Motion control methods and devices, magnetic drive motor equipment, and goods transport systems

Abstract

This application discloses a motion control method and device, a magnetic drive motor device, and a goods transportation system. The method includes: acquiring a transmission status signal of a belt conveyor, wherein the transmission status signal indicates the motion state of the belt conveyor, the belt conveyor is opposite to a stator module of the magnetic drive motor device, and a mover module of the magnetic drive motor device moves along the stator module; and responding to the transmission status signal, controlling the mover module to move along the stator module in a manner adapted to the motion state of the belt conveyor. This application effectively combines a magnetic drive motor device and a belt conveyor device, improving the efficiency of goods transportation.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and more specifically, to a motion control method and device, a magnetic drive motor device, and a goods transportation system. Background Technology

[0002] A magnetic drive motor consists of a stator module and multiple mover modules, which are movably connected to the stator module. Thrust is generated by controlling the magnetic field interaction between the stator module and the mover modules, thus driving the mover modules to move relative to the stator module. Therefore, magnetic drive motors can be applied to automated transportation scenarios.

[0003] However, other types of transportation equipment often exist in automated transportation scenarios. These other types of transportation equipment use different transportation methods than magnetic drive motor equipment. How to effectively coordinate magnetic drive motor equipment with other types of conveying equipment is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application provides a motion control method and device, a magnetic drive motor device, and a goods transportation system to at least solve the technical problem in the related art that magnetic drive motor devices cannot effectively cooperate with other types of conveying equipment.

[0005] According to one aspect of the embodiments of this application, a motion control method is provided, comprising: acquiring a transmission state signal of a belt conveyor, wherein the transmission state signal is used to indicate the motion state of the belt conveyor, the belt conveyor is opposite to a stator module included in a magnetic drive motor device, and a mover module included in the magnetic drive motor device is used to move along the stator module; and responding to the transmission state signal, controlling the mover module to perform motion along the stator module adapted to the motion state of the belt conveyor.

[0006] According to another aspect of the embodiments of this application, a motion control device is also provided, comprising: an acquisition unit for acquiring a transmission state signal of a belt conveyor, wherein the transmission state signal is used to indicate the motion state of the belt conveyor, the belt conveyor is opposite to a stator module included in a magnetic drive motor device, and a moving sub-module included in the magnetic drive motor device is used to move along the stator module; and a control unit for responding to the transmission state signal and controlling the moving sub-module to perform motion along the stator module adapted to the motion state of the belt conveyor.

[0007] According to another aspect of the embodiments of this application, a magnetic drive motor device is also provided, characterized in that it is used to cooperate with a belt conveyor to transport objects. The magnetic drive motor device includes a moving sub-module, a stator module, and a motion control module, wherein the moving sub-module is used to move along the stator module; the motion control module is connected to the stator module or the moving sub-module and is used to respond to an acquired transmission state signal to control the moving sub-module to move along the stator module in a manner adapted to the motion state of the belt conveyor, wherein the transmission state signal is used to indicate the motion state of the belt conveyor.

[0008] According to another aspect of the embodiments of this application, a goods transportation system is also provided, characterized in that it includes a magnetic drive motor device and a belt conveyor device. The magnetic drive motor device is used to cooperate with the belt conveyor device to transport objects. The magnetic drive motor device includes a moving sub-module, a stator module, and a motion control module, wherein the moving sub-module is used to move along the stator module; the motion control module is connected to the stator module or the moving sub-module and is used to respond to the acquired transmission state signal to control the moving sub-module to move along the stator module in a manner adapted to the motion state of the belt conveyor device, wherein the transmission state signal is used to indicate the motion state of the belt conveyor device.

[0009] According to another aspect of the embodiments of this application, a motion control device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the motion control method described above through the computer program.

[0010] Through the embodiments provided in this application, the moving submodule is controlled to move on the stator module in a matching motion state according to the transmission state signal indicating the motion state of the belt conveyor, thereby achieving the motion coupling effect between the moving submodule and the belt conveyor, increasing the diversity of motion control of the moving submodule, which is conducive to the effective cooperation between the magnetic drive motor equipment and the belt conveyor, thereby improving the transportation cooperation efficiency between the two. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0012] Figure 1 This is a schematic diagram of the flow of an optional motion control method according to an embodiment of this application;

[0013] Figure 2 This is a schematic diagram of the operating environment of an optional motion control method according to an embodiment of this application;

[0014] Figure 3This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0015] Figure 4 This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0016] Figure 5 This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0017] Figure 6 This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0018] Figure 7 This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0019] Figure 8 This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0020] Figure 9 This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0021] Figure 10 This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0022] Figure 11 This is a schematic diagram of an optional motion control method according to an embodiment of this application;

[0023] Figure 12 This is a schematic diagram of an optional motion control device according to an embodiment of this application;

[0024] Figure 13 A schematic diagram of the structure of an optional motion control device according to an embodiment of this application. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] According to one aspect of the embodiments of this application, a motion control method is provided, applied to a magnetic drive motor device. As an optional implementation, such as... Figure 1 As shown, the specific steps of the method may include:

[0028] S102, acquire the transmission status signal of the belt conveyor, wherein the transmission status signal is used to indicate the motion status of the belt conveyor, the belt conveyor is opposite to the stator module included in the magnetic drive motor device, and the moving module included in the magnetic drive motor device moves along the stator module.

[0029] S104 responds to the transmission status signal and controls the moving submodule to move along the stator module to adapt to the motion state of the belt conveyor.

[0030] In this embodiment, the number of moving sub-modules controlled by the transmission status signal can be one or more. The moving sub-module is movably connected to the stator module, and thrust is generated by controlling the magnetic field interaction between the stator module and the moving sub-module to drive the moving sub-module to move relative to the stator module.

[0031] Specifically, the mover module may include magnetic units that create a magnetic field. These magnetic units may include magnetizing components (such as permanent magnets) or excitation components (such as coils that generate a magnetic field when energized). The stator module is fixedly mounted and provides thrust and guidance for the mover module. The stator module is composed of multiple stator modules, each of which may include excitation or magnetizing components. The magnetic fields of the stator modules interact with those of the mover modules to generate thrust, which acts on the mover module, causing it to move relative to the stator module.

[0032] It should be noted that the motion control method described in the embodiments of this application can be applied, but is not limited to, to automated transportation scenarios of magnetic drive motor equipment.

[0033] In this embodiment, the belt conveyor is a device that transports items by means of transmission. The movement state of the belt conveyor can include a transmission state and a stationary state, and the transmission state can further include a starting transmission state and a continuous transmission state.

[0034] In this embodiment, the transmission state signal is used to indicate the motion state of the belt conveyor, that is, to characterize whether the belt conveyor is in the above-mentioned transmission state or stationary state, and the transmission state quantity in the specific state.

[0035] It is understood that the transmission status signal of the belt conveyor can be, but is not limited to, a physical signal generated by the belt conveyor, or a simulation signal generated by software programs simulating the operation of the belt conveyor. The form of the transmission status signal can be set according to the actual situation; for example, the transmission status signal can be a pulse signal or a waveform signal.

