A magnetic levitation transport system

Abstract

The application discloses a magnetic suspension transmission system and relates to the technical field of magnetic suspension, which comprises a mover module, a wireless communication station, a controller and a plurality of stator modules; the wireless communication station is wirelessly connected with the mover module, the wireless communication station is also connected with the controller, and the controller is also connected with each stator module; the mover module collects real-time position information of the mover module in a preset magnetic field formed by each stator module, and the real-time position information is transmitted to the controller through a wireless transmission process containing encryption and decryption; the controller controls each stator module to change the preset magnetic field based on the real-time position information, so that the mover module is transmitted on a magnetic transmission channel formed by each stator module; sensors do not need to be independently arranged in each stator module, the number of sensors to be used is reduced, and cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of magnetic levitation technology, and in particular to a magnetic levitation transmission system. BACKGROUND

[0002] In modern industrial production lines and logistics systems, magnetic levitation transmission systems have been widely used, which have significant advantages such as high stability, high precision, and high efficiency. However, in the prior art, a sensor is independently arranged on each stator to feed back the real-time position of the mover, so that the controller can output a corresponding control signal to the stators currently located below the mover based on the feedback of the real-time position of the mover, and change the magnetic field formed by the stators in the region, so that the mover is transmitted in the preset direction by the magnetic field. However, the existing technical solution requires a sensor and a drive controller to be arranged on each stator, and the drive controllers control the change of the magnetic field according to the real-time position of the mover collected by the corresponding sensors, which requires a large number of sensors and a large number of drive controllers. For a long transmission line, the cost is too high. SUMMARY

[0003] The main purpose of the present application is to provide a magnetic levitation transmission system, which aims to solve the technical problem of reducing the number of sensors on the stators and reducing the cost in the prior art.

[0004] To achieve the above-mentioned purpose, the embodiment of the present application provides a magnetic levitation transmission system, which comprises a mover module, a wireless communication station, a controller, and a plurality of stator modules.

[0005] The wireless communication station is wirelessly connected to the mover module, and the wireless communication station is also connected to the controller, and the controller is also connected to each of the stator modules.

[0006] The mover module is configured to obtain real-time position information corresponding to the motion in the preset magnetic field formed above each of the stator modules, and to wirelessly transmit the encrypted real-time position information to the wireless communication station.

[0007] The wireless communication station is configured to decrypt the encrypted real-time position information and send it to the controller.

[0008] The controller is configured to send a corresponding motion control signal to each of the stator modules based on the real-time position information.

[0009] The plurality of stator modules are configured to change the preset magnetic field based on the motion control signal, so that the mover module is transmitted by the acting force generated by the changed preset magnetic field.

[0010] Optionally, the mover module comprises a wireless communication unit, an information processing unit and a sensor.

[0011] The wireless communication unit is connected with the information processing unit, and the wireless communication unit is also wirelessly connected with the wireless communication station, and the information processing unit is also connected with the sensor.

[0012] The sensor is configured to collect a real-time position corresponding to the motion in the preset magnetic field, form a real-time position signal corresponding to the real-time position, and send the real-time position signal to the information processing unit.

[0013] The information processing unit is configured to process the real-time position signal, obtain real-time position information corresponding to the real-time position signal, and transmit the real-time position information to the wireless communication unit.

[0014] The wireless communication unit is configured to encrypt the real-time position information, obtain encrypted real-time position information, and wirelessly transmit the encrypted real-time position information to the wireless communication station.

[0015] The wireless communication station is also configured to decrypt the encrypted real-time position information to obtain the real-time position information, and send the real-time position information to the controller.

[0016] Optionally, the mover module further comprises an information processing unit.

[0017] The information processing unit is connected with the wireless communication unit.

[0018] The controller is also configured to send task execution information to the information processing unit through the wireless communication station and the wireless communication unit.

[0019] The information processing unit is configured to process the received task execution information, send a corresponding task execution signal to the external device, so that the external device executes a corresponding preset task.

[0020] Optionally, the mover module further comprises a power supply unit and an energy storage unit.

[0021] The power supply unit is connected with the sensor, the wireless communication unit, the information processing unit and the energy storage unit, and the energy storage unit is also connected with the sensor, the wireless communication unit and the information processing unit.

[0022] The power supply unit is configured to supply power to the sensor, the wireless communication unit, the information processing unit and the energy storage unit.

[0023] The energy storage unit is configured to store the electric energy transmitted by the power supply unit and supply power to the sensor, the wireless communication unit and the information processing unit when the power supply unit stops transmitting electric energy.

[0024] Optionally, the stator module comprises a driving unit and an electromagnetic converter.

[0025] The driving unit is connected to the electromagnetic converter and the controller, respectively.

[0026] The driving unit is configured to send a corresponding driving signal to the electromagnetic converter based on the received motion control signal.

[0027] The electromagnetic converter is configured to perform corresponding electromagnetic conversion and change the preset magnetic field when receiving the driving signal.

