Mobility control method, mobility control module, magnetic drive transmission module and storage medium

Abstract

The embodiment of the present application provides a mobile control method, a mobile control module, a magnetic drive transmission module and a storage medium, wherein the method can be applied to a magnetic drive transmission module, the magnetic drive transmission module is used to cooperate with a rotating device to transmit an object, the magnetic drive transmission module includes a mover module and a stator wire, the mover module and the stator wire are movably connected, the stator wire is used to drive the mover module to move, the method includes: obtaining a rotation state signal, wherein the rotation state signal is used to indicate that the rotating device is in a rotation state; based on the obtained rotation state signal, the mover module is controlled to move so that the mover module is linked with the rotating device, and the object is handed over during the process of the mover module and the rotating device being linked. Through the present application, the problem of low object transmission efficiency due to the complex mechanical structure of the robot arm in the related art is solved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of industrial transmission technology, and more specifically, to a mobile control method, a mobile control module, a magnetic drive transmission module, and a storage medium. Background Art

[0002] At present, in the process of automated transmission, there are situations where a rotating device is required to transmit objects (such as materials, workpieces to be processed, products, etc.). In this regard, a robotic arm is used as an object transfer medium to take out the object from a designated area and place it on a rotating device, or to take out the object from a rotating device and place it in a designated area.

[0003] The control program of the robotic arm needs to be set in combination with the actual transmission scenario. However, due to the complex mechanical structure of the robotic arm, it is difficult to control the robotic arm, resulting in its slow operation speed, which in turn affects the efficiency of object transmission.

[0004] It can be seen that in the related art there is a problem of low object transmission efficiency due to the complex mechanical structure of the robot arm. Summary of the invention

[0005] The embodiments of the present application provide a mobile control method, a mobile control module, a magnetic drive transmission module and a storage medium, so as to at least solve the problem of low object transmission efficiency due to the complex mechanical structure of the robot arm in the related art.

[0006] According to one aspect of an embodiment of the present application, a movement control method is provided, which is applied to a magnetic drive transmission module, wherein the magnetic drive transmission module is used to cooperate with a rotating device to transmit an object, the magnetic drive transmission module includes a mover module and a stator wire body, the mover module is movably connected to the stator wire body, and the stator wire body is used to drive the mover module to move, the method includes: obtaining a rotation state signal, wherein the rotation state signal is used to characterize that the rotating device is in a rotation state; based on the obtained rotation state signal, the movement control of the mover module is performed so that the mover module is linked with the rotating device, and the object is transferred during the linkage between the mover module and the rotating device.

[0007] According to another aspect of the embodiment of the present application, a mobile control module is provided, which is respectively connected to a magnetic drive transmission module and a rotating device, wherein the magnetic drive transmission module is used to cooperate with the rotating device to transmit objects, the magnetic drive transmission module includes a mover module and a stator line body, the mover module is movably connected to the stator line body, the mobile control module is used to control the stator line body to drive the mover module to move, and the mobile control module includes: an acquisition unit, used to acquire a rotation state signal, wherein the rotation state signal is used to characterize that the rotating device is in a rotation state; a control unit, used to control the movement of the mover module based on the acquired rotation state signal, so that the mover module is linked with the rotating device, and the object is transferred during the linkage between the mover module and the rotating device.

[0008] According to another aspect of the embodiments of the present application, a magnetically driven transmission module is provided, which is used to cooperate with a rotating device to transmit objects, and the magnetically driven transmission module includes a mover module, a stator line body and a movement control module, wherein the mover module and the stator line body are movably connected; the stator line body is used to drive the mover module to move; the movement control module is used to obtain a rotation state signal, wherein the rotation state signal is used to indicate that the rotating device is in a rotation state; based on the obtained rotation state signal, the mover module is controlled to move so that the mover module is linked with the rotating device, and the object is transferred during the linkage between the mover module and the rotating device.

[0009] According to another aspect of the embodiments of the present application, there is provided an object transmission system, comprising a magnetically driven transmission device and a rotating device, the magnetically driven transmission device comprising a magnetically driven transmission module and a movement control module, wherein the magnetically driven transmission module is used to cooperate with the rotating device to transmit objects, wherein the magnetically driven transmission module comprises a mover module and a stator line body, the mover module is movably connected to the stator line body, and the stator line body is used to drive the mover module to move; the movement control module is used to obtain a rotation state signal, wherein the rotation state signal is used to indicate that the rotating device is in a rotation state; based on the obtained rotation state signal, the mover module is controlled to move so that the mover module is linked with the rotating device, and the object is transferred during the linkage between the mover module and the rotating device.

[0010] According to another aspect of the embodiments of the present application, a computer program product or a computer program is also provided, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in any of the above method embodiments.

[0011] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when executed.

[0012] Through the present application, the object handover is completed by cooperating with the magnetic drive transmission module and the rotating device. The magnetic drive transmission module includes a mover module and a stator wire body. The mover module and the stator wire body are movably connected. The mover module is driven to move through the stator wire body based on the obtained rotation state signal to control the movement of the mover module, so that the mover module and the rotating device are linked. In the process of the linkage between the mover module and the rotating device, the object can be handed over between the mover module and the rotating device without the participation of the robot arm, which can reduce the influence of the operating speed of the robot arm on the object transmission, thereby achieving the technical effect of improving the object transmission efficiency, and solving the problem of low object transmission efficiency caused by the complex mechanical structure of the robot arm in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0015] Figure 1 It is a schematic diagram of the hardware structure of an optional magnetic drive transmission module according to an embodiment of the present application.

[0016] Figure 2 It is a flowchart of an optional mobile control method according to an embodiment of the present application.

[0017] Figure 3 It is a schematic diagram of an optional movement control method according to an embodiment of the present application.

[0018] Figure 4It is a schematic diagram of another optional movement control method according to an embodiment of the present application.

[0019] Figure 5 It is a schematic diagram of an optional stator wire according to an embodiment of the present application.

[0020] Figure 6 It is a schematic diagram of another optional stator wire according to an embodiment of the present application.

[0021] Figure 7 It is a schematic diagram of an optional linkage starting position according to an embodiment of the present application.

[0022] Figure 8 It is a schematic diagram of another optional linkage starting position according to an embodiment of the present application.

[0023] Fig. 9 It is a schematic diagram of another optional linkage starting position according to an embodiment of the present application.

[0024] Fig.10 It is a schematic diagram of another optional linkage starting position according to an embodiment of the present application.

[0025] Fig.11 It is a schematic diagram of another optional linkage starting position according to an embodiment of the present application.

[0026] Fig.12 It is a schematic diagram of an optional object docking according to an embodiment of the present application.

[0027] Fig.13 It is a structural block diagram of an optional rotating device according to an embodiment of the present application.

[0028] Fig.14 It is a structural block diagram of another optional rotating device according to an embodiment of the present application.

[0029] Fig.15 This is a structural block diagram of another optional rotating device according to an embodiment of the present application.

[0030] Fig.16 It is a schematic diagram of another optional movement control method according to an embodiment of the present application.

[0031] Fig.17 It is a schematic diagram of an optional linkage end position according to an embodiment of the present application.

[0032] Fig.18 It is a structural block diagram of an optional computer system according to an embodiment of the present application. DETAILED DESCRIPTION

[0033] The embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0035] The method embodiments provided in the embodiments of the present application can be executed in a magnetic drive transmission module or a similar hardware body. Taking the execution on the magnetic drive transmission module as an example, Figure 1 FIG. 1 is a schematic diagram of the hardware structure of an optional magnetic drive transmission module according to an embodiment of the present application. Figure 1 As shown, the magnetic drive transmission module 100 may include: a mover module 101 and a stator wire 102, wherein the mover module 101 and the stator wire 102 are movably connected, and the stator wire 102 is used to drive the mover module 101 to move. Specifically, there is magnetic coupling between the mover module 101 and the stator wire 102, and the magnetic field of the stator wire 102 is variable. The variable magnetic field of the stator wire 102 interacts with the magnetic field of the mover module 101 to generate a thrust acting on the mover module 101, so that the mover module 101 moves.

[0036] It is understandable that in actual applications, the stator line is connected to the movement control module; depending on the actual situation, the movement control module may be included in the magnetic drive transmission module or may be independent of the magnetic drive transmission module. The movement control module may be used to control the magnetic field of the stator line so that the stator line drives the mover module to move along the stator line.

[0037] The above-mentioned mobile control module may include a processor (e.g., a microprocessor, a programmable logic device, etc.) and a memory and a communication unit for storing data. The memory can be used to store computer programs, for example, software programs and modules of application software, and the computer program corresponding to the mobile control method in the embodiment of the present application. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, the above-mentioned method is realized. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage units, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the server device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The communication unit is used to communicate and interact with the stator line body.

[0038] In the process of automated transmission, there are situations where a rotating device is required to transmit objects. In related technologies, a robotic arm is used as an object transfer medium. The robotic arm takes out objects from a designated area and places them on a rotating device, or the robotic arm takes out objects from a rotating device and places them in a designated area. The robotic arm needs to set the control program in combination with the actual transmission scenario. However, due to the complex mechanical structure of the robotic arm, the control of the robotic arm is difficult, resulting in a slow operating speed, which in turn affects the efficiency of object transmission.

[0039] In order to at least partially solve the above technical problems, the object transfer can be completed by replacing the robotic arm with a magnetic drive transmission module. The magnetic drive transmission module includes a movable submodule and a stator line body that can be movably connected. The stator line body is used to drive the movable submodule to move. The movement of the movable submodule is controlled based on the obtained rotation state signal, so that the movable submodule is linked with the rotating device to facilitate the object transfer during the linkage process of the two. The above object transfer process does not require the assistance of a robotic arm, which can simplify the mechanical structure and only involves the movement control of the movable submodule, which reduces the control difficulty, increases the speed of object transfer, and thereby improves the transmission efficiency of the object.

[0040] Here, the handover of objects can realize the transfer of objects. When the object transfer demand changes (such as more objects need to be transferred per unit time), only the control strategy adjustment related to the mover module and the rotating device is involved, and the control strategy adjustment of the robot arm is not involved, which can reduce the difficulty of adjustment and improve the flexibility of adjustment, and can meet the diverse object transfer needs. The mechanical structure between the mover module and the rotating device is relatively independent, which can reduce the mechanical loss between the two.

[0041] According to one aspect of an embodiment of the present application, a mobile control method is provided, which can be applied to a mobile control module. The mobile control module can be used to control the magnetic field of the stator line of a magnetic drive transmission module, so that the stator line drives the movable module of the magnetic drive transmission module to move along the stator line. The magnetic drive transmission module can be used to cooperate with a rotating device to complete the handover of the object during the object transmission process. Figure 2 is a flow chart of an optional mobile control method according to an embodiment of the present application, such as Figure 2 As shown, the process includes the following steps:

[0042] Step S201, obtaining a rotation state signal, wherein the rotation state signal is used to indicate that the rotating device is in a rotation state;

[0043] Step S202 : Controlling the movement of the moving module based on the acquired rotation state signal, so that the moving module and the rotating device are linked, and the object is transferred during the process of the moving module and the rotating device being linked.

[0044] In order to facilitate the linkage between the movable module and the rotating device, the mobile control module can obtain a rotation state signal, which is used to characterize that the rotating device is in a rotation state. It can be an external input signal obtained by the mobile control module, or a signal obtained by sampling the external input signal. The number of rotation state signals obtained can be one or more (the timing of obtaining multiple rotation state signals is different). Here, the rotating device can be arranged around the stator wire body, and can be arranged in a horizontal direction, a vertical direction, or other settings, as long as the object can be transferred during the linkage between the movable module and the rotating device. The rotation mode of the rotating device can include: intermittent rotation or continuous rotation, and the rotation direction of the rotating device can be clockwise or counterclockwise.

[0045] For example, the positional relationship between the rotating device 301 and the magnetic drive transmission module 100 is as follows: Figure 3 As shown, the rotating device 301 and the stator line body 102 are arranged horizontally. The moving module 101 can move along the moving line body 102 under the drive of the stator line body 102. During the linkage process between the moving module 101 and the rotating device 301, objects can be transferred between the moving module 101 and the rotating device 301.