[0036] It should be noted that, based on the shape of the stator module along the moving direction, the stator module can include straight and curved regions. The actual positional relationship between the belt conveyor and the magnetic drive motor can include one of the following: the belt conveyor is opposite to the straight region of the stator module; the belt conveyor is opposite to the curved region of the stator module. A region (i.e., an associated motion region) for the joint movement of the moving module and the belt conveyor can be set based on the region of the stator module opposite to the belt conveyor (i.e., the relative interaction region), thereby controlling one or more moving modules in the associated motion region to move in association with the belt conveyor. Depending on the actual situation, the associated motion region may include or be included in the region of the stator module opposite to the belt conveyor, and the associated motion region may also intersect with the region of the stator module opposite to the belt conveyor.

[0037] In this way, the moving submodule is controlled by signals within the associated motion area and moves in conjunction with the belt conveyor. Outside the area, the moving submodule is not controlled by signals and does not move in conjunction with the belt conveyor. This increases the control diversity of the moving submodule, which is beneficial for the effective cooperation between the magnetic drive motor and the belt conveyor, thereby improving the transportation efficiency between the two. To enable those skilled in the art to understand more clearly, the following is a schematic description with reference to the accompanying drawings.

[0038] In an alternative embodiment, such as Figure 2 As shown, the magnetic drive motor device 204 includes a mover module 206 and a stator module 208, wherein at least a portion of the stator module 208 (e.g., Figure 2The relative interaction area 210 shown is at least partially opposite to the component 202 for transporting items in the belt conveyor (not shown). When the moving submodule 206 moves in the relative interaction area 210 on the stator module 208, it can cooperate with the component 202 for transporting items in the belt conveyor (not shown) for item transport.

[0039] In an alternative embodiment, such as Figure 3 As shown, the magnetic drive motor device 304 includes a mover module 306 and a stator module 308, wherein at least a portion of the stator module 308 (e.g., Figure 3 The relative interaction area 210 shown is at least partially opposite to the component 302 for transporting items in the belt conveyor (not shown). When the moving submodule 306 can move in the relative interaction area 210 on the stator module 308, it can cooperate with the component 302 for transporting items in the belt conveyor (not shown) for item transport.

[0040] In this embodiment, the motion control submodule moves along the stator module to adapt to the motion state of the belt conveyor. This can be, but is not limited to, controlling the motion control submodule to move in association with the belt conveyor, including matching the motion information of the motion control submodule with the transmission state of the belt conveyor.

[0041] Understandably, by responding to transmission status signals, the moving submodule is controlled to move along the stator module in a manner adapted to the motion state of the belt conveyor, establishing a motion coupling relationship between the moving submodule and the belt conveyor. This ensures that the moving submodule's motion matches the belt conveyor's motion, facilitating the coordination between the magnetic drive motor and the belt conveyor, improving their transport efficiency, and thus increasing the efficiency of goods transport. During the coordination process between the magnetic drive motor and the belt conveyor, goods can be transferred, thereby changing their transport path, or they can be stabilized, thereby improving their stability during transport.

[0042] For example, the moving module can transfer the items it is transporting to the belt conveyor; or, the moving module can be equipped with limit components to fix the position of the items on the belt conveyor, thereby improving the stability of the items during transportation.

[0043] It should be noted that the above example objects can be interchanged, for example, the moving submodule can also obtain the transported items from the belt conveyor.

[0044] Through the embodiments provided in this application, the moving submodule is controlled to move on the stator module in a matching motion state according to the transmission state signal indicating the motion state of the belt conveyor, thereby achieving the motion coupling effect between the moving submodule and the belt conveyor, increasing the diversity of motion control of the moving submodule, which is conducive to the effective cooperation between the magnetic drive motor equipment and the belt conveyor, thereby improving the transportation cooperation efficiency between the two.

[0045] In an optional example, such as Figure 4 As shown, the magnetic drive motor device 404 may include multiple moving sub-modules (e.g., moving sub-module 406). The multiple moving sub-modules perform associated movements on the stator module 408 of the magnetic drive motor device 404 with the belt conveyor device 402. The components in the belt conveyor device 402 used for transporting items (e.g., belt structural components) are in a relative relationship with the stator module 408 (e.g., a linear relative relationship or a curved relative relationship).

[0046] Specifically, taking the moving module 406 as an example, before the moving module 406 moves synchronously with the belt conveyor 402, the control module 410 first acquires the transmission status signal of the belt conveyor 402, wherein the transmission status signal is used to indicate the movement status of the belt conveyor 402; further, in response to the transmission status signal, the control module 410 controls the moving module 406 to move synchronously with the belt conveyor 402 along the stator module 408. As an optional solution, responding to the transmission status signal and controlling the moving module to move along the stator module in a manner adapted to the movement status of the belt conveyor includes: responding to the transmission status signal, determining the first moving element motion information corresponding to the transmission status signal, and controlling the moving module to move along the stator module according to the first moving element motion information, wherein the first moving element motion information includes at least one of: first moving element distance information and first moving element speed information.

[0047] It is also understood that the above examples are for illustrative purposes only. Depending on the actual situation, the control module 410 may be included in the linear magnetic drive device, or the control module 410 may be connected to the linear magnetic drive device as an independent entity. Furthermore, depending on the actual situation, the control module 410 may be a module, device, apparatus, circuit, etc. The embodiments of this application do not limit the actual location and specific form of the control module 410.

[0048] The first moving part distance information is used to characterize the moving part module's movement distance along the stator module based on the transmission state signal, and the first moving part speed information is used to characterize the moving part module's movement speed along the stator module based on the transmission state signal.

[0049] It is understood that the movement of the moving module can be controlled, but is not limited to, by the first moving module motion information. This first moving module motion information is used to control one or more movement state quantities of the moving module based on the transmission state signal, specifically the moving speed and moving distance. Since the control method of the moving module is related to its driving method, when the moving module needs to be driven by changes in the stator module's magnetic field, the on / off timing and current magnitude of each stator module in the stator module can be controlled according to the first moving module motion information, so that the moving module can move according to the corresponding movement state quantity of the transmission state signal. When moving by controlling changes in the moving module's own magnetic field, the on / off timing and current magnitude of the moving module can be controlled according to the indication of the first moving module motion information, so that the moving module can move according to the corresponding movement state quantity of the transmission state signal.

[0050] Through the embodiments provided in this application, the first moving part motion information corresponding to the transmission state signal is used to control the moving part module to move according to the corresponding movement state quantity, thereby achieving the purpose of motion coupling between the moving part module and the belt conveyor, increasing the diversity of motion control of the moving part module, and improving the efficiency of goods transportation.

[0051] As an optional approach, in response to the transmission state signal, the motion information of the first moving part corresponding to the transmission state signal is determined, including:

[0052] Obtain the first mover control parameters corresponding to the transmission state signal, wherein the first mover control parameters include the first mover motion information; the first mover control parameters are configured based on the transmission state quantity of the belt conveyor corresponding to the transmission state signal.

[0053] In this embodiment, the first mover control parameter is used to indicate the parameters required for motion control of the mover module based on the transmission state signal. Specifically, the first mover control parameter may include first mover motion information. It is understood that the first mover control parameter may also include other information used to control the movement of the mover module based on the transmission state signal, such as timing information for controlling power on / off and current information for controlling the magnitude of the magnetic field. This embodiment does not limit the specific content of the first mover control parameter.