[0028] Optionally, the controller is further configured to send motion planning information to the driving unit.

[0029] The driving unit is further configured to obtain magnetic field torque information corresponding to the preset magnetic field, and adjust the electrical parameters of the driving signal based on the magnetic field torque information and the motion planning information.

[0030] Optionally, the controller is further configured to send a corresponding motion control signal to each stator module based on the real-time position information and motion planning information.

[0031] The stator module is configured to change the preset magnetic field according to the received motion control signal to control the movement of the mover module.

[0032] Optionally, the stator module is further configured to feed back magnetic field torque information corresponding to the preset magnetic field to the controller when receiving the motion control signal.

[0033] The controller is further configured to adjust the electrical parameters of the motion control signal based on the magnetic field torque information.

[0034] Optionally, the controller is further configured to output an identification signal to the wireless communication module.

[0035] The wireless communication station is further configured to wirelessly transmit the identification signal to the mover module.

[0036] The mover module is configured to form a corresponding identification feedback signal based on the identification signal and wirelessly transmit the identification feedback signal to the wireless communication station.

[0037] The wireless communication station is further configured to transmit the identification feedback signal to the controller.

[0038] the controller, configured to start receiving the real-time position information after receiving the identification feedback signal.

[0039] Optionally, the magnetic levitation transmission system further comprises a plurality of mover modules.

[0040] Each of the mover modules is wirelessly connected to the wireless communication station.

[0041] Each of the mover modules is configured to, when in a preset magnetic field formed above each of the stator modules, acquire real-time position information corresponding to movement in the preset magnetic field, and wirelessly transmit the real-time position information to the wireless communication station after encryption.

[0042] The wireless communication station is configured to respectively decrypt each of the real-time position information transmitted by each of the mover modules after encryption, and transmit the real-time position information to the controller.

[0043] The controller is configured to, based on the real-time position information, transmit corresponding movement control signals to each of the stator modules.

[0044] The plurality of stator modules are configured to, based on the movement control signals, change the preset magnetic field, so that the mover modules are transmitted by the force generated by the changed preset magnetic field.

[0045] The embodiment of the present application proposes a magnetic levitation transmission system, which comprises a mover module, a wireless communication station, a controller, and a plurality of stator modules. The wireless communication station is wirelessly connected to the mover module, the wireless communication station is also connected to the controller, and the controller is also connected to each of the stator modules. The mover module is configured to, when in a preset magnetic field formed above each of the stator modules, acquire real-time position information corresponding to movement in the preset magnetic field, and wirelessly transmit the real-time position information to the wireless communication station after encryption. The wireless communication station is configured to decrypt the real-time position information after encryption, and transmit the real-time position information to the controller. The controller is configured to, based on the real-time position information, transmit corresponding movement control signals to each of the stator modules. The plurality of stator modules are configured to, based on the movement control signals, change the preset magnetic field, so that the mover modules are transmitted by the force generated by the changed preset magnetic field. Through the mover module collecting real-time position information in the preset magnetic field formed by each of the stator modules, the real-time position information is transmitted to the controller through a wireless transmission process including encryption and decryption. The controller controls each of the stator modules to change the preset magnetic field based on the real-time position information, so as to control the movement of the mover module in the magnetic transmission channel formed by each of the stator modules. The number of sensors used is reduced, and the cost is saved. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 Structure connection diagram of the first embodiment of the magnetic levitation transportation system;

[0047] Figure 2 Structure connection diagram of the second embodiment of the magnetic levitation transportation system;

[0048] Figure 3 Structure connection diagram of the third embodiment of the magnetic levitation transportation system;

[0049] Figure 4 Structure connection diagram of the fourth embodiment of the magnetic levitation transportation system. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are merely exemplary and are not intended to limit the present application.

[0051] The embodiment of the present application provides a magnetic levitation transportation system, referring to Figure 1 , Figure 1 Structure connection diagram of the first embodiment of the magnetic levitation transportation system.

[0052] In the embodiment, the magnetic levitation transportation system comprises a mover module 10, a wireless communication station 20, a controller 40 and a plurality of stator modules 30.

[0053] The wireless communication station 20 is wirelessly connected to the mover module 10, and the wireless communication station 20 is further connected to the controller 40 through a communication bus, and the controller 40 is further connected to each of the stator modules 30.

[0054] The mover module 10 is configured to acquire real-time position information corresponding to movement in a preset magnetic field formed above each of the stator modules 30 when the mover module 10 is in the preset magnetic field, and wirelessly transmit the real-time position information to the wireless communication station 20 after encryption.

[0055] The wireless communication station 20 is configured to decrypt the encrypted real-time position information and send the real-time position information to the controller 40.

[0056] The controller 40 is configured to send corresponding movement control signals to each of the stator modules 30 based on the real-time position information.