[0046] The motion state of the rotating device may include a rotating state and a stationary state, and the rotating state may include a starting rotating state and a continuous rotating state. The rotating state signal may indicate that the rotating device is in a rotating state (it may be starting rotating or continuously rotating). When the rotating device is in a stationary state, no signal may be sent, or other signals different from the rotating state signal (e.g., a stationary state signal) may be used to indicate. Correspondingly, when the rotating device is in a stationary state, the mobile control module may not obtain any state signal, or may obtain a stationary state signal.

[0047] Based on the acquired rotation state signal, the mobile control module can control the movement of the movable module, so that the movable module and the rotating device are linked. Here, the linkage between the movable module and the rotating device can be the whole linkage of the two, or the linkage of the two within a certain area. When linked, the two can move synchronously or asynchronously, as long as the position conditions for the handover of objects can be met during the linkage process.

[0048] The movable module and the rotating device may both be provided with a carrier component. The carrier component on the movable module may be referred to as a movable carrier component, and the carrier component on the rotating device may be referred to as a rotating carrier component. The carrier component may be a slot component, a clamp component, or a toggle component, etc., as long as the object can be delivered. According to the carrier component, the projection of the rotating device may overlap with the projection of the stator line or the projection of the movable module, or the two may not intersect. There is no limitation on the specific structure and setting position of the carrier component.

[0049] During the linkage between the mover module and the rotating device, the mover carrier first approaches the rotating carrier and then moves away from the rotating carrier. This process can be understood as a docking process. During the docking between the mover carrier and the rotating carrier, the object can be transferred from one party to the other by pushing, toggling or other means (for example, from the mover module to the rotating device, or from the rotating device to the mover module) to achieve the object transfer between the two.

[0050] The rotating device may include a rotating bearing component, which may include a carrier (e.g., a carrier disc, a carrier bracket, etc.) and the above-mentioned rotating carrier component, and the rotating carrier component may be arranged at the edge of the carrier to facilitate the transfer of objects. The number of rotating carrier components may be one or more, and the plurality of rotating carrier components may be evenly arranged along the edge of the carrier, or may be unevenly arranged, as long as it can ensure that the transfer of objects can be completed when linked with the corresponding mover module.

[0051] For example, Figure 4 As shown, the mover module 101 includes a mover body (or mover base) 1011 and a mover object-carrying component 1012; the rotating bearing component 401 of the rotating device 301 includes an object-carrying body 4011 and a plurality of rotating bearing components 4012 ( Figure 4 The rotating object carrier 4012 is shown, wherein the object carrier 4011 is an object disc, and the rotating object carrier 4012 is an object placement slot distributed along the circumference of the object disc. By controlling the movable module 101 and the rotating device 301 to be linked, the object can be transferred between the movable object carrier 1012 and the rotating object carrier 4012.

[0052] In a specific implementation, the mover module can move along the stator line under the drive of the stator line. The mover module may include a magnetic unit, which makes the mover module have a magnetic field, and the magnetic unit includes a magnetizing component (for example, a permanent magnet, a superconducting magnet, a magneto-optical material, etc.) or an excitation unit (such as a magnetic field generated by an energized coil, which needs to be powered on all the time to maintain the magnetic field of the mover module). The stator line can be formed by splicing a plurality of stator modules, and the shape formed by splicing the stator modules can be a straight line, an arc, or a linear shape of the combination of the two. Accordingly, the way in which the mover module 101 and the rotating device 301 complete the handover of the object can be as follows: Figure 5 and Figure 6 As shown, Figure 5 To complete the handover of objects in the straight line area formed by the splicing of stator modules, Figure 6 The objects are joined within the arc area formed by the splicing of the stator modules.

[0053] In the case where there are multiple mover modules, the mobile control module can obtain the identity information of each mover module, detect the position of each mover module, obtain the position information of each mover module, and control the minimum spacing between the mover module that is not linked to the rotating device and its adjacent mover module to meet the safety distance based on the position information of each mover module and the identity information of the mover module, thereby improving the safety between multiple mover modules. In addition, the mobile control module obtains the identity information of each mover module, detects the position of each mover module, and determines the control timing of each mover module. For example, in the case where there are mover module No. 1 and mover module No. 2, if the position of mover module No. 1 is closer to the rotating device, mover module No. 1 is first controlled to move toward the rotating device, and then mover module No. 2 is controlled to move toward the rotating device. Of course, the above examples are only illustrative examples. In actual situations, there may be more mover modules, and the control timing can be determined based on the positions of more mover modules.

[0054] It can be understood that multiple mover modules can be independently controlled in movement, that is, the movement control of one mover module may not be constrained by the movement control of another mover module. If there is a faulty mover module, the faulty mover module can be removed for separate repair, which is convenient for maintenance, and the remaining mover modules can still transport objects, reducing the downtime cost caused by the fault.

[0055] The stator module provides thrust and movement guidance for the mover module. The stator module includes an excitation unit (e.g., a coil). When the excitation unit of the stator module is selected and energized, the excitation unit generates a magnetic field. The magnetic field generated by the energized stator module interacts with the magnetic field of the mover module to form thrust. The thrust acts on the mover module, causing the mover module to move relative to the stator module. An unselected excitation unit does not generate a magnetic field and cannot generate thrust with the mover module. Therefore, the movement of the mover module can be controlled by the selected excitation unit (e.g., controlling the moving direction and speed of the mover module).

[0056] The movement process of the mover module can be controlled by movement control parameters, and the movement control parameters can be used to control one or more movement state quantities of the speed, acceleration and movement time of the mover module. The control method of the mover module is related to the driving method of the mover module. Since the mover module needs to be driven to move by the stator module, the movement control module can control the power-on and power-off timing between multiple stator modules, the power-on and power-off timing of the coils in each stator module, and the current size of each stator module according to the indication of the movement control parameters, so that the mover module moves according to the corresponding movement state quantity. According to the motion trajectory of the mover module, the speed can be a linear velocity or an angular velocity, and the acceleration can be a linear acceleration or an angular acceleration. The number of mover modules can be one or more, and the movement control method provided in this embodiment can be used to control the movement of any mover module.

[0057] It is understandable that, by using devices with detection capabilities such as image acquisition devices and laser sensing devices, it is possible to determine whether the moving module and the rotating device have completed the object handover, and whether the loading state of the moving module or the rotating device is correct (for example, in the moving module and the rotating device, whether the side to be received is empty, and whether the side to hand over the object is loaded). The device with detection capabilities can be set on the magnetic drive transmission module or the rotating device, or it can be a separately set device, which is not limited in this embodiment.

[0058] Through the above steps, the mover module is driven to move through the stator line body based on the obtained rotation state signal to control the movement of the mover module, so that the mover module is linked with the rotating device. During the linkage between the mover module and the rotating device, the object can be transferred between the mover module and the rotating device without the participation of the robot arm, which can reduce the influence of the operating speed of the robot arm on the object transmission, thereby achieving the technical effect of improving the object transmission efficiency, and solving the problem of low object transmission efficiency caused by the complex mechanical structure of the robot arm in the related technology.

[0059] In a specific implementation, the timing for the movable module to be linked with the rotating device can be set according to actual conditions.

[0060] In some exemplary embodiments, the mover module can be linked with the rotating device from the start, which is convenient for control and implementation.

[0061] In some other exemplary embodiments, before controlling the movement of the mover module based on the acquired rotation state signal, the method further includes: after determining that the mover module moves to the first linkage starting position, setting the rotating device as a linkage object of the mover module.

[0062] Among them, the first linkage starting position can be but is not limited to being set based on the stator line body, and the specific setting basis of the first linkage starting position is not limited in this embodiment. The first linkage starting position can be understood as the linkage starting position set for the mover module. It should be noted that it is possible to determine whether the mover module has moved to the first linkage starting position by setting software or hardware. For example, the first linkage starting position is set with the stator line body as the coordinate axis, and the position information of each mover module is dynamically calculated through a software program to determine whether each mover module is in the first linkage starting position. For another example, an inductive sensor (such as a magnetic sensor, an optical sensor, etc.) is set in the stator module corresponding to the first linkage starting position, and a trigger signal can be generated when the mover module passes through the inductive sensor, thereby determining whether the mover module passes through the first linkage starting position, wherein the inductive sensor can be contact-connected or contactlessly connected to the stator line body.

[0063] Therefore, by setting a linkage start position (i.e., the first linkage start position) for the mover module, before the mover module reaches the first linkage start position, there is no need to perform linkage control on the movement of the mover module, that is, the mover module is independently controlled relative to the rotating device, and the movement of the mover module can be controlled or adjusted according to actual transmission requirements. After the mover module moves to the first linkage start position, the mover module is controlled to be linked with the rotating device. This improves the control diversity of the mover module.

[0064] It is understandable that in the process of determining whether the mover module has moved to the first linkage starting position by detecting the position of the mover module, the position of the mover module can be obtained by detecting the mover body or the mover carrier, that is, by detecting the position of the mover body or the mover carrier, it is determined whether the mover module has reached the first linkage starting position. The position of the mover module can be obtained by detecting a position sensor, an image acquisition device, or other hardware with detection capabilities, which is not limited in this embodiment.

[0065] After determining that the mover module has moved to the first linkage starting position, the rotating device can be set as the linkage object of the mover module. At this time, the mover module can be controlled to be linked with the rotating device in response to the obtained rotation state signal. Before the mover module moves to the first linkage starting position, the rotation state signal may also be obtained, but the obtained rotation state signal will not be responded to until the mover module is controlled to move to the first linkage starting position.

[0066] For example, assuming that there are mover modules A and B, the moving positions of mover modules A and B are detected. After determining that mover module A has reached the first linkage starting position, if a rotation state signal is obtained, the mover module A is controlled to move based on the rotation state signal, and if mover module B has not reached the first linkage starting position, even if a rotation state signal is obtained, the mover module B is not controlled to move based on the rotation state signal.

[0067] Thus, multiple mover modules sequentially reach the first linkage starting position, and the rotating device is sequentially set as the linkage object of the mover modules that have reached the first linkage starting position, so that the mover modules that have reached the first linkage starting position can be controlled by using the same movement control parameters corresponding to the first linkage starting position. It can be understood that the first linkage starting position can be the starting position (such as the position of the object intersection area set by the stator line) Figure 7 As shown), it can also be located before the object intersection area set based on the stator line (in terms of the moving direction of the mover module) (as shown in FIG. Figure 8 As shown), in this embodiment, there is no limitation on the relationship between the first linkage starting position and the object intersection area.

[0068] Through this embodiment, after determining that the movable module moves to the set linkage starting position, the rotating device is set as the linkage object of the movable module, and then the same movement control parameters corresponding to the first linkage starting position are used to control the movable module and the rotating device to be linked, which can improve the convenience of parameter setting and simplify the number of parameters.

[0069] In some exemplary embodiments, before controlling the movement of the mover module based on the acquired rotation state signal, the method further includes: determining that the rotating device rotates to a second linkage starting position.

[0070] In order to ensure the smooth handover of the object, attention may also be paid to the position of the rotating device. To this end, a linkage starting position may be set for the rotating device, that is, a second linkage starting position (the linkage starting position of the rotating device). Before the movement control of the mover module is performed based on the acquired rotation state signal, it may also be determined that the rotating device rotates to the second linkage starting position. The method for determining that the rotating device rotates to the second linkage starting position may be the same or similar to the aforementioned method for determining that the mover module moves to the first linkage starting position, or it may be other methods, for example, by rotating the carrier or the rotation angle of other parts in the rotating device, etc., which will not be elaborated here.

[0071] It can be understood that the position of the rotating device can be characterized by the position of the carrying component in the rotating bearing component, and the second linkage starting position can be set based on the specific structure of the rotating device. For example, the second linkage starting position can be set based on the rotating bearing component. Specifically, the second linkage starting position can be set according to the distribution of the rotating carrying component and the rotation state of the rotating device.

[0072] The position situation judgment of the rotating device can be divided into two types: static position situation judgment and dynamic position situation judgment.