[0054] Therefore, after obtaining the transmission status signal, based on the correspondence between the transmission status signal and the first mover control parameters, the mover module can be adapted to the motion state of the belt conveyor through the first mover control parameters, thereby achieving a rapid response to the transmission status signal.

[0055] In practical applications, the first mover control parameters can be configured by calculating the transmission state quantity of the belt conveyor corresponding to the transmission state signal before the mover module starts, but not limited to this step. Alternatively, the first mover control parameters can be configured after the mover module starts by determining the transmission state quantity of the belt conveyor through signal analysis of the transmission state signal. Configuring the first mover control parameters before the mover module starts can further improve the response speed to the transmission state signal. Configuring them after the mover module starts based on the signal analysis results of the transmission state signal allows for dynamic configuration of the first mover control parameters, thereby improving the motion control flexibility of the mover module.

[0056] As an alternative approach, since belt conveyors contain both linearly moving components (such as belt structures, or more specifically, conveyor belts) and rotaryly moving components (such as rotary actuators, or more specifically, rotary motors), the transmission state quantity can be either a linear motion state quantity or a rotary motion state quantity, depending on the source of the transmission state signal acquired within the belt conveyor. Specifically, the linear motion state quantity corresponds to the belt structure included in the belt conveyor; the rotary motion state quantity corresponds to the rotary actuator included in the belt conveyor.

[0057] Depending on the type of the transmission state quantity and the motion trajectory of the moving submodule, the transmission state quantity and the motion information of the first moving part are of the same type or have a conversion correspondence. For example, if the transmission state quantity is a linear motion state quantity and the moving submodule performs linear motion, the transmission state quantity can be equal to the motion information of the first moving part. As another example, if the transmission state quantity is a rotational motion state quantity and the moving submodule performs linear motion, the rotational motion state quantity can have a conversion correspondence with the motion information of the first moving part, specifically, the conversion correspondence between linear motion and rotational motion.

[0058] In specific implementations, the transmission state quantities may include at least one of: transmission distance increment and transmission speed-related quantities. Depending on the source of the transmission state signal in the belt conveyor, the transmission distance increment may be a linear distance increment or a rotational distance increment, and the transmission speed-related quantities may be linear speed-related quantities or rotational speed-related quantities. Specifically, the transmission speed-related quantities may further include transmission speed quantities, transmission acceleration measures, etc.; the linear speed-related quantities may further include linear speed quantities, linear acceleration measures, etc., and the rotational speed-related quantities may further include rotational speed quantities and rotational acceleration measures. It is understood that the linear distance increment corresponding to the belt structure component may be, but is not limited to, the straight-line distance between the starting and ending points of the belt structure component during movement, and may also be, but is not limited to, the path length between the starting and ending points of the belt structure component during movement.

[0059] In practical implementation, the specific type of transmission state quantity corresponding to the transmission state signal is related to the mechanical structure of the belt conveyor and the location where the transmission state signal is acquired. For example, the transmission state signal can be generated based on signals transmitted inside the belt conveyor; or, for another example, the transmission state signal can be generated based on detecting the motion state of the internal mechanical structure of the belt conveyor. Depending on the specific acquisition method of the transmission state signal, the transmission state quantity of the belt conveyor corresponding to the transmission state signal can be determined through calculation or signal analysis. The following is an illustrative description using specific embodiments.

[0060] In an optional example, such as Figure 5 As shown, the mechanical structure of the belt conveyor 502 includes: a transmission control module 504, a rotary actuator 506, and a belt structure 508. The transmission control module 504 controls the transmission actuator 506 via a transmission control signal 512. The kinetic energy of the transmission actuator 506 is directly transferred to the conveyor belt 508, thereby driving the conveyor belt 508 to move. In this embodiment, the transmission control signal 512 is generated based on transmission control parameters. The transmission state signal is generated based on the transmission control signal 512 between the transmission control module 504 and the transmission actuator 506, and is used for motion control of the moving sub-module of the magnetic drive motor device 510. The transmission state quantity corresponding to the transmission state signal is a rotational motion state quantity.

[0061] When the rotational motion state quantity includes the rotational distance increment, the rotational distance increment corresponding to a single transmission control signal 512 can be determined based on the total number of transmission control signals required for the rotary actuator 506 to rotate one revolution and the diameter length of the connection between the belt structure 508 and the rotary actuator 506, thus obtaining the rotational distance increment corresponding to a single transmission state signal; alternatively, the rotational distance increment corresponding to a single transmission control signal 512 can be determined based on the total number of transmission control signals required for the rotary actuator 506 to rotate one revolution and the total distance moved by the belt structure 508 accordingly, thus obtaining the rotational distance increment corresponding to a single transmission state signal; or, the transmission control signal 512 can be analyzed to determine the rotational distance increment corresponding to a single transmission control signal 512, thus obtaining the rotational distance increment corresponding to a single transmission state signal.

[0062] When the rotational motion state quantity includes rotational speed-related quantities, the rotational speed-related quantity corresponding to a single transmission control signal 512 can be determined based on the rotational control curve set by the rotational actuator 506, thereby obtaining the rotational speed-related quantity corresponding to a single transmission state signal; or, the rotational speed-related quantity corresponding to a single transmission control signal 512 can be determined by performing signal analysis on the transmission control signal 506, thereby obtaining the rotational speed-related quantity corresponding to a single transmission state signal.

[0063] In an optional example, such as Figure 6 As shown, the belt conveyor 602 includes: a transmission control module 604, a rotary actuator 606, a belt structure 608, and a transmission detection module 610 (such as an encoder). The transmission control module 604 controls the rotary actuator 606 via transmission control signals. The kinetic energy of the rotary actuator 606 is directly transmitted to the belt structure 608, thereby driving the belt structure 608 to move. The transmission detection module 610 detects the motion of the rotary actuator 606, determines relevant transmission state quantities (such as rotational speed, rotational angle, rotational position, etc.), and generates a transmission detection signal to feed back to the transmission control module 604 for feedback control of the motion of the rotary actuator 606. In this embodiment, the transmission state signal is generated based on the transmission detection signal 614 between the transmission detection module 610 and the transmission control module 604. The transmission state quantity corresponding to the transmission state signal is a rotational motion state quantity.

[0064] When the rotational motion state quantity includes the rotational distance increment, the rotational distance increment corresponding to a single transmission detection signal 614 can be determined based on the total number of transmission control signals required for one rotation of the rotary actuator 606 and the diameter length of the connection between the belt structure 608 and the rotary actuator 606, thus obtaining the rotational distance increment corresponding to a single transmission state signal; alternatively, the rotational distance increment corresponding to a single transmission detection signal 614 can be determined based on the total number of transmission control signals required for one rotation of the rotary actuator 606 and the total distance moved by the belt structure 608, thus obtaining the rotational distance increment corresponding to a single transmission state signal; or, signal analysis can be performed on the transmission detection signal 614 to determine the rotational distance increment corresponding to a single transmission detection signal 614, thus obtaining the rotational distance increment corresponding to a single transmission state signal.