[0057] The plurality of stator modules 30 are configured to change the preset magnetic field based on the movement control signals, so that the mover module 10 is caused to move by the action force generated by the changed preset magnetic field.

[0058] It should be understood that the stator module 30 is a functional module that can convert electricity into magnetism, and the stator module 30 can be driven to work by the motion control signal sent by the controller 40, and the stator module 30 can generate a corresponding independent magnetic field. The independent magnetic field formed by a single stator module 30 or the multiple independent magnetic fields formed by multiple stator modules 30 can constitute a preset magnetic field.

[0059] It should be noted that the mover module 10 contains a permanent magnet, and the permanent magnet refers to an overall structure, which can be formed by a single permanent magnet or a plurality of permanent magnets combined, such as a permanent magnet formed by a Halbach array. In the embodiment, when the mover module 10 is located above each stator module 30 for transmission, the independent magnetic field generated by the stator module 30 located below the current position of the mover module 10 can directly constitute the preset magnetic field. Through the interaction between the preset magnetic field and the permanent magnet in the mover module 10, the motion state of the mover module 10 at the next moment can be controlled, including accelerating transmission, decelerating transmission, uniform speed transmission, or stopping transmission, etc.

[0060] It should be noted that as an extension of the above control mechanism, when the mover module 10 is located above each stator module 30 for transmission, multiple independent magnetic fields generated by multiple stator modules 30 located below the current position of the mover module 10 can also be used to jointly constitute the preset magnetic field to control the motion state of the mover module 10 at the next moment.

[0061] It is easy to understand that in the embodiment, when the mover module 10 moves in the preset magnetic field, the real-time position corresponding to the current moment of the movement of the mover module 10 in the preset magnetic field can be collected, and the corresponding real-time position information can be obtained. In specific implementation, the mover module 10 can also encrypt the real-time position information and wirelessly transmit it to the wireless communication station 20. The wireless communication station 20 is used as a relay, and the wireless communication station 20 decrypts the encrypted real-time position information and then sends it to the controller 40. The controller 40 forms a corresponding motion control signal based on the received real-time position information and sends it to each stator module 30 located below the current position of the mover module 10. Based on the time sequence of receiving the motion control signal, each stator module 30 located below the current position of the mover module 10 changes its corresponding independent magnetic field to change the preset magnetic field constituted by one independent magnetic field or multiple independent magnetic fields, so as to realize the corresponding movement of the mover module 10 according to the interaction force between the mover module 10 and the preset magnetic field generated by the change of the preset magnetic field. The wireless communication station 20 and the controller 40 are connected through a communication bus, and the communication bus can be a PCIe bus.

[0062] It is worth noting that in the embodiment, the mover module 10 and the wireless communication station 20 both have encryption / decryption functions, which can prevent external malicious input of false real-time position information from affecting the normal operation of the entire magnetic levitation transmission system, thereby ensuring the safety and high efficiency of the magnetic levitation transmission system. In another case, the wireless communication station 20 can also not have encryption / decryption functions, but directly encrypt / decrypt the transmitted or received information and signals through the controller 40.

[0063] The embodiment of the present application provides a magnetic levitation transmission system, which comprises a mover module, a wireless communication station, a controller and a plurality of stator modules; the wireless communication station is wirelessly connected to the mover module, the wireless communication station is also connected to the controller, and the controller is also connected to each of the stator modules; the mover module is used for acquiring real-time position information corresponding to movement in a preset magnetic field formed above each of the stator modules when the mover module is in the preset magnetic field, and wirelessly transmitting the real-time position information to the wireless communication station after encryption; the wireless communication station is used for decrypting the encrypted real-time position information and sending the real-time position information to the controller; the controller is used for sending corresponding movement control signals to each of the stator modules based on the real-time position information; and the plurality of stator modules are used for changing the preset magnetic field based on the movement control signals, so that the mover module is transmitted by the acting force generated by the changed preset magnetic field. Through the mover module collecting real-time position information in the preset magnetic field formed by each stator module, the real-time position information is transmitted to the controller through a wireless transmission process including encryption and decryption, the controller controls each stator module to change the preset magnetic field based on the real-time position information, the mover module is transmitted on the magnetic transmission channel formed by each stator module, the number of sensors used is reduced, and the cost is saved.

[0064] Based on the first embodiment of the magnetic levitation transmission system of the present application described above, the second embodiment of the magnetic levitation transmission system of the present application is provided, which refers to Figure 2 , Figure 2 The structure connection diagram of the second embodiment of the magnetic levitation transmission system of the present application is shown in the figure.

[0065] In the embodiment, the mover module 10 comprises a wireless communication unit 11, an information processing unit 12 and a sensor 13.

[0066] The wireless communication unit 11 is connected to the information processing unit 12, the wireless communication unit 11 is also wirelessly connected to the wireless communication station 20, and the information processing unit 12 is also connected to the sensor 13.