[0073] For static position situation judgment, a second linkage starting position (i.e., static linkage starting position) is set for the rotating device for static position situation judgment, which indicates the position that the rotating device should be in when it is stationary. Specifically, it can be judged whether the rotating device is in the static linkage starting position based on the position of the reference point selected based on the rotating device when the rotating device is stationary (such as when the rotating device returns to its origin or stops), thereby ensuring that after the rotating device is started, when the movable module moves to the first linkage starting position, the rotating carrier component rotates to a suitable position.

[0074] For dynamic position judgment, a second linkage starting position (i.e., dynamic linkage starting position) for dynamic position judgment is set for the rotating device, indicating the position to which the rotating device should rotate when the moving submodule reaches the first linkage starting position. In other words, there is a certain spatial constraint between the dynamic linkage starting position and the first linkage starting position of the moving submodule. When the moving submodule reaches the first linkage starting position, the rotating device should also rotate to the dynamic linkage starting position. As for the motion state before the two arrive, it can be adjusted according to the distance between the two and the corresponding linkage starting position to ensure that the two arrive at the corresponding linkage starting position at the same time. The embodiment of the present application does not impose specific restrictions on this.

[0075] The linkage start position (specifically, it can be at least one of the first linkage start position and the second linkage start position) can be represented by local coordinates or absolute coordinates. When represented by local coordinates, it is necessary to set them respectively according to the coordinates of the magnetic drive transmission module and the coordinates of the rotating device so that the magnetic drive transmission module and the rotating device can match the position; when represented by absolute coordinates, it is necessary to convert the position information of the mover module and the position information of the rotating device into the absolute coordinate system so as to match the position.

[0076] The linkage starting position (specifically, it can be at least one of the first linkage starting position and the second linkage starting position) can be set by physical measurement or software simulation based on the distribution of the rotating load-bearing parts, the rotation mode of the rotating device (intermittent rotation or continuous rotation), the moving direction of the mover module, and the object transfer direction (the object is transferred from the mover module to the rotating device or from the rotating device to the mover module), combined with the selection strategy. The following is an example description of the setting process of the first linkage starting position in conjunction with the accompanying drawings.

[0077] For example, Fig. 9 As shown, the rotating device rotates intermittently clockwise, specifically, the rotating bearing component of the rotating device rotates intermittently clockwise (single rotation α), the mover module 101 moves from left to right, and the object needs to be transferred from the mover module 101 to the rotating device. It can be understood that Fig. 9 The rotating object-carrying part may be a storage slot, and the number of the storage slots may be one or more. For ease of description and understanding, Fig. 9 Only one storage slot A1 is shown in the figure. During the rotation process, the storage slot A1 can stop at different positions at different times, such as stopping at position 91 at time t1, stopping at position 92 at time t2, and so on.

[0078] If the strategy is to start the linkage between the moving module and the rotating device at a position close to each other, the first linkage starting position can be set according to the point 91. Specifically, when the storage slot A1 is at the point 91, the moving module 101 can be controlled to approach the rotating device, and a suitable position can be selected as the first linkage starting position during the process; or, the edge of the storage slot A1 is the part where the storage slot A1 contacts the object first (such as Fig.10 As shown in the figure, a vertical line can be drawn to the stator line body 102 according to the position when the edge of the storage slot A1 contacts the object, and the first linkage starting position can be set on the stator line body 102 according to the vertical line; or, a suitable position can be selected on the stator line body 102 as the first linkage starting position through experimental measurement. In this way, the moving submodule and the rotating device start to be linked at a position with a relatively close spacing, so as to realize the rapid transfer of objects and improve the transmission efficiency.

[0079] If the strategy is to start the linkage between the mover module and the rotating device at a position with a large spacing, the first linkage starting position can be set according to point 93 or point 94. The setting method of the first linkage starting position can refer to the content of the aforementioned relevant part. Thus, sufficient time is provided to set the rotating device as the linkage object of the mover module, and because the mover module and the rotating device start the linkage at a position with a large spacing, more mover modules can be linked with the rotating device, which can indirectly realize the linkage of multiple movers and improve the coordination of multiple movers.

[0080] For example, Fig.11 As shown, the rotating device rotates continuously clockwise, specifically, the rotating bearing component of the rotating device rotates continuously clockwise, the mover module 101 moves from left to right, and the object needs to be transferred from the mover module 101 to the rotating device. It can be understood that Fig.11 The rotating object-carrying part may be a storage slot, and the number of the storage slots may be one or more. For ease of description and understanding, Fig.11 Only one storage slot A2 is shown in the figure. The storage slot A2 can be located at different positions at different times during the rotation process, such as at position 111 at time ta, at position 112 at time tb, and so on.

[0081] By controlling the mover module 101 to approach the rotating device and controlling the rotating device to rotate, a first linkage starting area suitable for the mover module to start linkage in the stator line 102 can be determined, such as Fig.11 The first linkage starting area in the stator filament 102 is shown, and according to the selection strategy, the first linkage starting position is determined from the first linkage starting area. The setting method of the first linkage starting position can be similar to the above.

[0082] The following describes the process of setting the second linkage starting position by example.

[0083] For example, continue to refer to Fig. 9 , if the selection strategy is that the mover module and the rotating device start to be linked at a position with a relatively close spacing, then the second linkage starting position can be set according to point 91. Specifically, point 91 can be set as the second linkage starting position; or, when the storage slot A1 is at point 91, the mover module 101 is controlled to approach the rotating device, and the storage slot A1 rotates in a counterclockwise direction after stopping at point 91 for a certain period of time, and a suitable position is selected as the second linkage starting position in this process; or, the suitable rotation position of the storage slot A1 is selected as the second linkage starting position through experimental measurement. As a result, the mover module and the rotating device start to be linked at a position with a relatively close spacing, so as to realize the rapid transfer of objects and improve the transmission efficiency.

[0084] If the strategy is to start the linkage between the mover module and the rotating device at a position with a large spacing, the second linkage starting position can be set according to point 93 or point 94. The setting method of the second linkage starting position can refer to the content of the aforementioned relevant part. Thus, sufficient time is provided to set the rotating device as the linkage object of the mover module, and because the mover module and the rotating device start the linkage at a position with a large spacing, more mover modules can be linked with the rotating device, which can indirectly realize the linkage of multiple movers and improve the coordination of multiple movers.

[0085] For example, continue to refer to Fig.11 , the second linkage starting area on the rotating bearing component suitable for the rotating device to start linkage can be determined, such as Fig.11 The second linkage starting area (the angle area between point 113 and point 111) on the rotating bearing component is shown, and the second linkage starting position is determined from the second linkage starting area according to the selection strategy. The second linkage starting position can be set in a similar manner to the above.

[0086] In a specific implementation, the mover module and the rotating device can complete the object handover during the docking process. Fig.12 As shown, the object handover is completed when the distance between the movable module 101 and the rotating device is the smallest, and the position of the movable module 101 when the object handover is completed is the object handover position, wherein the object can be moved between the movable module 101 and the rotating device by pushing, toggling or other means, thereby completing the docking of the object.

[0087] As can be seen from the above, before controlling the movement of the mover module based on the acquired rotation state signal, setting a suitable linkage starting position according to different situations can ensure the smooth handover of the object and improve the success rate of the object handover.

[0088] In some exemplary embodiments, before controlling the movement of the mover module based on the acquired rotation state signal, the method may further include: determining whether the number of the acquired rotation state signals reaches a signal number threshold.

[0089] For the mobile control module, the rotation state signal is an external signal. According to the actual situation, the response strategy of the rotation state signal can be set. The response strategy of the rotation state signal can be any of the following: based on a single rotation state signal control; based on multiple rotation state signals control. Based on this, a signal quantity threshold can be set to control the response timing of the rotation state signal.

[0090] Specifically, before the movement control of the moving submodule is performed based on the rotation state signal obtained, it can be determined whether the number of the rotation state signals obtained reaches the signal number threshold, so that after determining that the number of the rotation state signals obtained reaches the signal number threshold, the movement control of the moving submodule is performed based on the rotation state signals obtained whose number reaches the signal number threshold. If the number of the rotation state signals obtained does not reach the signal number threshold, then continue to wait and do not perform relevant movement control on the moving submodule until the number of the rotation state signals obtained reaches the signal number threshold.

[0091] For example, when the number 1 is set as the signal quantity threshold, obtaining one rotation state signal can reach the signal quantity threshold, so that the movement of the mover module is controlled based on the obtained single rotation state signal.

[0092] For another example, when the number a (a is a positive integer greater than or equal to 2) is set as the signal quantity threshold, obtaining a rotation state signals can reach the signal quantity threshold, so that the movement of the mover module is controlled based on the obtained a rotation state signals.

[0093] It can be seen from the above that by setting the signal quantity threshold, the response timing of the rotation state signal can be controlled, thereby controlling the timing of the movement of the mover module based on the acquired rotation state signal, thereby improving the flexibility of the movement control of the mover module.

[0094] In some exemplary embodiments, obtaining the rotation state signal may specifically include: obtaining a physical signal generated by a rotating device; or obtaining a simulation signal generated by simulation software simulating the operation of the rotating device.

[0095] In other words, the type of the rotation state signal can be a physical signal generated by the rotating device, or a simulation signal generated by simulating the operation of the rotating device through simulation software (software program).

[0096] It is understandable that, since the rotation state signal can be not only a physical signal generated by the rotating device, but also a simulation signal generated by simulating the operation of the rotating device through simulation software, for the simulation signal, although the rotating device does not need to actually rotate, it is also necessary to determine the simulated rotation state signal based on the actual mechanical structure of the rotating device and the actual acquisition position of the rotation state signal. In addition, the physical signal generated by the rotating device can be a physical signal inside the rotating device, or a detection signal obtained by detecting the physical signal inside the rotating device. In this embodiment, the method of generating the physical signal based on the rotation signal is not limited.

[0097] From the above, it can be seen that by obtaining the rotation state signal based on the physical signal generated by the rotating device, or obtaining the simulation signal generated by the simulation software simulating the operation of the rotating device to obtain the rotation state signal, the flexibility of obtaining the rotation state signal can be improved, and at the same time it can adapt to different application scenarios (physical scenarios or simulation scenarios).

[0098] In some exemplary embodiments, controlling the movement of the mover module based on the acquired rotation state signal may specifically include: determining movement state information corresponding to the rotation state signal, and controlling the mover module to move according to the movement state information.

[0099] The movement of the moving module may be controlled based on the movement state information. The movement state information may be determined according to the acquired rotation state signal, which matches the rotation state of the rotating device, and the movement state information may include at least one of movement speed information and movement distance information.

[0100] The moving distance information is used to characterize the moving distance that the mover module will move along the stator line based on the rotation state signal, and the moving speed information is used to characterize the moving speed that the mover module will move along the stator line based on the rotation state signal.

[0101] In the case where the number of rotation state signals obtained reaches the signal number threshold, the movement control of the mover module can be performed based on the rotation state signals whose number reaches the signal number threshold, so the corresponding movement state information can be different for the response strategies of different rotation state signals. For example, based on the response strategy of a single rotation state signal, the corresponding movement state information when a single rotation state signal is obtained can be determined, that is, at least one of the movement speed and the required movement distance of the mover module corresponding to the single rotation state signal, so as to ensure the matching of the linkage between the mover module and the rotating device. For another example, based on the response strategy of multiple rotation state signals, the corresponding movement state information when multiple rotation state signals are obtained can be determined, that is, at least one of the movement speed and the required movement distance of the mover module corresponding to the multiple rotation state signals, so as to ensure the matching of the linkage between the mover module and the rotating device. As can be seen from the above, controlling at least one of the movement speed and the movement distance of the mover module based on the obtained rotation state signal can improve the flexibility of the control of the mover module.

[0102] In practical applications, the signal quantity threshold can be set according to actual needs. For example, if the moving distance theoretically corresponding to a single rotation state signal is smaller than the minimum movable unit of the mover module, that is, the rotation accuracy of the rotating device is smaller than the moving accuracy of the mover module, resulting in the inability to control the matching movement of the mover module based on a single rotation state signal, then the signal quantity threshold can be set according to the minimum movable unit of the mover module. For another example, if the frequency of responding based on a single rotation state signal is too high, occupying too many program resources, resulting in the inability of the mobile control module to perform other operations, then a suitable signal quantity threshold can be set so that the mobile control module can perform other operations while being able to control the linkage between the mover module and the rotating device based on the rotation state signal.