[0065] When the rotational motion state quantity includes rotational speed-related quantities, the rotational speed-related quantity corresponding to a single transmission detection signal 614 can be determined based on the rotational control curve set by the rotational actuator 606, thereby obtaining the rotational speed-related quantity corresponding to a single transmission state signal; or, the rotational speed-related quantity corresponding to a single transmission detection signal 614 can be determined by performing signal analysis on the transmission control signal 606, thereby obtaining the rotational speed-related quantity corresponding to a single transmission state signal.

[0066] It is understandable that, since the energy transfer between the various modules in the above-mentioned belt conveyor is direct, by obtaining the total number of transmission control signals required for the transmission execution module to complete one revolution and the total length of the conveyor belt movement, the transmission distance corresponding to a single transmission control signal can be determined, that is, the transmission distance corresponding to a single transmission status signal can be obtained.

[0067] In an optional example, such as Figure 7 As shown, the belt conveyor 702 includes: a transmission control module 704, a rotary actuator 706, a transmission reduction module 708, and a belt structure 710. The transmission control module 704 controls the rotary actuator 706 via a transmission control signal 712. The rotary actuator 706 drives the transmission reduction module 708, which in turn drives the belt structure 710. The transmission reduction module 708 reduces the rotational speed of the rotary actuator 706 to improve transmission control accuracy, reduce vibration and impact caused by transmission, and improve stability during transmission.

[0068] It is understandable that, since the kinetic energy of the rotary actuator 706 is transmitted to the belt structure 710 through the transmission reduction module, not directly, and the transmission state signal is based on the transmission control signal 712 between the transmission control module and the rotary actuator 706, a single transmission control signal 712 corresponds to the transmission distance of the rotary actuator 706, not the transmission distance of the belt structure 710 (the transmission distance of the belt structure 710 should be smaller). Therefore, it is necessary to consider the degree of speed reduction caused by the transmission reduction device (i.e., the reduction ratio). Based on the total number of transmission control signals, the degree of speed reduction, and the total length of the conveyor belt movement, the transmission distance of the belt structure 710 corresponding to a single transmission control signal 712 is determined. In this embodiment, the transmission state signal is generated based on the transmission control signal 712 between the transmission control module 704 and the rotary actuator 706. The transmission state quantity corresponding to the transmission state signal is a rotational motion state quantity.

[0069] When the rotational motion state quantity includes the rotational distance increment, the rotational distance increment corresponding to a single transmission control signal 712 can be determined based on the total number of transmission control signals required for the rotary actuator 706 to rotate one revolution and the diameter of the connection between the belt structure 710 and the rotary actuator 706, thus obtaining the rotational distance increment corresponding to a single transmission state signal; alternatively, the rotational distance increment corresponding to a single transmission control signal 712 can be determined based on the total number of transmission control signals required for the rotary actuator 706 to rotate one revolution and the total distance moved by the belt structure 710, thus obtaining the rotational distance increment corresponding to a single transmission state signal; or, the transmission control signal 712 can be analyzed to determine the rotational distance increment corresponding to a single transmission control signal 712, thus obtaining the rotational distance increment corresponding to a single transmission state signal.

[0070] When the rotational motion state quantity includes rotational speed-related quantities, the rotational speed-related quantity corresponding to a single transmission control signal 712 can be determined based on the rotational control curve set by the rotational actuator 706, thereby obtaining the rotational speed-related quantity corresponding to a single transmission state signal; or, the rotational speed-related quantity corresponding to a single transmission control signal 712 can be determined by performing signal analysis on the transmission control signal 706, thereby obtaining the rotational speed-related quantity corresponding to a single transmission state signal.

[0071] It is understood that the above data (such as the total number of transmission control signals for one revolution, reduction ratio, total length of conveyor belt movement, etc.) can be prior data obtained from detection, and there are no restrictions here.

[0072] In an optional embodiment, a single transmission state signal of the belt conveyor can be obtained first, and then the transmission state signal can be parsed to obtain the motion state quantity of the belt structure on the belt conveyor, that is, to determine the transmission distance corresponding to the single transmission state signal.

[0073] The embodiments provided in this application allow for flexible configuration of the acquisition methods for transmission state signals and transmission state quantities according to actual needs, thereby increasing the diversity of motion control for the moving submodule.

[0074] It's also understandable that the transmission status signal can be either a physical signal generated by the belt conveyor or a simulation signal generated by software programs simulating the operation of the belt conveyor. While the simulation signal doesn't require the belt conveyor to actually transport data, the type of simulated signal (e.g., whether it's a simulated transmission control signal or a transmission detection signal) needs to be determined based on the actual mechanical structure of the belt conveyor and the actual location where the transmission status signal is acquired. Therefore, both physical and simulation signals are related to the mechanical structure of the belt conveyor and the location where the transmission status signal is acquired.

[0075] As an optional approach, before controlling the moving submodule to move along the stator module in response to the transmission status signal to adapt to the motion state of the belt conveyor, the method may further include: determining that the number of acquired transmission status signals reaches a preset threshold.

[0076] In one optional embodiment, when the preset threshold is 1, representing the condition that each transmission state signal is acquired, the moving submodule is controlled to move along the stator module to adapt to the motion state of the belt conveyor in response to each transmission state signal.

[0077] In an optional embodiment, when the preset threshold is an integer greater than 1, taking the preset threshold as Q as an example, Q is an integer greater than 1, which represents that after acquiring Q transmission state signals, in response to each Q transmission state signal, the moving submodule is controlled to move along the stator module to adapt to the motion state of the belt conveyor.

[0078] It is understandable that although both the moving module and the belt conveyor exhibit linear motion externally, the transmission status signal can be generated based on the internal signals of the belt conveyor (such as internal control signals or detection signals). Depending on the specific settings of the generation and acquisition frequencies of the internal signals of the belt conveyor, the generation frequency of the transmission status signal needs to match the generation frequency of the internal signals of the belt conveyor when the transmission status signal is generated based on the internal signals of the belt conveyor.

[0079] The embodiments provided in this application limit the number of transmission status signals to control the timing of responses. By determining the single distance movement of the mover based on multiple transmission status signals, the defect of being unable to accurately control the mover to move the corresponding distance due to the small transmission distance corresponding to a single transmission status signal is avoided. Furthermore, by setting the number of transmission status signals for a single distance movement of the mover, the frequency of responses is reduced while ensuring motion adaptation, avoiding the frequent processing defects caused by responding to every transmission status signal. This allows for more flexible control of the adaptability of the mover module and the belt conveyor, improving the efficiency of item transfer.

[0080] In practice, the number of transmission state signals obtained can be determined by methods such as numerical comparison, numerical difference, and numerical quotient to determine whether the number reaches the preset threshold.

[0081] In a specific implementation, responding to the transmission state signal and controlling the moving module to move along the stator module in a motion state adapted to the belt conveyor can include: controlling the moving module to move along the stator module in a motion state adapted to the belt conveyor based on first moving motion information corresponding to a number of transmission state signals that reach a preset threshold, wherein the first moving motion information includes first moving distance information, which is determined based on the number of transmission state signals and the transmission distance increment of the belt conveyor corresponding to a single transmission state signal.

[0082] In an optional embodiment, when the number of transmission state signals obtained is N and the preset threshold is M, the quotient P of N divided by M is first obtained, and then the quotient P is judged: if P is less than 1, it is determined that the number of transmission state signals obtained has not reached the preset threshold, and then the N transmission state signals are not responded to.

