterized in that when the processor executes the computer program, the mover control method of the magnetic drive system according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mover control method of the magnetic drive system according to any one of claims 1 to 8 is implemented.

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