[0103] In some exemplary embodiments, determining the movement state information corresponding to the rotation state signal includes any one of the following: determining the movement state information by using set movement control parameters; determining the movement state information by performing signal processing on the rotation state signal.

[0104] As can be seen from the above, the movement state information can be determined based on the set movement control parameters. Since the mover module can set different movement control parameters at different stages (such as setting a corresponding movement control parameter before reaching the first linkage starting position, and setting another corresponding movement control parameter after reaching the first linkage starting position), for the sake of ease of understanding and description, the movement control parameter used when the mover module is linked with the rotating device can be called the first movement control parameter (that is, the aforementioned set movement control parameter is the first movement control parameter). After obtaining the rotation state signal, the movement of the mover module can be controlled according to the first movement control parameter corresponding to the rotation state signal, so that within the same period of time, the position change of the mover module matches the position change of the rotating device.

[0105] It can be understood that the first mobile control parameter can be pre-stored in the mobile control module. After obtaining the rotation state signal, the mobile control module retrieves the first mobile control parameter stored locally, wherein the first mobile control parameter can be stored in the mobile control module by hardware burning, and the response speed is faster; or, the first mobile control parameter can be sent to the mobile control module by the upper computer software program running in the electronic device, and it is only necessary to complete the sending of the first mobile control parameter before obtaining the rotation state signal, which has higher flexibility. If the first mobile control parameter needs to be modified, it can be burned into the mobile control module after modifying the program code, or the parameter can be modified through the upper computer software interface and then sent.

[0106] It is also understandable that the first mobile control parameter can also be stored in the cloud. After acquiring the rotation state signal, the mobile control module retrieves the first mobile control parameter stored in the cloud. If the first mobile control parameter needs to be modified, it only needs to be modified in the cloud, which is simple to operate, has lower requirements on the operating environment, and has a higher storage space reuse rate.

[0107] It is also understandable that the rotation state signal can be transmitted by wired or wireless transmission. The form of the rotation state signal can be set according to actual conditions, for example, the rotation state signal can be a pulse signal or a waveform signal.

[0108] It can also be understood that the rotation state signal can be actively acquired by the mobile control module. For example, the mobile control module detects the internal signal or motion state of the rotating device according to a certain detection cycle to obtain the rotation state signal. Correspondingly, obtaining the rotation state signal may include: detecting the motion state of the rotating device to obtain the rotation state signal; or detecting the internal signal of the rotating device to obtain the rotation state signal. For another example, after the simulation software simulates the operation of the rotating device and generates a corresponding rotation simulation signal, the mobile control module detects the hardware interface corresponding to the software program through the hardware interface according to a certain detection cycle to obtain the rotation state signal.

[0109] It can also be understood that the rotation state signal can also be passively acquired by the mobile control module. For example, the rotation device sends its internal physical signal to the mobile control module, and the mobile control module receives the rotation state signal. For another example, the simulation software simulates the operation of the rotation device and sends the simulated signal generated by the simulation to the mobile control module, and the mobile control module receives the rotation state signal.

[0110] In specific implementation, according to the specific source of the rotation state signal (internal signal of the rotating device or the motion state of the rotating device), the movement state information corresponding to the rotation state signal can be determined by calculation or signal analysis.

[0111] Specifically, it is possible but not limited to setting the first movement control parameter by calculating the movement state information corresponding to the rotation state signal before the mover module is started, or, after the mover module is started, determining the movement state information by performing signal analysis on the rotation state signal, and optionally setting the first movement control parameter for subsequent calls.

[0112] Completing the setting of the first movement control parameter before the mover module is started can further improve the response speed to the transmission status signal. After the mover module is started, the movement status information is determined based on the signal analysis result of the rotation status signal. The first movement control parameter can be dynamically configured according to the signal analysis result of the transmission status signal, thereby improving the movement control flexibility of the mover module.

[0113] As for the movement state information corresponding to the rotation state signal determined by calculation, since the rotation state signal is generated during the rotation of the rotating device, there is a correlation between the rotation state signal and the rotation state quantity of the rotating device. Based on the rotation state quantity of the rotating device, the movement state information can be determined. For example, according to the conversion relationship between rotational motion and linear motion, the linear movement increment corresponding to the rotation increment of the rotating device can be determined, thereby determining the movement increment of the mover module, and then the first movement control parameter can be set according to the movement increment of the mover module, thereby obtaining the movement distance information characterizing the above movement increment through the first movement control parameter. For another example, according to the conversion relationship between rotational motion and linear motion, the linear speed equivalent corresponding to the rotation speed quantity of the rotating device can be determined, thereby determining the movement speed quantity of the mover module, and then the first movement control parameter can be set according to the movement speed quantity of the mover module, thereby obtaining the movement speed information characterizing the above movement speed quantity through the first movement control parameter.

[0114] In this embodiment, the movement state information can also be determined by processing the rotation state signal. The information carried in the rotation state signal can characterize the rotation state quantity of the rotating device, and based on the rotation state quantity of the rotating device, the movement state information can be determined. For example, the information carried in the rotation state signal can characterize the rotation increment of the rotating device, and the linear displacement equivalent can be obtained after conversion based on the rotation increment of the rotating device. The linear displacement equivalent obtained based on the rotating device can be used as a reference for the movement control of the moving submodule. The movement increment of the moving submodule can be determined based on the linear displacement equivalent, thereby determining the movement distance information in the movement state information.

[0115] As can be seen from the above, the flexibility of the movement control of the mover module can be improved by determining the movement state information of the mover module based on the set movement control parameters, or by performing signal processing on the rotation state signal to determine the movement state information of the mover module.

[0116] In some exemplary embodiments, since different response strategies for rotation state signals can be set according to different situations, the process of determining the movement state information corresponding to the rotation state signal can include: determining the movement distance information in the movement state information based on the number of rotation state signals and the rotation increment of the rotating device corresponding to a single rotation state signal.

[0117] In this embodiment, the rotation increment of the rotating device corresponding to a single rotation state signal can be obtained in advance. When determining the moving state information corresponding to the rotation state signal, the moving distance information in the moving state information can be determined based on the number of rotation state signals and the rotation increment of the rotating device corresponding to the single rotation state signal. The rotation increment includes at least one of an angle rotation increment and a position rotation increment.

[0118] In other words, based on the number of rotation state signals and the rotation increment of the rotation device corresponding to a single rotation state signal, it can be determined that when the number of rotation state signals obtained reaches the signal number threshold, the distance that the moving submodule needs to be controlled to move based on the obtained rotation state signals. The relationship between the rotation increment and the moving distance information can refer to the description of the above-mentioned relevant parts.

[0119] For example, the number of rotation state signals is u, the rotation increment of the rotating device corresponding to a single rotation state signal is v, and the linear displacement equivalent corresponding to the rotation increment v of the rotating device is v', then the moving distance information may be w=u×v'.

[0120] It can be seen from the above that the moving distance of the mover module can be determined by the rotation increment of the rotating device corresponding to a single rotation state signal and the number of rotation state signals, so as to improve the convenience of controlling the mover module.

[0121] In practical applications, the rotation state signal may be derived from an internal signal of the rotating device or a detection signal generated by detecting the motion state of the rotating device, or may be derived from an internal signal actively sent by the rotating device. Therefore, the association between the rotation state signal and the rotation increment of the rotating device is related to the mechanical structure of the rotating device and the acquisition position of the rotation state signal. Specifically, the association between the rotation state signal and the rotation increment of the rotating device can be determined by formula calculation or experimental measurement based on the kinetic energy transmission method in the rotating device, the specific acquisition position of the rotation state signal, the acquisition frequency of the rotation state signal, and the size of the part used for the transfer of objects.

[0122] In some exemplary embodiments, the rotating device (such as a dial mechanism) at least includes: a rotation control module, a rotation execution module (such as a motor) and a rotating bearing component (such as the aforementioned carrier disc with multiple storage slots). The rotation control module is used to control the rotation of the rotation execution module through a rotation control signal, so as to drive the rotating bearing component to rotate through the rotation execution module, and the rotation increment of the rotating bearing component can represent the rotation increment of the rotating device. The rotation state signal can come from the internal signal of the rotating device, such as a rotation control signal, a rotation detection signal, etc., or it can be an internal signal of the rotating device simulated by simulation software. Here, even if it is a simulated signal, it is necessary to determine the type of simulated signal according to the actual mechanical structure of the rotating device and the actual acquisition position of the rotation state signal, for example, whether it is a simulated rotation control signal or a rotation detection signal.

[0123] The rotation control signal used by the rotation execution module to drive the rotation bearing component to rotate can be generated based on the rotation control parameter, and the rotation control parameter can be used to control one or more rotation state quantities of the rotation device, including the rotation speed, angular acceleration, rotation mode, and rotation direction. The kinetic energy between the rotation execution module and the rotation bearing component can be directly transferred or indirectly transferred.

[0124] The rotation state signal may be derived from a rotation control signal or a rotation detection signal, and specifically, may be any one of the following:

[0125] 1. The control signal output by the rotation control module;

[0126] 2. The rotation control signal received by the rotation execution module (i.e., the rotation execution module receives the rotation control signal and then sends it to the magnetic drive transmission module);

[0127] 3. Detecting a rotation detection signal obtained by detecting a rotation control signal output by a rotation control module;

[0128] 4. Detecting a rotation detection signal obtained by the rotation control signal received by the rotation execution module;

[0129] 5. A rotation detection signal obtained by detecting the motion state of an output shaft (e.g., a motor output shaft) of the rotation execution module;

[0130] 6. A rotation detection signal obtained by detecting the motion state of a rotating bearing component (eg, the position of an input shaft, a loading disc, etc.).

[0131] It should be noted that when the rotation state signal is derived from the control signal, the rotation state quantity corresponding to the rotation state signal is the rotation state quantity that the rotating device will perform. When the rotation state signal is derived from the detection signal, the rotation state quantity corresponding to the rotation state signal is the rotation state quantity that the rotating device has performed after detection.

[0132] For ease of understanding, the following example illustrates the relationship between the rotation state signal, the rotation increment of the rotating device, the mechanical structure of the rotating device, and the acquisition position of the rotation state signal.

[0133] In one example, if Fig.13 As shown, the rotating device 301 includes: a rotating control module 1301, a rotating execution module 1302 and a rotating object carrying module 1303. The rotating control module 1301 controls the rotating execution module 1302 to rotate through a rotating control signal, and the rotating execution module 1302 drives the rotating object carrying module 1303 to rotate, and the rotation increment of the rotating object carrying module 1303 is the rotation increment of the rotating device 301. In this example, the rotating control signal is generated based on the rotating control parameter, and the rotating object carrying module 1303 can be the aforementioned rotating bearing component.

[0134] The kinetic energy of the rotation execution module 1302 can be directly transferred to the rotation loading module 1303. The rotation state signal is derived from the rotation control signal between the rotation control module 1301 and the rotation execution module 1302.

[0135] Since the energy transfer method is direct transfer, after obtaining the total number of rotation control signals required for the rotation execution module 1302 to rotate one circle, the rotation increment corresponding to a single rotation control signal can be determined by combining the size (such as diameter) of the rotating carrier module 1303, thereby obtaining the rotation increment corresponding to a single rotation state signal.

[0136] In another example, Fig.14 As shown, the rotating device 301 includes: a rotation control module 1301, a rotation execution module 1302, a rotating object carrying module 1303 and a rotation detection module 1401 (such as a rotary encoder). The rotation control module 1301 controls the rotation of the rotation execution module 1302 through a rotation control signal, and the rotation execution module 1302 drives the rotating object carrying module 1303 to rotate continuously. The rotation detection module 1401 is used to detect the rotation of the rotation execution module 1302 or the rotating object carrying module 1303, determine the relevant rotation state quantity (such as the rotation speed quantity, the rotation angle quantity, the rotation increment, etc.) and generate a rotation detection signal to feed back to the rotation control module 1301 for feedback control. In this example, the rotation detection module 1401 is used to detect the rotation of the rotating object carrying module 1303. The rotation increment of the rotating object carrying module 1303 is the rotation increment of the rotating device 301.