[0083] When P equals 1, if the number of acquired transmission state signals reaches a preset threshold, respond to the N transmission state signals, and based on the first mover motion information corresponding to the N transmission state signals, control the mover module to move along the stator module to adapt to the motion state of the belt conveyor. The first mover motion information may include first mover distance information, which is the product of a preset threshold M and the transmission distance increment of the belt conveyor corresponding to a single transmission state signal. N and M are positive integers, and P is a non-negative integer.

[0084] As an optional solution, in response to the transmission status signal, the moving submodule is controlled to move along the stator module in a manner adapted to the motion state of the belt conveyor, including:

[0085] Sampling is performed on a single transmission state signal to obtain at least one transmission reference signal;

[0086] The movement of the moving submodule is controlled in response to a transmission reference signal in a specified order.

[0087] In this embodiment, a single transmission state signal is sampled to obtain one or more transmission reference signals. Among the one or more transmission reference signals, the transmission reference signals in a specified order are used to control the movement of the moving submodule.

[0088] The specified order can be set according to the order of signal sampling time. Based on the transmission reference signal obtained by sampling in the specified order, the moving submodule performs movement control a specified number of times. That is, if a transmission reference signal is collected and the order of the transmission reference signal conforms to the specified order, the moving submodule performs a single movement control.

[0089] In an alternative embodiment, such as Figure 8 As shown, the motion control method can be, but is not limited to, by... Figure 8 The control module 802 in the controller is executed, wherein the controller 802 includes at least a signal sampling unit 804 and a response execution unit 806. The signal sampling unit 804 is used to receive the transmission status signal 808 of the external device and perform signal sampling to obtain at least one transmission reference signal 810. The response execution unit 806 is used to perform movement control on the moving submodule according to at least one transmission reference signal 810 and a set specified order.

[0090] As an optional approach, the movement of the moving submodule is controlled in response to a specified sequence of transmission reference signals, including any of the following:

[0091] In response to each transmission reference signal obtained by sampling a single transmission state signal, the moving submodule is subjected to first movement control. The distance that the moving submodule moves in a single movement under the first movement control is related to the number of transmission reference signals sampled.

[0092] In response to a partial transmission reference signal obtained from a single transmission state signal sampling, a second movement control is performed on the moving submodule, wherein the distance the moving submodule moves in a single movement under the second movement control is related to the number of partial transmission reference signals used for response.

[0093] As an alternative implementation, the movement of the moving submodule can be controlled in response to each sampled transmission reference signal. In this case, the first movement control of the moving submodule is performed in response to each transmission reference signal sampled from a single transmission state signal.

[0094] It should be noted that the method of controlling the movement of the moving submodule in response to each transmission reference signal can be the same or different, as long as it can ensure that the total movement distance of the moving submodule matches the first moving distance information corresponding to a single transmission state signal.

[0095] When the travel distances corresponding to the various transmission reference signals obtained from individual transmission state signal sampling are different, the travel distances corresponding to each transmission reference signal can be set according to the actual situation, as long as it can be ensured that the total travel distance of the moving submodule matches the first moving distance information corresponding to a single transmission state signal. For example, the travel distances corresponding to the various transmission reference signals obtained from individual transmission state signal sampling can gradually increase or gradually decrease.

[0096] In this embodiment, the distance that the moving submodule moves in a single movement under the first movement control is related to the number of transmission reference signals obtained by sampling a single transmission state signal.

[0097] For example, if the distance information of the first moving part corresponding to a single transmission state signal is x, and the number of transmission reference signals obtained by sampling a single transmission state signal is one, then the distance moved by the moving part module in a single movement under the first movement control is x. However, if the number of transmission reference signals obtained by sampling a single transmission state signal is p, where p is an integer greater than 1, then when the movement distances corresponding to each transmission reference signal obtained by sampling a single transmission state signal are the same, the distance moved by the moving part module in a single movement under the first movement control is x / p.

[0098] As can be seen from the above, the first movement control of the moving submodule is performed by each transmission reference signal obtained by responding to the sampling of a single transmission state signal. When there is only one transmission reference signal, the control process is easy to implement. When there are multiple transmission reference signals, signal loss can be avoided and the control accuracy of the moving submodule can be improved. After the transmission state signal disappears for some reason (such as belt conveyor equipment failure, power outage, etc.), the movement control of the moving submodule can be stopped quickly because the transmission reference signal cannot be collected, thus improving safety.

[0099] As an alternative implementation, the movement of the moving submodule can be controlled in response to a sampled portion of the transmission reference signal. In this case, a second movement control is performed on the moving submodule in response to a sampled portion of the transmission reference signal from a single transmission state signal. The manner in which the movement of the moving submodule is controlled in response to each of the partial transmission reference signals can be the same or different.

[0100] It should be noted that a portion of the transmission reference signals obtained by sampling a single transmission state signal responds, while another portion does not. Therefore, the distance that the moving submodule moves in a single movement under the second movement control is related to the number of transmission reference signals used for response. In other words, the distance that the moving submodule moves in a single movement under the second movement control is related to the number of transmission reference signals used for response obtained by sampling a single transmission state signal.

[0101] For example, if the distance information of the first moving part corresponding to a single transmission state signal is x, and the number of transmission reference signals obtained by sampling a single transmission state signal is q, and the moving part module only responds to r of these transmission reference signals, then the distance the moving part module moves in a single movement under the second movement control is x / r, where r < q, r is a positive integer, and q is an integer greater than 1. The r transmission reference signals can be randomly selected from the sampled q transmission reference signals, or they can be selected in a specified order.

[0102] To further illustrate, if the signal response strategy is set as follows: within a single response period T, q transmission reference signals are sampled, and only r of them (or the specified y1 to y2 signals) are processed. r If the transmission reference signal is responded to, the distance the moving submodule moves in a single movement under the second movement control is x / r. Where r, y1 to y r All are positive integers, and r is less than q, y1 to y r None of them are greater than q.

[0103] For the above scheme, sampling a single transmission state signal multiple times can avoid signal loss and improve response accuracy. Responding to a portion of the transmission reference signal obtained from sampling a single transmission state signal can improve the control accuracy of the drive module, reduce control difficulty, and ensure safety. Not responding to the remaining portion of the transmission reference signal obtained from sampling a single transmission state signal can reduce noise interference and increase robustness.

[0104] In this embodiment, by setting different signal response strategies and controlling the response to the sampled transmission reference signal according to the set signal response strategies, the flexibility, convenience, safety, and robustness of the moving submodule control can be improved.

[0105] As an optional solution, after responding to the transmission status signal and controlling the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor, the above method further includes:

[0106] The active submodule is located in the operation area, which is the area where the item is manipulated;

[0107] Send item handling information to the belt conveyor so that the belt conveyor can perform relevant operations based on the item handling information.

[0108] In this embodiment, the item operation information includes at least one of item handover information and item processing information. When the operation information includes item handover information, processing the item is used to indicate that the item is transferred from the moving submodule to the operation area. When the operation information includes item processing information, processing the item is used to indicate that the item is transferred from the moving submodule to the operation area and that the item is processed using processing equipment in the operation area.