[0067] The sensor 13 is used to collect the real-time position corresponding to the movement in the preset magnetic field, form a corresponding real-time position signal, and send the real-time position signal to the information processing unit 12;

[0068] The information processing unit 12 is used to process the real-time location signal, obtain the corresponding real-time location information, and transmit the real-time location information to the wireless communication unit 11.

[0069] The wireless communication unit 11 is used to encrypt the real-time location information to obtain encrypted real-time location information, and wirelessly transmit the encrypted real-time location information to the wireless communication station 20.

[0070] The wireless communication station 20 is also used to decrypt the encrypted real-time location information and restore it to the real-time location information, and send the real-time location information to the controller 40.

[0071] It should be understood that, in this embodiment, in the transmission channel connected to each stator module 30 for transmitting the moving sub-module 10, there is also a grating ruler or magnetic grating ruler that can identify the movement distance. The sensor 13 in the moving sub-module 10 can be a grating encoder or a magnetic grating encoder. More specifically, the encoder can be an incremental encoder or an absolute encoder. If the sensor 13 is an absolute encoder of grating or magnetic grating, the real-time position of the sensor moving sub-module 10 can be directly obtained by reading the scale of the grating ruler or magnetic grating ruler, and the corresponding real-time position signal is sent to the information processing unit 12. If the sensor 13 is an incremental encoder of grating or magnetic grating, the relative movement distance of the moving sub-module 10 can be determined by collecting the number of light intensity changes at the grating ruler or the number of magnetic field changes at the magnetic grating ruler, or understood as the relative real-time position. The corresponding real-time position signal is sent to the information processing unit 12. The information processing unit 12 generates the corresponding real-time position information based on the received real-time position signal and the relevant information of the recorded initial position.

[0072] In the embodiment, the sensor 13 generates and sends a real-time position signal corresponding to the real-time position or relative real-time position of the mover module 10 in the preset magnetic field to the information processing unit 12 when the real-time position or relative real-time position of the mover module 10 in the preset magnetic field is collected. The information processing unit 12 processes the real-time position signal to form real-time position information and sends the real-time position information to the wireless communication unit 11. After receiving the real-time position information transmitted by the sensor 13, the wireless communication unit 11 can first encrypt the real-time position information to form corresponding encrypted real-time position information and send the encrypted real-time position information to the wireless communication station 20 through wireless transmission. The wireless communication station 20 can decrypt the encrypted real-time position information to restore the real-time position information and transmit the real-time position information to the controller 40. After identifying the real-time position information, the controller 40 can obtain the real-time distance of the mover module 10 in a preset time based on the preset time elapsed between each two real-time position information, thereby obtaining the real-time speed of the mover module 10 in the preset time. The real-time acceleration of the mover module 10 can be obtained by obtaining the continuous real-time speed change value, that is, the motion state information of the mover module 10 can be obtained. Based on the obtained motion state signal, the controller 40 can automatically form a corresponding motion control signal and send the motion control signal to each stator module 30. The motion control signal is a signal for controlling the corresponding motion of the mover module 10 at the next moment based on the motion state information of the current mover module. Based on the motion control signal, the controller 40 can control each stator module 30 at a corresponding position below the mover module 10 to change the preset magnetic field correspondingly, thereby changing the motion state parameters of the mover module 10, such as speed, acceleration, and moving direction.

[0073] It is worth noting that in another case of the embodiment, the wireless communication unit 11 and the wireless communication station 20 can only transmit information or signals. In this case, the information processing unit 12 and the controller 40 can first encrypt the information or signals before transmitting or receiving the information or signals.

[0074] Further, in the embodiment, the information processing unit 12 is also connected to an external device.

[0075] The controller 40 is also used to send task execution information to the information processing unit 12 through the wireless communication station 20 and the wireless communication unit 11.

[0076] The information processing unit 12 is used to process the received task execution information and send a corresponding task execution signal to the external device to make the external device execute a corresponding preset task.

[0077] It should be noted that in the present embodiment, the mover module 10 further comprises an information processing unit 12, which has an input and output capable IO port through which the external device can be connected (the external device and the corresponding connection relationship are not shown in the figure). The information processing unit 12 can receive various types of information transmitted through the wireless communication unit 13, process various types of information to generate corresponding task execution signals, and output the task execution signals to the external device through the IO port to control the external device to perform corresponding operations and complete the user-specified task. The IO port can also include a communication interface, such as RS485, RS232, etc.

[0078] Further, in the present embodiment, the mover module 10 further comprises a power supply unit 14 and an energy storage unit 15.

[0079] The power supply unit 14 is connected to the sensor 13, the wireless communication unit 11, the information processing unit 12, and the energy storage unit 15, respectively, and the energy storage unit 15 is also connected to the sensor 13, the wireless communication unit 11, and the information processing unit 12, respectively.

[0080] The power supply unit 14 is configured to supply power to the sensor 13, the wireless communication unit 11, the information processing unit 12, and the energy storage unit 15.