[0137] In such Fig.14 In the rotating device shown, the kinetic energy of the rotating execution module 1302 is directly transmitted to the rotating object carrying module 1303. The rotating state signal is derived from the rotating detection signal between the rotating detection module 1401 and the rotating control module 1301.

[0138] It can be understood that since the energy transfer method is direct transfer, the total number of rotation control signals required for the rotation execution module to rotate one circle is obtained, and combined with the size of the rotating bearing component (such as diameter) for calculation, the rotation increment corresponding to a single rotation control signal can be determined, thereby obtaining the rotation increment corresponding to a single rotation detection signal, and then obtaining the rotation increment corresponding to a single rotation state signal.

[0139] In another example, Fig.15 As shown, the rotating device 301 includes: a rotating control module 1301, a rotating execution module 1302, a rotating deceleration module 1501 and a rotating object carrying module 1303. The rotating control module 1301 controls the rotating execution module 1302 to rotate through a rotating control signal. The rotating execution module 1302 drives the rotating deceleration module 1501 to rotate. The rotating deceleration module 1501 then drives the rotating object carrying module 1303 to rotate. The rotation increment of the rotating object carrying module 1303 is the rotation increment of the rotating device 301. Among them, the rotating deceleration module 1501 is used to reduce the rotation speed of the rotating execution module 1302 to improve the rotation control accuracy, and reduce the vibration and impact caused by the rotation, and improve the stability during the rotation process.

[0140] The kinetic energy of the rotating execution module 1302 is transmitted to the rotating carrier module 1303 through the rotating deceleration module 1501, rather than directly, and the rotation state signal is derived from the rotation control signal between the rotating control module 1301 and the rotating execution module 1302. A single rotation control signal corresponds to the rotation increment of the rotating execution module 1302, not the rotation increment of the rotating carrier module 1303 (the rotation increment of the rotating carrier module 1303 is smaller). Therefore, it is necessary to consider the degree of reduction in rotation speed (such as the reduction ratio) by the rotating deceleration device. The rotation increment of the rotating carrier module 1303 corresponding to the single rotation control signal is determined based on the total number of rotation control signals, the degree of reduction in rotation speed, and the size of the rotating bearing component (such as the diameter), thereby obtaining the rotation increment corresponding to the single rotation state signal.

[0141] It is understandable that the above data (such as the total number of rotation control signals for one rotation, reduction ratio, diameter, displacement equivalent, etc.) can also be a priori data obtained by experiment, and no limitation is made here. Whether it is a physical signal or a simulation signal, it is related to the mechanical structure of the rotating device and the acquisition position of the rotation state signal, so as to determine the corresponding movement equivalent.

[0142] Accordingly, determining the movement state information corresponding to the rotation state signal includes: determining the rotation increment corresponding to the rotation state signal based on the acquisition position of the rotation state signal in the rotation device, the control mode of the rotation execution module, and the energy transfer mode between the rotation execution module and the rotation bearing member. The corresponding relationship between the acquisition position of the rotation state signal in the rotation device, the control mode of the rotation execution module, the energy transfer mode between the rotation execution module and the rotation bearing member, and the rotation increment corresponding to the rotation state signal can be preset, and the rotation increment corresponding to the rotation state signal can be determined based on the preset corresponding relationship, and the above corresponding relationship can also be calculated in real time based on a set calculation rule.

[0143] Through this embodiment, the rotation increment corresponding to the rotation state signal is determined based on the acquisition position of the rotation state signal in the rotating device, the control method of the rotation execution module, and the energy transfer method between the rotation execution module and the rotating bearing component, thereby improving the accuracy of the rotation increment determination.

[0144] In some exemplary embodiments, the movement of the mover module is controlled based on the acquired rotation state signal, including: sampling a single rotation state signal to obtain at least one rotation reference signal; and controlling the movement of the mover module in response to the rotation reference signals of a specified order, wherein the specified order is determined by the response strategy of the set rotation reference signal.

[0145] When the moving submodule is controlled, the moving control module can sample the rotation state signal and convert it into a rotation reference signal, thereby controlling the moving submodule based on the sampled rotation reference signal. Fig.16 As shown, the signal sampling unit in the controller (an example of a mobile control module) can sample the rotation state signal, and the sampled signal is a rotation reference signal. Based on the obtained rotation reference signal, the response execution unit in the controller can control the operation of the movable module.

[0146] When sampling the rotation state signal, a single rotation state signal can be sampled to obtain at least one rotation reference signal, and the movable module can be controlled to move in combination with the specified order of the rotation reference signal indicated by the response strategy of the adopted rotation reference signal. The specified order can be specified according to the sequence of signal sampling time, or can be specified according to other sequences. Based on each rotation reference signal obtained by sampling, the movable module is controlled to move once, that is, when a rotation reference signal is collected, the movable module is controlled to move once. It can also be in the sequence of signal sampling time, and each time a specified number of rotation reference signals are collected, the movable module is controlled to move once. It can also be other control methods (for example, a specified number of rotation reference signals are collected and sequential movement control is performed), which is not limited in this embodiment.

[0147] It can be seen from the above that the flexibility of the movement control of the mover module can be improved by sampling a single rotation state signal and controlling the movement of the mover module in response to the sampling signals in a specified order.

[0148] In some exemplary embodiments, in response to the rotation reference signals of the specified order, the movement control of the mover module includes any one of the following:

[0149] In response to each rotation reference signal obtained by sampling a single rotation state signal, a first movement control is performed on the mover module, and a distance of a single movement of the mover module under the first movement control is related to the number of the rotation reference signals obtained by sampling;

[0150] In response to the partial rotation reference signal obtained by sampling the single rotation state signal, the mover module is subjected to second movement control, wherein the distance of a single movement of the mover module under the second movement control is related to the number of partial rotation reference signals used for response.

[0151] In this embodiment, the movement control of the mover module can be performed in response to each rotation reference signal obtained by sampling. In this case, the first movement control of the mover module is performed in response to each rotation reference signal obtained by sampling a single rotation state signal, and the manner of moving the mover module in response to each rotation reference signal can be the same (for example, the moving distance can be the same) or different (for example, the moving distance can be different, for example, the distance moved by the mover module in response to the first rotation reference signal is less than the distance moved by the mover module in response to other rotation reference signals, and the distance moved by the mover module in response to the last rotation reference signal is less than the distance moved by the mover module in response to other rotation reference signals. Here, the last rotation reference signal can be the last rotation reference signal before the linkage relationship between the mover module and the rotating device is released).

[0152] The distance that the mover module moves once under the first movement control is related to the number of rotation reference signals obtained by sampling, that is, the distance that the mover module moves once under the first movement control is related to the number of rotation reference signals obtained by sampling a single rotation state signal. For example, if the distance that the mover module moves once under the single rotation state signal is x, if the number of rotation reference signals obtained by sampling a single rotation state signal is 1, then the distance that the mover module moves once under the first movement control is x, and if the number of rotation reference signals obtained by sampling a single rotation state signal is p, then the distance that the mover module moves once under the first movement control is x / p.

[0153] In the process of determining the movement increment corresponding to the rotation state signal according to the displacement equivalent, it is necessary to consider the acquisition position of the rotation state signal, the acquisition frequency (depending on the acquisition method, it can be the detection frequency or the sampling frequency) and the response strategy of the rotation state signal. The response strategy of the rotation state signal is used to indicate the control method adopted by the mobile control module on the moving submodule after acquiring the rotation state signal.

[0154] According to the acquisition frequency, acquisition position and response strategy of the rotation state signal, during the linkage between the mover module and the rotating device, the number of rotation reference signals sampled by the mobile control module may be equal to or unequal to the number of rotation state signals.

[0155] Assume that a single rotation α of the rotating device is realized by a rotation state signal, and a single rotation increment α of the rotating device is realized (it can be understood that the single rotation increment of the rotating device may be equal to or unequal to the rotation increment of the rotation execution module of the rotating device), and the displacement equivalent corresponding to the single rotation increment α is x. In some cases, the sampling frequency of the rotation reference signal is equivalent to the signal frequency of the rotation state signal, that is, a single rotation state signal can collect a rotation reference signal, the rotation state signal corresponds to the rotation reference signal one by one, and the number of rotation state signals is the same as the number of rotation reference signals.

[0156] If the response strategy of the rotation reference signal is set to: respond to each sampled rotation reference signal within a single response period T (corresponding to the generation period of the rotation control signal), then the single movement increment corresponding to a rotation state signal can be x. By setting the first movement control parameter of the mover module, when a rotation reference signal is collected, the mover module can be controlled to move x.

[0157] The control process of the above scheme is simple and easy to implement. After the rotating device stops due to a fault, the mover module can respond and stop moving, thereby improving safety.

[0158] In other cases, the sampling frequency of the rotation state signal is p times the sampling frequency of the rotation reference signal, that is, a single rotation state signal can sample p rotation state signals, and the rotation state signal and the rotation reference signal are in a one-to-many relationship, and the number of rotation reference signals is p times the number of rotation state signals.

[0159] If the response strategy of the rotation reference signal is set as follows: within a single response period T, the number of sampled rotation reference signals is p, and each sampled rotation reference signal is responded to, then the movement increment corresponding to a rotation reference signal is x / p, and by setting the first movement control parameter of the mover module, a single rotation state signal controls the mover module to move p times, and a single movement is x / p. For the above scheme, the movement accuracy of the mover module is higher, especially when a fault occurs, the mover module can stop moving faster, and has higher safety. For example, for a rotation state signal, z rotation reference signals have been sampled and the mover module has been controlled to move, where z is a positive integer less than p. At this time, due to a communication failure (or other hardware or software failures), the signal is disconnected and the rotation state signal cannot be sampled further, then the mover module can be controlled to stop moving, that is, the mover module has stopped moving before the moving distance of the mover module reaches x.

[0160] As another optional implementation, the mover module may be controlled to move in response to the partial rotation reference signal obtained by sampling. In this case, the mover module is controlled to move in response to the partial rotation reference signal obtained by sampling a single rotation state signal, and the manner of controlling the mover module to move in response to each rotation reference signal may be the same or different.

[0161] The distance that the mover module moves once under the second movement control is related to the number of partial rotation reference signals for response, that is, the distance that the mover module moves once under the second movement control is related to the number of partial rotation reference signals for response obtained by sampling a single rotation state signal (the remaining partial rotation reference signals are not responded to). For example, the distance that a single rotation state signal controls the movement of the mover module is x. If the number of rotation reference signals obtained by sampling a single rotation state signal is q, and the mover module only responds to r of the rotation reference signals, then the distance that the mover module moves once under the second movement control is x / r, where r < q. The r rotation reference signals can be randomly selected from the sampled q rotation reference signals, or can be specified by configuration information.

[0162] For example, if the response strategy of the rotation reference signal is set as follows: within a single response period T, q rotation reference signals are sampled, and only r (or the specified yth) rotation reference signals are responded to, then the movement increment corresponding to a reference state signal is x / r. By setting the first movement control parameter of the mover module, when a rotation reference signal is sampled and a response to the rotation reference signal is required, the mover module is controlled to move x / r. Among them, r and y are both positive integers, and both are less than q. For the above scheme, multiple signal sampling within a single period T can avoid signal loss, improve the response accuracy of the magnetic drive transmission module, and no longer respond to other rotation reference signals other than the r (or the specified yth) rotation reference signals obtained within a single period T, thereby reducing the interference of noise signals and increasing robustness.

[0163] Through this embodiment, by setting different response strategies and controlling the response to the sampled rotation reference signal according to the set response strategy, the flexibility of the mover module control can be improved while improving the convenience and safety of the mover module control, or the robustness of the mover module control can be improved.