[0109] The embodiments provided in this application enable the following technical effect: based on the item operation information received by the belt conveyor, the items in the moving sub-module within the operation area are operated in accordance with the item operation information, thereby efficiently utilizing the combined motion of the moving sub-module and the belt conveyor to improve the operation efficiency of the items.

[0110] As an alternative, the belt conveyor includes a gripping mechanism; the belt conveyor performs relevant operations based on the item handling information, including: gripping an item carried on at least one moving submodule by means of the gripping mechanism, or gripping and placing at least one item on at least one moving submodule by means of the gripping mechanism.

[0111] In this embodiment, the gripping mechanism may be, but is not limited to, a robotic arm, used to grip items carried on at least one moving submodule, or to grip and place at least one item onto at least one moving submodule. During the gripping process using the aforementioned gripping mechanism, the belt conveyor may stop moving, and the moving submodule may also stop accordingly; alternatively, the belt conveyor may move at a configured transmission speed, and the moving submodule may move accordingly, wherein the configured transmission speed is a speed determined through debugging to ensure smooth gripping of the item.

[0112] Through the embodiments provided in this application, by cooperating with the gripping mechanism, the corresponding handover and transportation can be flexibly performed according to the item operation information, thereby improving the efficiency of item transportation.

[0113] As an optional approach, before controlling the moving submodule to move along the stator module in response to the transmission status signal to adapt to the motion state of the belt conveyor, the method may further include: performing a first position verification on the moving submodule and determining that the moving submodule has reached a first designated position, the first designated position being used to indicate the starting position of the moving submodule controlled by the transmission status signal.

[0114] In an optional embodiment, the position information of the moving submodule can be obtained first, and then the position information of the moving submodule can be verified to verify whether the moving submodule has reached the first designated position. If the moving submodule has reached the first designated position, it is determined that the moving submodule has started to be controlled by the transmission state signal.

[0115] For example, assuming there are moving submodule A and moving submodule B, if moving submodule A is detected to have reached the first designated position and a transmission status signal is obtained, then moving submodule A is controlled based on the transmission status signal; if moving submodule B is detected not to have reached the first designated position, even if a transmission status signal is obtained, moving submodule B is not controlled.

[0116] It should be noted that the first designated position is the linkage start position set in the stator module (corresponding to the moving sub-module), which corresponds to the linkage start position set in the belt conveyor (hereinafter referred to as the third designated position).

[0117] The aforementioned third designated position can be the position of the belt conveyor when it is stationary, such as the position of the belt conveyor when it is stationary based on the reference position selected on the belt structure of the belt conveyor; or it can be the position set when the belt conveyor is in motion, such as the forward position that has not yet been reached. In this way, a corresponding control strategy can be set to make the belt conveyor move to the set forward position and make the moving submodule move to the first designated position, and ensure that the subsequent motion states of the two are matched.

[0118] It is understandable that when the belt conveyor is in the third designated position and the belt conveyor is started and the moving submodule is moved to the first designated position, the placement area on the belt conveyor is moved to a suitable area to cooperate with the moving submodule.

[0119] It should be noted that the belt conveyor includes one or more storage areas for placing items. To ensure that the position of the moving sub-module corresponds to the storage area, it is necessary to ensure that when the moving sub-module reaches the first designated position, the position of the storage area on the belt conveyor is at the third designated position. Through the embodiments provided in this application, by setting the first designated position as the starting position of the associated motion area between the moving sub-module and the belt conveyor, and by adjusting the first designated position according to actual needs, the associated motion area can be flexibly adjusted. This achieves the technical effect of improving the control flexibility of the synchronous movement between the moving sub-module and the belt conveyor, thereby further improving the flexibility and efficiency of item transportation.

[0120] It should be noted that the initial position verification of the moving submodule can be achieved through software or hardware settings. For example, monitoring positions can be set using the stator module as the coordinate axis, and the position information of each moving submodule can be dynamically calculated by the software program to determine the time and order in which each moving submodule passes through the first specified position. Alternatively, inductive sensors (such as magnetic sensors or optical sensors) can be installed at the monitoring positions on the stator module. When a moving submodule passes through this trigger sensor, a trigger signal can be generated to determine the time and order in which the moving submodule passes through the first specified position. The inductive sensor can be connected to the stator line in a contact manner or a non-contact manner.

[0121] Through the embodiments provided in this application, when the first position verification of the moving submodule is implemented through software calculation, dependence on external hardware can be avoided, thereby reducing hardware costs. When the first position verification of the moving submodule is implemented through hardware detection, the verification accuracy and speed of the first position verification can be improved, and the computational load of the control module can be reduced. As an optional solution, after responding to the transmission state signal and controlling the moving submodule to move along the stator module to adapt to the motion state of the belt conveyor, the method may further include: performing a second position verification on the current position information and determining that the moving submodule has reached a second designated position, the second designated position being used to indicate the end position of the moving submodule that is no longer controlled by the transmission state signal.

[0122] In an optional embodiment, the position information of the moving submodule can be obtained first, and then the position information of the moving submodule can be verified to verify whether the moving submodule has reached the second designated position. If the moving submodule has reached the second designated position, it is determined that the moving submodule is not controlled by the transmission state signal.

[0123] For example, assuming there are moving submodules C and D that have passed the first designated position, if moving submodule C is detected to have reached the second designated position, then the movement control of moving submodule C based on the transmission status signal is released; if moving submodule D is detected not to have reached the second designated position, then the movement control of moving submodule D based on the transmission status signal continues. It should be noted that the second designated position can be, but is not limited to, being set based on the stator module, and the specific position is not limited in this embodiment. Through the embodiments provided in this application, by setting the second designated position as the end position of the joint movement between the moving submodule and the belt conveyor, and by adjusting the second designated position according to actual needs, the purpose of flexibly adjusting the above-mentioned synchronization area is achieved. This realizes the technical effect of improving the control flexibility of the synchronous movement between the moving submodule and the belt conveyor, thereby further improving the flexibility and efficiency of goods transportation. In practical applications, the positional relationship between the stator module and the conveyor belt determines the first and second designated positions corresponding to the moving module. The belt structure of the belt conveyor has areas for placing items, i.e., storage areas. Based on the size and distribution of these storage areas, it can be determined whether a third designated position is required for the belt conveyor. To facilitate understanding and implementation by those skilled in the art, examples are provided to illustrate the setting and use of the aforementioned first, second, and third designated positions.

[0124] In alternative embodiments, such as Figure 9 As shown, the belt structure 902 and the moving sub-module (such as moving sub-module 908) of the belt conveyor are along the same direction of article transport. Figure 9 The movement is linear (from left to right). The moving submodule 908 is equipped with clamping components for gripping and releasing items. The length of the belt structure 902 of the belt conveyor in the item transport direction is greater than the length of the stator module 906 in the item transport direction. The starting end of the belt conveyor 902 in the item transport direction is further to the left than the starting end of the stator module 906, and the ending end of the belt conveyor 902 in the item transport direction is further to the right than the starting end of the stator module 906. The belt structure 902 of the belt conveyor has a larger area for placing items, as shown in the placement area 904. The difficulty of placing items is relatively low. For belt conveyors, a third designated position is not required.