[0081] The energy storage unit 15 is configured to store the power transmitted by the power supply unit 14 and supply power to the sensor 13, the wireless communication unit 11, and the information processing unit 12 when the power supply unit 14 stops transmitting power.

[0082] It is easy to understand that in order to ensure that the information processing unit 12, the sensor 13, and the wireless communication unit 11 inside the mover module 10 can work normally, it is also necessary to increase the power supply unit 14 inside the mover module 10 to provide power for each functional module and device inside the mover module 10. If necessary, the external device can also be powered.

[0083] It should be noted that in the embodiment, the power supply unit 14 adopts a wired power supply mode or a wireless power supply mode to supply power. When the power required by each functional unit inside the mover module 10 is small, a wireless power supply mode can be adopted, the preset magnetic field generated by each stator module 30 is converted into electric energy, and the information processing unit 12, the sensor 13 and the wireless communication unit 11 are powered. Using this technical solution can also avoid connecting too many cables, ensure that the space utilization of the transmission channel is larger, and facilitate maintenance personnel to maintain the entire magnetic levitation transmission system. If the power required by the mover module 10 is too high, the above-mentioned wireless power supply mode may not be applicable. For such a case, the mover module 10 can be connected to an external power supply (the cable and the external power supply are not shown in the figure) through a wired cable for wired power supply.

[0084] It is easy to understand that in the embodiment, the energy storage unit 15 can be used as a backup power supply of the power supply unit 14. The energy storage unit 15 can be a battery or a battery pack. When the power converted by the power supply unit 14 is excessive during the transmission of the mover module 10, the excess electric energy can be stored in the energy storage unit 15. When the power converted by the power supply unit 14 is insufficient or fails to generate electric energy in a short period of time, the energy storage unit 15 serves as a backup power supply for the information processing unit 12, the sensor 13 and the wireless communication unit 11. Both the electric energy is saved, and the working stability of the mover module 10 is ensured.

[0085] Optionally, in the embodiment, the stator module 30 includes a driving unit 31 and an electromagnetic converter 32.

[0086] The driving unit 31 is connected to the electromagnetic converter 32 and the controller 40, respectively.

[0087] The driving unit 31 is configured to send a corresponding driving signal to the electromagnetic converter 32 based on the received motion control signal.

[0088] The electromagnetic converter 32 is configured to perform corresponding electromagnetic conversion and change the preset magnetic field when receiving the driving signal.

[0089] It is easy to understand that the driving unit 31 outputs a corresponding driving signal based on the received motion control signal to energize the electromagnetic converter 32, and drives the electromagnetic converter 32 to work. The electric parameters of the driving signal correspond to the magnetic field parameters of the magnetic field generated by the electromagnetic converter 32. The electromagnetic converter 32 can change the magnetic field strength of the independent magnetic field generated based on the driving signal with different electric parameters, and thus change the magnetic field strength and the magnetic field direction of the preset magnetic field formed by the independent magnetic fields corresponding to each stator module 30, that is, change the preset magnetic field.

[0090] Based on the second embodiment of the magnetic levitation transportation system of the present application as described above, the third embodiment of the magnetic levitation transportation system of the present application is proposed, referring to Figure 3 , Figure 3 The structural connection diagram of the third embodiment of the magnetic levitation transportation system of the present application is shown in the figure.

[0091] As shown in the figure, as one case of the third embodiment of the magnetic levitation transportation system of the present application, in the embodiment, the controller 40 is also used to send the motion planning information to the driving unit 31. Figure 3

[0092] The driving unit 31 is also used to obtain the magnetic field torque information corresponding to the preset magnetic field, and adjust the electrical parameters of the driving signal based on the magnetic field torque information and the motion planning information.

[0093] It should be noted that in the embodiment, the driving unit 31 also has the information feedback function, and when the electromagnetic converter 32 performs electromagnetic conversion, the magnetic field strength distribution corresponding to the current working state of the electromagnetic converter 32 can also be obtained by sending the electrical parameters of the handshake signal corresponding to the driving signal working on the electromagnetic converter 32, that is, the magnetic field torque information. Based on the magnetic field torque information, the electrical parameters of the driving signal sent are adaptively adjusted, so that each stator module 30 works more stably and accurately.

[0094] In addition, the controller 40 can also store the motion planning program set by the user in advance, and can generate and send the corresponding motion planning information to the driving unit 31 based on the motion planning program. The motion planning information includes the direction, speed, acceleration, distance and stopping position of the mover module 10 expected to be moved by the user. The driving unit 31 can also adjust the electrical parameters of the driving signal through the motion planning information sent by the controller 40.

[0095] It should be noted that the motion planning program can be directly burned into the controller 40 by the user before starting work, or can be obtained by storing it in the controller 40 from the outside through the external input port after starting work.