[0164] In some exemplary embodiments, the movement of the mover module is controlled based on the obtained rotation state signal so that the mover module is linked with the rotating device, including at least one of the following: when the mover module is in a stationary state, the mover module is controlled to start based on the obtained rotation state signal so that the mover module is driven by the rotating device to operate in linkage; when the mover module is in a moving state, the movement state of the mover module is adjusted based on the obtained rotation state signal so that the mover module is linked with the rotating device.

[0165] The linkage between the mover module and the rotating device may include: start linkage and operation linkage. For the start linkage, if the mover module is in a stationary state, the mover module can be controlled to start based on the obtained rotation state signal, so that the mover module can be driven by the rotating device to perform operation linkage. For example, for the start linkage scenario, the rotating device and the mover module are both in a stationary state. When the rotating device starts to rotate, the mover module can be linked to start moving (at this time, based on the obtained rotation state signal, the mover module can be controlled to start).

[0166] For linkage during operation, if the mover module is in a moving state, the moving state of the mover module can be adjusted based on the obtained rotation state signal to make the mover module linked with the rotating device. In this case, the moving state quantity of the mover module can be adjusted based on the obtained rotation state signal, so that the mover module can be adapted to different stator lines to control the movement of the mover module to ensure the linkage between the mover module and the rotating device.

[0167] In addition, the movable module can also be started first. At this time, the movable module moves according to the preset second movement control parameter. After the rotating device is started, the movement control module receives the rotation state signal and adjusts the movement state of the movable module based on the first movement control parameter, so that the movement state of the movable module matches the rotation state of the rotating device.

[0168] Through this embodiment, the movable module can be started after the rotating device is started, the starting operation is simpler and more controllable, and the two can be ensured to start at the same time; and if the starting timing changes, the starting timing of the movable module can be adjusted by changing the starting timing of the rotating device, thereby increasing flexibility; the movable module and the rotating device are controlled to be linked during movement, and the linkage timing between the movable module and the rotating device can be flexibly adjusted according to the actual scenario, which has higher flexibility and is conducive to improving the efficiency of object handover.

[0169] In some exemplary embodiments, before the object is handed over during the linkage between the mover module and the rotating device, the method further includes: within a set speed buffer area, adjusting the moving speed of the mover module based on the rotation speed of the rotating device so that the moving speed of the mover module matches the rotation speed of the rotating device.

[0170] In order to improve the linkage between the movable module and the rotating device after reaching the linkage starting position, before the movable module reaches the linkage starting position, the moving state of the movable module can be adjusted according to the rotation mode of the rotating device to ensure that the motion state of the movable module when reaching the first linkage starting position is equivalent to the rotation state of the rotating device, so that the speed change process of the two can be kept unified (for example, acceleration-deceleration together, or acceleration-constant speed-deceleration, etc.), which is conducive to the smooth handover of objects.

[0171] Combination Fig. 9 For example, if the rotating device is intermittently rotating and the second linkage starting position is position 91, the moving submodule 101 needs to adjust the moving speed before reaching the first linkage starting position to ensure that the moving submodule 101 is in a stopped state when reaching the first linkage starting position and starts at the same time as the rotating device 301. Fig.11 If the rotating device rotates continuously at a uniform speed and the moving speed of the movable module 101 before reaching the first linkage starting position is not equivalent to the rotation speed, the movable module 101 needs to adjust the moving speed before reaching the first linkage starting position to ensure that the moving speed when reaching the first linkage starting position is equivalent to the rotation speed of the rotating device. To this end, a speed buffer area can be set before the first linkage starting position so that the movable module 101 adjusts the moving speed in the speed buffer area to ensure that the motion state of the movable module 101 when reaching the first linkage starting position is equivalent to the motion state of the rotating device.

[0172] If the rotating device rotates intermittently, the tail end of the speed buffer area can coincide with the first linkage starting position, or the gap is within the allowable error range. If the rotating device rotates continuously and at a constant speed, the tail end of the speed buffer area can coincide with the first linkage starting position, or there can be a certain distance from the first linkage starting position, as long as the moving speed of the mover module when moving out of the speed buffer area matches the rotation speed of the rotating device, and then the mover module maintains the moving speed when moving out of the speed buffer area and moves to the first linkage starting position at a constant speed.

[0173] It should be noted that although Fig. 9 and Fig.11 Taking the speed buffer area as an example to illustrate the speed buffer area, the above-mentioned setting method of the speed buffer area and the method of controlling the mover module and the rotating device in combination with the speed buffer area are applicable to other forms of rotating devices, other first linkage starting positions and settings of the first linkage starting position.

[0174] From the above, it can be seen that by setting a speed buffer area before the linkage starting position of the mover module and adjusting the moving speed of the mover module within the speed buffer area, it can be ensured that the moving speed of the mover module when reaching the linkage starting position matches the rotation speed of the rotating device, thereby improving the accuracy and convenience of the linkage between the mover module and the rotating device.

[0175] In some exemplary embodiments, after controlling the movement of the mover module based on the acquired rotation state signal, the method further includes: when the mover module moves to the linkage end position, releasing the rotation device from being a linkage object of the mover module.

[0176] After the mover module and the rotating device complete the object handover, the linkage relationship between the mover module and the rotating device can be released, that is, the rotating device is released as the linkage object of the mover module, so that the mover module is no longer controlled by the rotation state signal, that is, the two move independently. The mover module can increase the moving speed to move to the next object handover area, thereby improving the flexibility and utilization of the mover module. Here, the method for determining the linkage end position can refer to the method for setting the linkage start position, which will not be repeated here. The set linkage end position can be as follows Fig.17 As shown, it can be set relative to the first linkage starting position. Here, relative setting means that the linkage end position and the first linkage starting position are respectively located on both sides of the object intersection position, and the distances between the two and the object intersection position can be the same or different.

[0177] According to the setting of the linkage end position, when the rotating device stops intermittently, the mover module may still be linked with the rotating device and stop accordingly, or move due to the release of linkage. When the rotating device rotates continuously, the mover module may still be linked with the rotating device and move accordingly, or adjust the speed due to the release of linkage. It is only necessary to ensure that the speed change of the two is uniform during the linkage period, and there is no restriction on the speed change when the two move independently.

[0178] Optionally, by detecting the position of the mover module and / or the rotating device, it can be determined whether the mover module and / or the rotating device has reached the speed buffer area, the linkage starting position or the linkage ending position. The detection methods include but are not limited to: obtained by algorithm calculation, which does not rely on external hardware and reduces hardware costs; obtained by a position acquisition module inside the device, which has high accuracy in detecting the position; detecting the position of the mover module and / or the placement component by an external position detection device, and sending a signal to the control module after reaching the speed buffer area, the linkage starting position or the linkage ending position. This method can reduce the amount of calculation of the control module (for example, a mobile control module, a rotation control module, etc.).

[0179] Through this embodiment, when the mover module moves to the linkage end position, the linkage relationship between the rotating device and the mover module is released, which can improve the flexibility and utilization rate of the mover module.

[0180] In some exemplary embodiments, after releasing the rotating device as a linkage object of the mover module, the method further includes: controlling the mover module to move in a direction out of the linkage end position; or controlling the mover module to move back after moving out of the linkage end position.

[0181] In this embodiment, when the rotation device is released as a linkage object of the mover module, the control strategy of the mover module can be determined according to actual conditions.

[0182] As an optional implementation, the mover module can be controlled to move in the direction of driving out of the linkage end position, and the moving speed can be higher than the moving speed during the linkage process. The mover module can continue to perform subsequent work after releasing the rotating device as the linkage object of the mover module. For example, if the shape of the stator line along the movement direction of the mover module is a closed shape, it will go back to the first linkage starting position, re-link with the rotating device, and complete the handover of another object during the linkage process. Among them, considering the need for object docking, the mover module can first place the object docked to the mover module at the designated placement position, and then go back to the first linkage starting position to continue docking with the next object, or the unloaded mover module can also take the next object and then go back to the first linkage starting position. For another example, if the shape of the stator line along the movement direction of the mover is a non-closed shape, after the mover module leaves the current rotating device, it can move to the next rotating device for linkage to complete the handover of another object.

[0183] As another optional implementation, the moving submodule is controlled to move back after moving out of the linkage end position. At this time, the moving submodule can decelerate first or move to a specified position (i.e., a specified deceleration position) after moving out of the linkage end position, and after decelerating to zero, move to the original linkage end position or the original linkage start position, thereby performing multiple linkages with the same rotating device. Considering the need for object docking, the moving submodule can first place the object docked to the moving submodule to the specified placement position before making a return move, or the unloaded moving submodule can first take the next object and then make a return move.

[0184] Here, the movement control of the mover module is related to the docking mode of the object, and a corresponding control strategy can be set as needed to ensure that the movement of the mover module matches the docking process of the object.

[0185] From the above, it can be seen that after releasing the rotating device as the linkage object of the mover module, the mover module is controlled to move in the direction of moving out of the linkage end position, or to move back after moving out of the linkage end position. The movement of the mover module can be flexibly controlled based on the object docking requirements, thereby improving the adaptability of the mover module movement control.

[0186] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM (Read-Only Memory, read-only memory) / RAM (Random Access Memory, random access memory), a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0187] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments. In practical applications, the optional embodiments can be combined and cross-referenced with each other without conflict, thereby extending a variety of possible embodiments, and these extended embodiments can all be considered as the embodiments disclosed and disclosed in the specification of this application.

[0188] According to another aspect of the embodiments of the present application, a mobile control module is also provided. It should be noted that the mobile control module described below can be considered as a functional module required to implement the mobile control method provided in the embodiments of the present application; the content of the mobile control module described below can be referenced to the content of the mobile control method described above. The devices described in the following embodiments can be implemented in software, hardware, or a combination of software and hardware.

[0189] In this embodiment, the mobile control module is connected to the magnetic drive transmission module and the rotating device respectively. The magnetic drive transmission module is used to cooperate with the rotating device to transmit objects. The magnetic drive transmission module includes a mover module and a stator line body. The mover module and the stator line body are movably connected. The mobile control module is used to control the stator line body to drive the mover module to move. The mobile control module includes:

[0190] An acquisition unit, used for acquiring a rotation state signal, wherein the rotation state signal is used for indicating that the rotating device is in a rotation state;

[0191] The control unit is connected to the acquisition unit and is used to control the movement of the mover module based on the acquired rotation state signal so that the mover module is linked with the rotation device and the object is transferred during the linkage between the mover module and the rotation device.

[0192] Optionally, in this embodiment, the acquisition unit can be used to execute step S201 in the above embodiment, and the control unit can be used to execute step S202 in the above embodiment. The above acquisition unit and control unit can be implemented by hardware, or by software, or by a combination of hardware and software. The acquisition unit can acquire a rotation state signal from the rotating device in the same or similar manner as in the above embodiment, and the acquired rotation state signal can be an internal signal of the rotating device or a simulation signal. The optional implementation of the control unit can be, but is not limited to, at least one of the following: a microprocessor, a programmable logic device, a CPU (Central Processing Unit), or other implementation forms. This is not limited in this embodiment.

[0193] Through the above-mentioned mobile control module, the mover module is driven to move through the stator line body based on the obtained rotation state signal to control the movement of the mover module, so that the mover module is linked with the rotating device. During the linkage between the mover module and the rotating device, the object can be handed over between the mover module and the rotating device without the participation of the robot arm, which can reduce the influence of the operating speed of the robot arm on the object transmission, thereby achieving the technical effect of improving the object transmission efficiency, and solving the problem of low object transmission efficiency caused by the complex mechanical structure of the robot arm in the related technology.

[0194] In some exemplary embodiments, the movement control module further includes: a first setting unit for setting the rotating device as a linkage object of the mover module after determining that the mover module moves to the first linkage starting position before controlling the movement of the mover module based on the acquired rotation state signal.

[0195] In some exemplary embodiments, the movement control module further includes: a first determination unit, configured to determine that the rotating device rotates to a second linkage starting position before the movement of the moving submodule is controlled based on the acquired rotation state signal.

[0196] In some exemplary embodiments, the movement control module further includes: a second determination unit, configured to determine whether the number of the acquired rotation state signals reaches a signal number threshold before performing movement control on the mover module based on the acquired rotation state signals.