[0125] Based on the stator module 906, a first designated position 910 is set as the starting position for the associated movement of the moving submodule and the belt conveyor, and a second designated position 912 is set as the ending position for the associated movement of the moving submodule and the belt conveyor. Taking the moving submodule 908 as an example, the moving submodule 908 (e.g. Figure 9 The moving submodule 908 (shown by solid lines) holds an item (such as an object) in its clamping mechanism before reaching the first designated position 910. Figure 9 The moving submodule 908, after reaching the first designated position 910, moves in conjunction with the belt conveyor 902, and during the joint movement, it clamps the component to release the item (such as a black circular object). Figure 9 The circular item (shown by the dashed line) is transferred to the placement area 904 of the conveyor belt. After reaching the second designated position 912, the moving submodule 908 terminates its joint movement with the belt structure 902 of the belt conveyor.

[0126] In alternative embodiments, such as Figure 10 As shown, the belt structure 1002 and the moving module 1008 of the belt conveyor are along the same direction of transport of goods. Figure 10 The movement is linear (from left to right). The moving submodule 1008 is equipped with clamping components for gripping and releasing items. The length of the belt structure 1002 in the item transport direction is less than the length of the stator module 1006 in the item transport direction. The starting end of the belt structure 1002 in the item transport direction is further to the right than the starting end of the stator module 1006, and the ending end of the belt structure 1002 in the item transport direction is further to the left than the starting end of the stator module 1006. The placement area of ​​the belt structure 1002 for placing items is relatively large, as shown in the placement area 1004. The placement of items is relatively easy. For belt conveyors, a third designated position is not required.

[0127] Based on the stator module 1006, a first designated position 1010 is set as the starting position for the associated movement of the moving submodule and the belt conveyor, and a second designated position 1012 is set as the ending position for the associated movement of the moving submodule and the belt conveyor. Taking the moving submodule 1008 as an example, the moving submodule 1008 (e.g. Figure 10 The moving submodule 1008 (shown by solid lines) holds an item (such as...) in its clamping component before reaching the synchronization start position. Figure 10 The moving submodule 1008, upon reaching the first designated position 1010, moves in conjunction with the belt conveyor 1002, and during this joint movement, the clamping component releases the item, transferring it to the storage area 1004 of the conveyor belt. Upon reaching the second designated position 1012, the moving submodule 1008 disengages from the belt conveyor's belt structure 1012.

[0128] In alternative embodiments, such as Figure 11 As shown, the belt structure and moving sub-module (such as moving sub-module 1108) of the conveyor belt are along the same direction of article transport. Figure 11 (From left to right) The moving submodule 1108 is equipped with a clamping component for gripping and releasing items. The length of the conveyor belt structure 1102 in the item transport direction is equal to the length of the stator module 1106 in the item transport direction. The placement area of ​​the conveyor belt structure 1102 for placing items is small, as shown in the placement area 1104. Item placement is difficult. For belt conveyor equipment, a third designated position may not be required.

[0129] Based on the stator module 1106, a first designated position 1110 is set as the starting position for the associated movement of the moving submodule and the belt conveyor, and a second designated position 1112 is set as the ending position for the associated movement of the moving submodule and the belt conveyor. Taking the moving submodule 1108 as an example, the moving submodule 1108 (such as...) Figure 11 The moving submodule 1108 (shown in solid line) moves in conjunction with the belt structure 1102 of the belt conveyor after reaching the first designated position 1110, and during the combined movement, it clamps the component to release the item (such as...). Figure 11 The black circular object is transferred to the placement area 1104 of the belt structure 1102 of the conveyor belt. After reaching the second designated position 1112, the moving submodule 1108 ends its joint movement with the belt structure 1102 of the belt conveyor.

[0130] As an optional approach, after determining that the moving submodule has reached the second specified location, the method further includes:

[0131] After the moving submodule has moved out of the second designated position, control the moving submodule to maintain the same direction of movement, or control the moving submodule to perform a reversal movement.

[0132] In this embodiment, after determining that the moving submodule has moved out of the second designated position, various control strategies can be used to control the movement of the moving submodule.

[0133] As an optional implementation, after determining that the moving submodule has moved out of the second designated position, it can, but is not limited to, continue to move along the original direction of motion. For example, the moving submodule can be controlled to move in the direction it left the second designated position, and the moving speed can be higher than the moving speed during the combined motion process. If the shape of the stator module along the moving direction is a closed shape, the moving submodule can return to the original first designated position and re-engage with the belt conveyor to complete the handover of another item. If the shape of the stator module along the moving direction is not a closed shape, the moving submodule can move to the next first designated position and engage in combined motion with the next belt conveyor to complete the handover of another item.

[0134] As another optional implementation, the moving submodule can turn back after leaving the second designated position. In this case, after leaving the second designated position, the moving submodule can first decelerate or decelerate after moving to a designated position, and then move back to the original second designated position or the original first designated position after decelerating to 0. Depending on the actual load of the moving submodule, it can first place the carried item at the designated placement position before turning back, or, if the moving submodule is unloaded, it can first acquire the item before turning back.

[0135] Furthermore, depending on the actual load of the moving submodule, the functions of the original second designated position and the original first designated position can be interchanged. That is, the original second designated position becomes the new first designated position to start the joint movement of the moving submodule and the belt conveyor, while the original first designated position becomes the new second designated position to end the joint movement of the moving submodule and the belt conveyor.

[0136] It should be noted that the movement control of the moving sub-module is related to the docking method of the object. The control strategy can be set as needed to ensure that the movement of the moving sub-module matches the docking process of the object.

[0137] Through the embodiments provided in this application, after the joint movement of the moving submodule and the belt conveyor ends, the moving submodule can be controlled to move in the direction of leaving the second designated position, or to turn back after leaving the second designated position. The movement of the moving submodule can be flexibly controlled based on the object docking requirements, which can improve the adaptability of the movement control of the moving submodule.

[0138] As an optional solution, the control submodule moves along the stator module to adapt to the motion state of the belt conveyor, including:

[0139] S1, when the moving submodule is in a stationary state, the moving submodule is started based on the acquired transmission status signal, so that the belt conveyor drives the moving submodule to perform joint motion;

[0140] S2, when the moving submodule is in a moving state, adjust the moving state of the moving submodule based on the acquired transmission state signal so that the moving submodule moves in conjunction with the belt conveyor.

[0141] In this embodiment, the combined movement of the moving submodule and the belt conveyor can include: initiating combined movement and joint movement during operation. For initiating combined movement, if the moving submodule is initially stationary, it is controlled to start based on the acquired transmission status signal, so that the belt conveyor drives the moving submodule to perform combined movement. During this process, the moving submodule moves following the transmission of the belt conveyor; therefore, the initial moving speed of the moving submodule may be slightly slower than the transmission speed of the belt conveyor.

[0142] When starting the combined motion, both the belt conveyor and the moving submodule are initially stationary. Then, when the belt conveyor starts to drive, it simultaneously drives the moving submodule to move based on the acquired drive status signal.

[0143] During operation, based on the acquired transmission status signals, when the moving submodule is in a moving state, the movement state of the moving submodule is adjusted according to the acquired transmission status signals to synchronize the moving submodule with the belt conveyor. In this case, the movement state of the moving submodule can be adjusted based on the acquired transmission status signals, thereby adapting to different stator lines to control the movement of the moving submodule and ensure synchronization between the moving submodule and the belt conveyor.