[0096] In specific implementation, the driving unit 31 can form the adaptively adjusted driving signal based on the motion state signal and the motion planning information sent by the controller 40 in combination with the magnetic field torque information fed back by itself, control the corresponding stator module 30 to adaptively change the preset magnetic field as expected by the user, so that the mover module 10 moves in suspension as expected by the user.

[0097] As another case of the third embodiment of the magnetic levitation transportation system of the present application, in the embodiment, the controller 40 is also used to send the corresponding motion control signal to each stator module 30 based on the real-time position information and the motion planning information.​

[0098] The stator module 30 is configured to change the preset magnetic field according to the received motion control signal to control the mover module 10 to move.

[0099] It should be noted that, in the above embodiment, the controller 40 also has an external input port, and the motion planning information inputted by the user from the outside can be received through the external input port. The corresponding motion control signal is generated by combining the real-time position information transmitted by the wireless communication station 20, so as to adjust the electrical parameters of the driving signal generated by the driving unit 31 in each stator module 30. The driving unit 31 is only used to generate the driving signal to drive the electromagnetic converter 32 to work, or feed back the magnetic field torque information to the controller 40 as the main information processing device.

[0100] It should be noted that, in the above embodiment, the controller 40 also has an external input port, and the motion planning information inputted by the user from the outside can be received through the external input port. The corresponding motion control signal is generated by combining the real-time position information transmitted by the wireless communication station 20, so as to adjust the electrical parameters of the driving signal generated by the driving unit 31 in each stator module 30. The driving unit 31 is only used to generate the driving signal to drive the electromagnetic converter 32 to work, or feed back the magnetic field torque information to the controller 40 as the main information processing device.

[0101] In the specific implementation, the controller 40 can also determine the relative position between the mover module 10 and each stator module 30 at the current time, the moving direction, speed and acceleration of the mover module 10, and the like based on the real-time position information transmitted by the wireless communication station 20, and determine each stator module 30 below the mover module 10 at the next time in combination with the motion planning information inputted by the user from the external input port, and send the corresponding motion control signal to each stator module 30, so that each stator module 30 changes the preset magnetic field, thereby enabling the mover module 10 to move in suspension according to the motion planning expected by the user.

[0102] Further, in the above embodiment, the stator module 30 is also configured to feed back the magnetic field torque information corresponding to the preset magnetic field to the controller 40 when receiving the motion control signal.

[0103] The controller 40 is also configured to adjust the electrical parameters of the motion control signal based on the magnetic field torque information.

[0104] It should be understood that, in the above embodiment, when the stator module 30 changes the preset magnetic field based on the received motion control signal, the magnetic field torque information of the current preset magnetic field is also fed back to the controller 40 through the handshake signal of the motion control signal. The controller 40 can also adjust the electrical parameters of the motion control signal outputted to each stator module 30 based on the received magnetic field torque information, so that the electrical parameters of the driving signal generated by the driving unit 31 in each stator module 30 are also adjusted, thereby changing the preset magnetic field generated by each stator module 30.

[0105] It should be noted that if it is the first case of the embodiment, the communication bus between each drive unit 31 and the controller 40 needs to transmit the motion planning information and the motion state signal respectively, so as to enable the drive unit 31 to adjust the electrical parameters of the generated drive signal based on the received motion state signal, motion planning information and obtained magnetic field torque information. This scheme has higher requirements for the transmission timing of the motion planning information and the motion state signal transmitted by the communication bus, but has lower requirements for the computing power of the controller 40. If it is the second case of the embodiment, only the computing power of the controller 40 is required to be high, and the drive unit 31 is not required to be too high, and only needs to be connected with a group of external input ports through the controller 40 to receive the motion planning information sent by the user or directly burn the motion planning program in advance and keep it in the controller 40, without worrying about the transmission timing problem.

[0106] Based on the third embodiment of the magnetic levitation transportation system of the application described above, a fourth embodiment of the magnetic levitation transportation system of the application is proposed, which refers to Figure 4 , Figure 4 The structure connection diagram of the fourth embodiment of the magnetic levitation transportation system of the application.

[0107] It should be noted that, as shown in Figure 4 , in the embodiment, the controller 40 is also used to output an identification signal to the wireless communication module;

[0108] The wireless communication station 20 is also used to wirelessly transmit the identification signal to the mover module 10;

[0109] The mover module 10 is used to form a corresponding identification feedback signal based on the identification signal, and wirelessly transmit the identification feedback signal to the wireless communication station 20;

[0110] The wireless communication station 20 is also used to transmit the identification feedback signal to the controller 40;

[0111] The controller 40 is used to start receiving the real-time position information after receiving the identification feedback signal.

[0112] It should be noted that in the embodiment, in the same transportation channel composed of each stator module 30, there can be multiple mover modules 10. In order to ensure that the controller 40 can independently control the transportation motion track of each mover module 10, each mover module 10 needs to be identified before receiving the real-time position information transmitted by each mover module 10, so that the controller 40 can identify the mover module 10 to be transmitted.