[0197] In some exemplary embodiments, the acquisition unit is further used to acquire a physical signal generated by the rotating device; or to acquire a simulation signal generated by simulation software simulating the operation of the rotating device.

[0198] In some exemplary embodiments, the control unit is also used to determine the movement state information corresponding to the rotation state signal, and control the movable module to move according to the movement state information, wherein the movement state information matches the rotation condition of the rotating device, and the movement state information includes at least one of the movement speed information and the movement distance information.

[0199] In some exemplary embodiments, the control unit is further used to perform at least one of the following: determining the movement state information by using the set movement control parameters; determining the movement state information by performing signal processing on the rotation state signal.

[0200] In some exemplary embodiments, the control unit is further used to determine the moving distance information in the moving state information based on the number of rotation state signals and the rotation increment of the rotating device corresponding to a single rotation state signal, wherein the rotation increment includes at least one of an angle rotation increment and a position rotation increment.

[0201] In some exemplary embodiments, the control unit is further used to determine the rotation increment corresponding to the rotation state signal based on the acquisition position of the rotation state signal in the rotating device, the control method of the rotation execution module, and the energy transfer method between the rotation execution module and the rotating bearing component.

[0202] In some exemplary embodiments, the control unit is also used to sample a single rotation state signal to obtain at least one rotation reference signal; and to control the movement of the mover module in response to the rotation reference signals of a specified order, wherein the specified order is determined by the response strategy of the set rotation reference signal.

[0203] In some exemplary embodiments, the control unit is also used to perform at least one of the following: performing a first movement control on the mover module in response to each rotation reference signal obtained by sampling a single rotation state signal, and the distance of a single movement of the mover module under the first movement control is related to the number of rotation reference signals obtained by sampling; performing a second movement control on the mover module in response to a partial rotation reference signal obtained by sampling a single rotation state signal, and the distance of a single movement of the mover module under the second movement control is related to the number of partial rotation reference signals used for response.

[0204] In some exemplary embodiments, the acquisition unit is further used to detect the motion state of the rotating device to obtain the rotation state signal; or to detect the internal signal of the rotating device to obtain the rotation state signal.

[0205] In some exemplary embodiments, the control unit is also used to perform at least one of the following: when the mover module is in a stationary state, controlling the start of the mover module based on the obtained rotation state signal so that the mover module is driven by the rotating device to operate in linkage; when the mover module is in a moving state, adjusting the moving state of the mover module based on the obtained rotation state signal so that the mover module is linked with the rotating device.

[0206] In some exemplary embodiments, the mobile control module also includes: an adjustment unit, which is used to adjust the moving speed of the mover module based on the rotation speed of the rotating device within a set speed buffer area before the object is handed over during the linkage between the mover module and the rotating device, so that the moving speed of the mover module matches the rotation speed of the rotating device.

[0207] In some exemplary embodiments, the movement control module is further used to release the rotation device from being a linkage object of the mover module when the mover module moves to the linkage end position after controlling the movement of the mover module based on the acquired rotation state signal.

[0208] In some exemplary embodiments, the movement control module also includes: a second setting unit, which is used to control the mover module to move in the direction of moving out of the linkage end position after releasing the rotating device as the linkage object of the mover module; or control the mover module to move back after moving out of the linkage end position.

[0209] According to another aspect of the embodiment of the present application, a magnetic drive transmission module is also provided. The hardware structure of the magnetic drive transmission module can be as follows: Figure 1 As shown. The magnetic drive transmission module can be used to implement the above-mentioned embodiments and optional implementations, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. The devices described in the following embodiments can be implemented in software, hardware, or a combination of software and hardware.

[0210] In this embodiment, the magnetic drive transmission module is used to cooperate with the rotating device to transmit objects. The magnetic drive transmission module includes a mover module, a stator line body and a movement control module, wherein:

[0211] The mover module is movably connected to the stator line body;

[0212] The stator wire is used to drive the moving module to move;

[0213] The mobile control module is used to obtain a rotation state signal, wherein the rotation state signal is used to indicate that the rotating device is in a rotation state; based on the obtained rotation state signal, the movable module is controlled to move so that the movable module is linked with the rotating device, and an object is transferred during the linkage between the movable module and the rotating device.

[0214] Through the magnetic drive transmission module, the stator line drives the mover module to move based on the acquired rotation state signal to control the movement of the mover module, so that the mover module is linked with the rotating device. During the linkage between the mover module and the rotating device, the object can be transferred between the mover module and the rotating device without the participation of the robot arm, which can reduce the influence of the operating speed of the robot arm on the transmission of the object, thereby achieving the technical effect of improving the transmission efficiency of the object, and solving the problem of low object transmission efficiency caused by the complex mechanical structure of the robot arm in the related technology.

[0215] In some exemplary embodiments, the movement control module is further used to set the rotating device as the linkage object of the mover module after determining that the mover module moves to the first linkage starting position before controlling the movement of the mover module based on the acquired rotation state signal.

[0216] In some exemplary embodiments, the movement control module is further used to determine that the rotating device rotates to the second linkage starting position before controlling the movement of the mover module based on the acquired rotation state signal.

[0217] In some exemplary embodiments, the movement control module is further configured to determine whether the number of the acquired rotation state signals reaches a signal number threshold before performing movement control on the mover module based on the acquired rotation state signals.

[0218] In some exemplary embodiments, the motion control module is further used to obtain a physical signal generated by the rotating device; or to obtain a simulation signal generated by simulation software simulating the operation of the rotating device.

[0219] In some exemplary embodiments, the movement control module is also used to determine the movement state information corresponding to the rotation state signal, and control the moving submodule to move according to the movement state information, wherein the movement state information matches the rotation condition of the rotating device, and the movement state information includes at least one of the movement speed information and the movement distance information.

[0220] In some exemplary embodiments, the movement control module is further used to perform at least one of the following: determining the movement state information by using the set movement control parameters; determining the movement state information by performing signal processing on the rotation state signal.

[0221] In some exemplary embodiments, the mobile control module is further used to determine the moving distance information in the mobile state information based on the number of rotation state signals and the rotation increment of the rotating device corresponding to a single rotation state signal, wherein the rotation increment includes at least one of an angle rotation increment and a position rotation increment.

[0222] In some exemplary embodiments, the mobile control module is also used to determine the rotation increment corresponding to the rotation state signal based on the acquisition position of the rotation state signal in the rotating device, the control method of the rotation execution module, and the energy transfer method between the rotation execution module and the rotating bearing component.

[0223] In some exemplary embodiments, the movement control module is also used to sample a single rotation state signal to obtain at least one rotation reference signal; and to perform movement control on the mover module in response to the rotation reference signals of a specified order, wherein the specified order is determined by the response strategy of the set rotation reference signal.

[0224] In some exemplary embodiments, the movement control module is also used to perform at least one of the following: performing a first movement control on the mover module in response to each rotation reference signal obtained by sampling a single rotation state signal, and the distance of a single movement of the mover module under the first movement control is related to the number of rotation reference signals obtained by sampling; performing a second movement control on the mover module in response to a partial rotation reference signal obtained by sampling a single rotation state signal, wherein the distance of a single movement of the mover module under the second movement control is related to the number of partial rotation reference signals used for response.

[0225] In some exemplary embodiments, the movement control module is further used to detect the motion state of the rotating device to obtain a rotation state signal; or to detect an internal signal of the rotating device to obtain a rotation state signal.

[0226] In some exemplary embodiments, the movement control module is also used to perform at least one of the following: when the mover module is in a stationary state, controlling the start of the mover module based on the obtained rotation state signal so that the mover module is driven by the rotating device to operate in linkage; when the mover module is in a moving state, adjusting the moving state of the mover module based on the obtained rotation state signal so that the mover module is linked with the rotating device.

[0227] In some exemplary embodiments, the mobile control module is also used to adjust the moving speed of the mover module based on the rotation speed of the rotating device within a set speed buffer area before the object is handed over during the linkage between the mover module and the rotating device, so that the moving speed of the mover module matches the rotation speed of the rotating device.

[0228] In some exemplary embodiments, the movement control module is further used to release the rotation device from being a linkage object of the mover module when the mover module moves to the linkage end position after controlling the movement of the mover module based on the acquired rotation state signal.

[0229] In some exemplary embodiments, the movement control module is further used to control the mover module to move in the direction of moving out of the linkage end position after the rotating device is released as the linkage object of the mover module; or to control the mover module to move back after moving out of the linkage end position.

[0230] According to another aspect of the embodiment of the present application, an object transmission system is also provided. The object transmission system includes a magnetic drive transmission device and a rotating device, and the magnetic drive transmission device includes a magnetic drive transmission module and a mobile control module. It should be noted that the mobile control module described below can be considered as a functional module required to implement the mobile control method provided in the embodiment of the present application; the content of the mobile control module described below can be referred to in correspondence with the content of the mobile control method described above.

[0231] In this embodiment, a magnetically driven transmission module is used to cooperate with a rotating device to transmit objects, wherein the magnetically driven transmission module includes a mover module and a stator wire body, the mover module and the stator wire body are movably connected, and the stator wire body is used to drive the mover module to move; a movement control module is used to obtain a rotation state signal, wherein the rotation state signal is used to characterize that the rotating device is in a rotation state; based on the obtained rotation state signal, the movement of the mover module is controlled to make the mover module and the rotating device linked, and the object is transferred during the linkage between the mover module and the rotating device.

[0232] Through the object transmission system, the stator line drives the mover module to move based on the acquired rotation state signal to control the movement of the mover module, so that the mover module is linked with the rotating device. During the linkage between the mover module and the rotating device, the object can be transferred between the mover module and the rotating device without the participation of the robot arm, which can reduce the influence of the operating speed of the robot arm on the object transmission, thereby achieving the technical effect of improving the object transmission efficiency, and solving the problem of low object transmission efficiency caused by the complex mechanical structure of the robot arm in the related technology.

[0233] In some exemplary embodiments, the movement control module is further used to set the rotating device as the linkage object of the mover module after determining that the mover module moves to the first linkage starting position before controlling the movement of the mover module based on the acquired rotation state signal.

[0234] In some exemplary embodiments, the movement control module is further used to determine that the rotating device rotates to the second linkage starting position before controlling the movement of the mover module based on the acquired rotation state signal.

[0235] In some exemplary embodiments, the movement control module is further configured to determine whether the number of the acquired rotation state signals reaches a signal number threshold before performing movement control on the mover module based on the acquired rotation state signals.

[0236] In some exemplary embodiments, the motion control module is further used to obtain a physical signal generated by the rotating device; or to obtain a simulation signal generated by simulation software simulating the operation of the rotating device.

[0237] In some exemplary embodiments, the movement control module is also used to determine the movement state information corresponding to the rotation state signal, and control the moving submodule to move according to the movement state information, wherein the movement state information matches the rotation condition of the rotating device, and the movement state information includes at least one of the movement speed information and the movement distance information.

[0238] In some exemplary embodiments, the movement control module is further used to perform at least one of the following: determining the movement state information by using the set movement control parameters; determining the movement state information by performing signal processing on the rotation state signal.

[0239] In some exemplary embodiments, the mobile control module is further used to determine the moving distance information in the mobile state information based on the number of rotation state signals and the rotation increment of the rotating device corresponding to a single rotation state signal, wherein the rotation increment includes at least one of an angle rotation increment and a position rotation increment.

[0240] In some exemplary embodiments, the mobile control module is also used to determine the rotation increment corresponding to the rotation state signal based on the acquisition position of the rotation state signal in the rotating device, the control method of the rotation execution module, and the energy transfer method between the rotation execution module and the rotating bearing component.

[0241] In some exemplary embodiments, the movement control module is also used to sample a single rotation state signal to obtain at least one rotation reference signal; and to perform movement control on the mover module in response to the rotation reference signals of a specified order, wherein the specified order is determined by the response strategy of the set rotation reference signal.