[0113] In a specific implementation, the controller 40 can output an identification signal and transmit it to the mover module 10 to be identified through the wireless communication station 20. The information processing unit 12 inside the mover module 10 can receive the identification signal and determine whether the mover module 10 has been identified. If the mover module 10 has been identified, an identification feedback signal will be fed back to the wireless communication station 20 and transmitted to the controller 40 through the wireless communication station 20. At this point, the controller 40 has identified the mover module 10, and binds the real-time position information subsequently received from the mover module 10 with the established identification, so as to identify the relative position between the mover module 10 and each stator module 30, and further distinguish the relative position between other mover modules 10 and each stator module 30. In the embodiment, the identification signal and the identification feedback signal are handshake signals, which can be bidirectionally transmitted at the same time.

[0114] It is worth noting that in the embodiment, the identification signal and the identification feedback signal can also be transmitted according to the encryption / decryption mechanism described above, for preventing confusion with other signals and causing control logic errors. As described above, the encryption / decryption mechanism can be implemented between the controller 40, the wireless communication station 20, the wireless communication unit 11 and the information processing unit 12. It can be understood that the encryption / decryption mechanism can be implemented for the controller 40 and the information processing unit 12 to decrypt or encrypt information or signals before receiving or transmitting them, or for the wireless communication station 20 and the wireless communication unit 11 to decrypt or encrypt information or signals before receiving or transmitting them.

[0115] Further, in the embodiment, the magnetic levitation transportation system further comprises a plurality of mover modules 10;

[0116] Each of the mover modules 10 is wirelessly connected to the wireless communication station 20;

[0117] Each of the mover modules 10 is configured to, when in a preset magnetic field formed above each of the stator modules 30, acquire real-time position information corresponding to movement in the preset magnetic field, and wirelessly transmit the real-time position information after encryption to the wireless communication station 20;

[0118] The wireless communication station 20 is configured to respectively decrypt each of the real-time position information transmitted by each of the mover modules 10 after encryption, and transmit it to the controller 40;

[0119] The controller 40 is configured to, based on the real-time position information, transmit a corresponding movement control signal to each of the stator modules 30;

[0120] The plurality of stator modules 30 are configured to change the preset magnetic field based on the motion control signal, so that each of the mover modules 10 remains in a suspended state for transmission.

[0121] It should be understood that in the present embodiment, all the mover modules 10 can be independently bound to the controller 40 based on the mechanism of establishing the identification binding relationship between the mover modules 10 and the controller 40. Therefore, the controller 40 can receive real-time position information sent by the plurality of mover modules 10, so as to generate corresponding motion control signals to control the corresponding plurality of stator modules 30 below each of the mover modules 10 to change the preset magnetic field in which each of the mover modules 10 is located, thereby achieving the suspended transmission of the plurality of mover modules 10.

[0122] In addition, the technical solution of the present embodiment can also be combined with the above-mentioned other embodiments to achieve the suspended movement of the plurality of mover modules 10 according to the motion planning of the user. Since each of the mover modules 10 is independently controlled by the controller 40, the motion planning of each of the mover modules 10 can be different.

[0123] It should be noted that at the same time, there cannot be multiple mover modules 10 above the same stator module 30. Since the preset magnetic field generated by each of the stator modules 30 below the single mover module 10 will change based on the next motion required by the corresponding mover module 10. If there are two or more mover modules 10 above the same one or more stator modules 30, it is impossible to simultaneously meet the preset magnetic field change requirements of the two or more mover modules 10 for the next motion state. In order to avoid the mutual influence of the motion control of each of the mover modules 10, the distance between each of the mover modules 10 can be limited to be not less than a safe distance by a software or hardware distance limiting method. The safe distance refers to the minimum distance at which the permanent magnet of each of the mover modules 10 will not generate an effective force on the permanent magnet of the other mover module 10. The software distance limiting method can be realized by a collision avoidance algorithm set in the controller 40, for example, if the distance between every two mover modules is less than the safe distance, the slower mover module 10 is accelerated for transmission, or the faster mover module 10 is decelerated for transmission, or both of the two mover modules 10 are stopped for transmission. The hardware distance limiting method can be realized by the physical structure of the mover module 10 itself. When the physical structures of every two mover modules 10 contact, the distance between the permanent magnets of each of the mover modules 10 is not less than the safe distance. Therefore, even if the two mover modules 10 move in close contact, they will not affect each other.

[0124] The above merely describes the preferred embodiments of the present application, and is not intended to limit the patent scope of the present application, and any equivalent structure or equivalent process conversion, or direct or indirect application in other related technical fields, which are made by using the content of the present application specification and drawings, are also included in the patent protection scope of the present application.