[0242] In some exemplary embodiments, the movement control module is also used to perform at least one of the following: performing a first movement control on the mover module in response to each rotation reference signal obtained by sampling a single rotation state signal, and the distance of a single movement of the mover module under the first movement control is related to the number of rotation reference signals obtained by sampling; performing a second movement control on the mover module in response to a partial rotation reference signal obtained by sampling a single rotation state signal, wherein the distance of a single movement of the mover module under the second movement control is related to the number of partial rotation reference signals used for response.

[0243] In some exemplary embodiments, the movement control module is further used to detect the motion state of the rotating device to obtain a rotation state signal; or to detect an internal signal of the rotating device to obtain a rotation state signal.

[0244] In some exemplary embodiments, the movement control module is also used to perform at least one of the following: when the mover module is in a stationary state, controlling the start of the mover module based on the obtained rotation state signal so that the mover module is driven by the rotating device to operate in linkage; when the mover module is in a moving state, adjusting the moving state of the mover module based on the obtained rotation state signal so that the mover module is linked with the rotating device.

[0245] In some exemplary embodiments, the mobile control module is also used to adjust the moving speed of the mover module based on the rotation speed of the rotating device within a set speed buffer area before the object is handed over during the linkage between the mover module and the rotating device, so that the moving speed of the mover module matches the rotation speed of the rotating device.

[0246] In some exemplary embodiments, the movement control module is further used to release the rotation device from being a linkage object of the mover module when the mover module moves to the linkage end position after controlling the movement of the mover module based on the acquired rotation state signal.

[0247] In some exemplary embodiments, the movement control module is further used to control the mover module to move in the direction of moving out of the linkage end position after the rotating device is released as the linkage object of the mover module; or to control the mover module to move back after moving out of the linkage end position.

[0248] It should be noted that the above-mentioned modules can be implemented through software or hardware (such as circuits, chips, etc.). For the latter, it can be implemented in the following ways, but not limited to: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in any combination.

[0249] According to yet another aspect of the present application, a computer program product is provided. The computer program product includes a computer program / instruction. The computer program / instruction contains a program code for executing the method shown in the flowchart. Fig.18 The structure block diagram of the computer system for implementing the electronic device of the embodiment of the present application is schematically shown. Fig.18 As shown, the computer system 1800 includes a CPU 1801, which can perform various appropriate actions and processes according to the program stored in the ROM 1802 or the program loaded from the storage part 1808 to the RAM 1803. In the RAM 1803, various programs and data required for the system operation are also stored. The CPU 1801, the ROM 1802 and the RAM 1803 are connected to each other through a bus 1804. An I / O interface (Input / Output interface) 1805 is also connected to the bus 1804.

[0250] The following components are connected to the input / output interface 1805: an input section 1806 including a keyboard, a mouse, etc.; an output section 1807 including a CRT (Cathode RayTube), an LCD (Liquid Crystal Display), etc., and a speaker, etc.; a storage section 1808 including a hard disk, etc.; and a communication section 1809 including a network interface card such as a LAN card, a modem, etc. The communication section 1809 performs communication processing via a network such as the Internet. A drive 1810 is also connected to the I / O interface 1805 as needed. A removable medium 1811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1810 as needed so that a computer program read therefrom is installed into the storage section 1808 as needed.

[0251] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 1809, and / or installed from the removable medium 1811. When the computer program is executed by the central processor 1801, various functions defined in the system of the present application are executed.

[0252] It should be noted that Fig.18The computer system 1800 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application. The electronic device may belong to the above-mentioned magnetic drive transmission module, wherein the CPU 1801 may serve as the aforementioned rotation control module. The electronic device may be non-fixedly connected to the stator line (for example, connected via an interface) or integrated together, which is not specifically limited here.

[0253] An embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0254] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk, or an optical disk.

[0255] An embodiment of the present application further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0256] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0257] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0258] Obviously, those skilled in the art should understand that the above modules or steps of the present application can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order from that herein, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present application is not limited to any specific combination of hardware and software.

[0259] The above description is only an optional embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile control method, characterized in that: Applied to a magnetic drive transmission module, the magnetic drive transmission module is used to cooperate with a rotating device to transmit an object, the magnetic drive transmission module includes a mover module and a stator line body, the mover module is movably connected to the stator line body, and the stator line body is used to drive the mover module to move, the method includes: Acquiring a rotation state signal, wherein the rotation state signal is used to indicate that the rotating device is in a rotation state; Controlling the movement of the mover module based on the acquired rotation state signal so that the mover module is linked with the rotation device, and performing object handover during the process of the mover module being linked with the rotation device; Wherein, the movement control of the movable submodule based on the obtained rotation state signal includes: sampling a single rotation state signal to obtain at least one rotation reference signal; performing a first movement control on the movable submodule in response to each rotation reference signal obtained by sampling a single rotation state signal, and / or performing a second movement control on the movable submodule in response to part of the rotation reference signals obtained by sampling a single rotation state signal, wherein a single movement distance of the movable submodule under the first movement control is related to the number of rotation reference signals obtained by sampling; and a single movement distance of the movable submodule under the second movement control is related to the number of partial rotation reference signals used for response.

2. The method according to claim 1, characterized in that Before controlling the movement of the mover module based on the acquired rotation state signal, the method further includes: After determining that the mover module moves to the first linkage starting position, the rotating device is set as the linkage object of the mover module.

3. The method according to claim 1, characterized in that Before controlling the movement of the mover module based on the acquired rotation state signal, the method further includes: Determine that the rotating device rotates to the second linkage starting position.

4. The method according to claim 1, characterized in that: Before controlling the movement of the mover module based on the acquired rotation state signal, the method further includes: It is determined that the number of the rotation state signals obtained reaches a signal number threshold.

5. The method according to claim 1, characterized in that The step of obtaining the rotation state signal comprises: A physical signal generated based on the rotating device is obtained; or a simulation signal generated by simulation software simulating the operation of the rotating device is obtained.

6. The method according to claim 1, characterized in that The controlling the movement of the moving submodule based on the acquired rotation state signal includes: Determine movement state information corresponding to the rotation state signal, and control the mover module to move according to the movement state information, wherein the movement state information matches the rotation condition of the rotating device, and the movement state information includes at least one of movement speed information and movement distance information.

7. The method according to claim 6, characterized in that The determining of the movement state information corresponding to the rotation state signal includes any one of the following: Determine the movement status information through the set movement control parameters; The movement state information is determined by performing signal processing on the rotation state signal.

8. The method according to claim 6, characterized in that The determining the movement state information corresponding to the rotation state signal includes: The moving distance information in the moving state information is determined based on the number of the rotation state signals and the rotation increment of the rotating device corresponding to a single rotation state signal, wherein the rotation increment includes at least one of an angle rotation increment and a position rotation increment.

9. The method according to claim 8, characterized in that The rotation device comprises a rotation control module, a rotation execution module and a rotation bearing component, wherein the rotation control module is used to control the rotation execution module to rotate, so as to drive the rotation bearing component to rotate through the rotation execution module, and the rotation state signal comes from an internal signal of the rotation device; The determining the movement state information corresponding to the rotation state signal includes: The rotation increment corresponding to the rotation state signal is determined based on the acquisition position of the rotation state signal in the rotation device, the control method of the rotation execution module, and the energy transfer method between the rotation execution module and the rotation bearing component.

10. The method according to claim 1, characterized in that The step of obtaining the rotation state signal comprises: detecting the motion state of the rotating device to obtain the rotation state signal; or, An internal signal of the rotating device is detected to obtain the rotating state signal.

11. The method according to claim 1, characterized in that: The controlling the movement of the mover module based on the acquired rotation state signal so that the mover module is linked with the rotation device includes at least one of the following: When the mover module is in a stationary state, the mover module is controlled to start based on the acquired rotation state signal, so that the rotating device drives the mover module to operate in linkage; When the mover module is in a moving state, the moving state of the mover module is adjusted based on the acquired rotation state signal, so that the mover module is linked with the rotation device.

12. The method according to claim 1, characterized in that Before the object is handed over during the linkage between the mover module and the rotating device, the method further includes: In a set speed buffer region, the moving speed of the mover module is adjusted based on the rotation speed of the rotating device, so that the moving speed of the mover module matches the rotation speed of the rotating device.

13. The method according to any one of claims 1 to 12, characterized in that After controlling the movement of the mover module based on the acquired rotation state signal, the method further includes: When the mover module moves to the linkage end position, the rotating device is released as a linkage object of the mover module.

14. The method according to claim 13, characterized in that After the rotation device is released from being a linkage object of the mover module, the method further includes: Controlling the moving submodule to move in a direction out of the linkage end position; or, The mover module is controlled to move back after moving out of the linkage end position.

15. A mobile control module, characterized in that: The magnetic drive transmission module and the rotating device are respectively connected, the magnetic drive transmission module is used to cooperate with the rotating device to transmit objects, the magnetic drive transmission module includes a mover module and a stator line body, the mover module is movably connected to the stator line body, the movement control module is used to control the stator line body to drive the mover module to move, and the movement control module includes: an acquisition unit, used for acquiring a rotation state signal, wherein the rotation state signal is used for indicating that the rotating device is in a rotation state; A control unit, configured to control the movement of the mover module based on the acquired rotation state signal, so that the mover module is linked with the rotation device, and to transfer an object during the process of the mover module being linked with the rotation device; Wherein, the control unit is used to sample a single rotation state signal to obtain at least one rotation reference signal; in response to each rotation reference signal obtained by sampling a single rotation state signal, the mover module is subjected to a first movement control, and / or, in response to part of the rotation reference signals obtained by sampling a single rotation state signal, the mover module is subjected to a second movement control, wherein a distance of a single movement of the mover module under the first movement control is related to the number of rotation reference signals obtained by sampling; and a distance of a single movement of the mover module under the second movement control is related to the number of partial rotation reference signals used for response.

16. A magnetic drive transmission module, characterized in that: The magnetic drive transmission module is used to cooperate with the rotating device to transmit objects, and the magnetic drive transmission module includes a mover module, a stator line body and a movement control module, wherein the mover module is movably connected to the stator line body; The stator wire is used to drive the mover module to move; The mobile control module is used to obtain a rotation state signal, wherein the rotation state signal is used to indicate that the rotating device is in a rotation state; based on the obtained rotation state signal, the movable module is controlled to move so that the movable module is linked with the rotating device, and an object is handed over during the process of the movable module and the rotating device being linked; Wherein, the movement control module is used to sample a single rotation state signal to obtain at least one rotation reference signal; in response to each rotation reference signal obtained by sampling a single rotation state signal, the first movement control is performed on the mover module, and / or, in response to part of the rotation reference signals obtained by sampling a single rotation state signal, the second movement control is performed on the mover module, wherein the distance of a single movement of the mover module under the first movement control is related to the number of rotation reference signals obtained by sampling; and the distance of a single movement of the mover module under the second movement control is related to the number of partial rotation reference signals used for response.

17. An object transport system, characterized in that: It includes a magnetic drive transmission device and a rotating device, wherein the magnetic drive transmission device includes a magnetic drive transmission module and a movement control module, wherein: The magnetic drive transmission module is used to cooperate with the rotating device to transmit objects, wherein the magnetic drive transmission module includes a mover module and a stator line body, the mover module is movably connected to the stator line body, and the stator line body is used to drive the mover module to move; The mobile control module is used to obtain a rotation state signal, wherein the rotation state signal is used to indicate that the rotating device is in a rotation state; based on the obtained rotation state signal, the movable module is controlled to move so that the movable module is linked with the rotating device, and an object is handed over during the process of the movable module and the rotating device being linked; Wherein, the movement control module is used to sample a single rotation state signal to obtain at least one rotation reference signal; in response to each rotation reference signal obtained by sampling a single rotation state signal, the first movement control is performed on the mover module, and / or, in response to part of the rotation reference signals obtained by sampling a single rotation state signal, the second movement control is performed on the mover module, wherein the distance of a single movement of the mover module under the first movement control is related to the number of rotation reference signals obtained by sampling; and the distance of a single movement of the mover module under the second movement control is related to the number of partial rotation reference signals used for response.

18. A computer program product, characterized in that The computer program product comprises a computer program / instructions, wherein the computer program / instructions implement the steps of the method according to any one of claims 1 to 14 when executed by a processor.

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