Claims

1. A magnetic levitation transmission system, characterized in that, The magnetic levitation transmission system includes: a moving module, a wireless communication station, a controller, and several stator modules; The wireless communication station is wirelessly connected to the moving sub-module, and the wireless communication station is also connected to the controller, which is also connected to each of the stator modules. The moving submodule includes a sensor, which is used to read the scale of the grating ruler or magnetic grating ruler through the sensor when it is in a preset magnetic field formed above each of the stator modules to obtain the real-time position information corresponding to the movement in the preset magnetic field, and to wirelessly transmit the real-time position information to the wireless communication station after encryption. The sensor is a corresponding one of the grating encoder or magnetic encoder. The wireless communication station is used to decrypt the encrypted real-time location information and send it to the controller; The controller is used to send corresponding motion control signals to each of the stator modules based on the real-time position information; The stator modules are used to change the preset magnetic field based on the motion control signal, so that the moving module can transmit through the force generated by the changed preset magnetic field. The moving module further includes: a wireless communication unit and an information processing unit; The wireless communication unit is connected to the information processing unit, and the wireless communication unit is also wirelessly connected to the wireless communication station. The information processing unit is also connected to the sensor. The sensor is used to acquire the real-time position corresponding to the movement in the preset magnetic field, generate a corresponding real-time position signal, and send the real-time position signal to the information processing unit; The information processing unit is used to process the real-time location signal, obtain the corresponding real-time location information, and transmit the real-time location information to the wireless communication unit. The wireless communication unit is used to encrypt the real-time location information to obtain encrypted real-time location information, and wirelessly transmit the encrypted real-time location information to the wireless communication station. The wireless communication station is also used to decrypt the encrypted real-time location information and restore it to the real-time location information, and send the real-time location information to the controller; The information processing unit is also connected to external devices; The controller is also configured to send task execution information to the information processing unit through the wireless communication station and the wireless communication unit; The information processing unit is used to process the received task execution information and send the corresponding task execution signal to the external device so that the external device executes the corresponding preset task. The magnetic levitation transmission system also includes: multiple moving sub-modules; Each of the aforementioned moving sub-modules is wirelessly connected to the wireless communication station; Each of the moving sub-modules is used to acquire real-time position information corresponding to the movement in the preset magnetic field when it is in the preset magnetic field formed above each of the stator modules, and to wirelessly transmit the real-time position information to the wireless communication station after encryption; The wireless communication station is used to decrypt the encrypted real-time location information sent by each of the moving submodules and send it to the controller. The controller is used to send corresponding motion control signals to each of the stator modules based on the real-time position information. The stator modules are used to change the preset magnetic field based on the motion control signal, so that the force generated by the preset magnetic field causes each of the moving modules to transmit with different motion plans, and the distance between each of the moving modules is not less than the safe distance.

2. The magnetic levitation transmission system as described in claim 1, characterized in that, The moving module also includes: a power supply unit and an energy storage unit; The power supply unit is connected to the sensor, the wireless communication unit, the information processing unit, and the energy storage unit, respectively. The energy storage unit is also connected to the sensor, the wireless communication unit, and the information processing unit, respectively. The power supply unit is used to supply power to the sensor, the wireless communication unit, the information processing unit, and the energy storage unit. The energy storage unit is used to store the electrical energy transmitted by the power supply unit, and to supply power to the sensor, the wireless communication unit and the information processing unit when the power supply unit stops transmitting electrical energy.

3. The magnetic levitation transmission system as described in claim 1, characterized in that, The stator module includes: a drive unit and an electromagnetic converter; The drive unit is connected to the electromagnetic converter and the controller, respectively; The drive unit is used to send a corresponding drive signal to the electromagnetic converter based on the received motion control signal; The electromagnetic converter is used to perform corresponding electromagnetic conversion and change the preset magnetic field when the driving signal is received.

4. The magnetic levitation transmission system as described in claim 3, characterized in that, The controller is also used to send motion planning information to the drive unit; The driving unit is further configured to acquire magnetic field torque information corresponding to the preset magnetic field, and adjust the electrical parameters of the driving signal based on the magnetic field torque information and the motion planning information.

5. The magnetic levitation transmission system as described in claim 1, characterized in that, The controller is also used to send corresponding motion control signals to each of the stator modules based on the real-time position information and motion planning information; The stator module is used to change the preset magnetic field according to the received motion control signal, so as to control the movement of the mover module.

6. The magnetic levitation transmission system as described in claim 5, characterized in that, The stator module is also used to feed back the magnetic field torque information corresponding to the preset magnetic field to the controller when the motion control signal is received; The controller is also used to adjust the electrical parameters of the motion control signal based on the magnetic field torque information.

7. The magnetic levitation transmission system as described in claim 1, characterized in that, The controller is also used to output an identification signal to the wireless communication module; The wireless communication station is also used to wirelessly transmit the identification signal to the moving sub-module; The moving sub-module is used to generate a corresponding identification feedback signal based on the identification signal, and wirelessly transmit the identification feedback signal to the wireless communication station; The wireless communication station is also used to transmit the identification feedback signal to the controller; The controller is configured to begin receiving the real-time location information after receiving the identification feedback signal.

Images