[0144] It should be noted that, based on the acquired transmission status signal during operation, the moving submodule can be started first when it is in a moving state. In this case, the moving submodule moves according to the preset second movement control parameters (such as moving at a relatively fast speed). After the belt conveyor starts, the movement control module receives the transmission status signal and adjusts the movement state of the moving submodule based on the first movement control parameters, so that the movement increment of the moving submodule matches the transmission increment of the belt conveyor.

[0145] In this embodiment, the starting submodule can be started immediately after the belt conveyor is started, making the start-up operation simpler and more controllable, and ensuring that the two start synchronously. If the start-up timing changes, the start-up timing of the submodule can be adjusted by changing the start-up timing of the belt conveyor, thereby increasing flexibility.

[0146] As an optional approach, before controlling the moving submodule to move along the stator module to adapt to the motion state of the belt conveyor, the method further includes:

[0147] Within the set speed buffer zone, the moving speed of the moving submodule is adjusted based on the moving speed of the belt conveyor to match the moving speed of the moving submodule with that of the belt conveyor.

[0148] In this embodiment, in order to improve the synchronization between the moving submodule and the belt conveyor after the moving submodule reaches the first designated position, the movement state of the moving submodule can be adjusted according to the transmission mode of the belt conveyor before the moving submodule reaches the first designated position, so as to ensure that the movement state of the moving submodule when it reaches the first designated position is comparable to the movement state of the belt conveyor, so that the speed change process of the two can remain consistent, which is conducive to the smooth handover of objects.

[0149] Therefore, in this embodiment, a speed buffer zone is set before the first designated position so that the moving submodule can adjust its moving speed in the speed buffer zone, ensuring that the motion state of the moving submodule when it reaches the first designated position is equivalent to the motion state of the belt conveyor.

[0150] It should be noted that if the belt conveyor is intermittently driven, the end of the speed buffer zone can coincide with the first designated position, or the gap can be within the allowable error range. If the belt conveyor is continuously driven at a constant speed, the end of the speed buffer zone can coincide with the first designated position, or there can be a certain distance between them, as long as the moving submodule's speed when moving out of the speed buffer zone matches the belt conveyor's transmission speed. Then, the moving submodule maintains the speed it had when moving out of the speed buffer zone and moves at a constant speed to the first designated position.

[0151] The embodiments provided in this application establish a speed buffer zone before the first designated position, allowing the moving submodule to adjust its movement speed within this zone. This ensures that the movement state of the moving submodule upon reaching the first designated position is comparable to that of the belt conveyor. This improves the synchronization between the moving submodule and the belt conveyor, thereby increasing the efficiency of goods transportation based on this motion synchronization.

[0152] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application. In practical applications, the optional embodiments can be combined and cross-referenced without conflict, thereby extending to various possible embodiments. These extended embodiments can all be considered as embodiments disclosed and published in this application specification.

[0153] According to another aspect of the embodiments of this application, a motion control device for implementing the above-described motion control method is also provided. The motion control device is used to control the moving submodule to move along the stator module in a motion state adapted to the belt conveyor. The following detailed description, with reference to the accompanying drawings, will be provided through specific embodiments.

[0154] In an alternative embodiment, such as Figure 12 As shown, the motion control device 1202 is connected to the stator module or mover module of the magnetic drive motor equipment. The mover module is used to move along the stator module. The motion control device includes:

[0155] The acquisition unit 1204 is used to acquire the transmission status signal of the belt conveyor, wherein the transmission status signal is used to indicate the motion status of the belt conveyor, the belt conveyor is opposite to the stator module included in the magnetic drive motor device, and the moving module included in the magnetic drive motor device is used to move along the stator module.

[0156] The control unit 1206 is used to respond to the transmission status signal and control the moving submodule to move along the stator module to adapt to the motion state of the belt conveyor.

[0157] Through the embodiments provided in this application, the moving submodule is controlled to move on the stator module in a matching motion state according to the transmission state signal indicating the motion state of the belt conveyor, thereby achieving the motion coupling effect between the moving submodule and the belt conveyor, increasing the diversity of motion control of the moving submodule, which is conducive to the effective cooperation between the magnetic drive motor equipment and the belt conveyor, thereby improving the transportation cooperation efficiency between the two.

[0158] As an optional solution, the control unit may include:

[0159] The first determining module is used to respond to the transmission state signal, determine the first mover motion information corresponding to the transmission state signal, and control the mover module to move along the stator module according to the first mover motion information. The first mover motion information includes at least one of the first mover distance information and the first mover speed information.

[0160] As an optional approach, the first determining module may include:

[0161] The first acquisition submodule is used to acquire the first mover control parameters corresponding to the transmission state signal, wherein the first mover control parameters include the first mover motion information; the first mover control parameters are configured based on the transmission state quantity of the belt conveyor corresponding to the transmission state signal. As an optional solution, the transmission state quantity is a linear motion state quantity or a rotational motion state quantity.

[0162] As an alternative, the device may also include:

[0163] The second determining module is used to determine, before controlling the moving submodule to move along the stator module to adapt to the motion state of the belt conveyor in response to the transmission state signal, that the number of acquired transmission state signals has reached a preset threshold.

[0164] As an alternative, the device may also include:

[0165] The third determining module is used to control the moving module to move along the stator module to adapt to the motion state of the belt conveyor based on the first moving motion information corresponding to the number of transmission state signals that reach the preset threshold. The first moving motion information includes first moving distance information, which is determined according to the number of transmission state signals and the transmission distance increment of the belt conveyor corresponding to a single transmission state signal.

[0166] As an optional solution, the control unit may include:

[0167] The sampling module is used to sample a single transmission state signal to obtain at least one transmission reference signal;

[0168] The first control module is used to control the movement of the moving submodule in response to a transmission reference signal in a specified sequence.

[0169] As an optional solution, the first control module may include any of the following:

[0170] The first control submodule is used to perform first movement control on the moving submodule in response to each transmission reference signal obtained by sampling a single transmission state signal. The distance that the moving submodule moves in a single movement under the first movement control is related to the number of transmission reference signals sampled.

[0171] The second control submodule is used to perform second movement control on the moving submodule in response to a partial transmission reference signal obtained by sampling a single transmission state signal. The distance that the moving submodule moves in a single movement under the second movement control is related to the number of partial transmission reference signals used to respond.

[0172] As an alternative, the device may also include:

[0173] The fourth determining module is used to determine that the moving sub-module is in the operating area after responding to the transmission status signal and controlling the moving sub-module to move along the stator module to adapt to the motion state of the belt conveyor. The operating area is the area where the item is operated.

[0174] The sending module is used to send item operation information to the belt conveyor after responding to the transmission status signal and controlling the moving sub-module to move along the stator module to adapt to the motion state of the belt conveyor, so that the belt conveyor can perform relevant operations according to the item operation information.

[0175] As an alternative, the belt conveyor includes a gripping mechanism; the belt conveyor performs relevant operations based on the item handling information, including: gripping an item carried on at least one moving submodule by means of the gripping mechanism, or gripping and placing at least one item on at least one moving submodule by means of the gripping mechanism.

[0176] As an alternative, the device may also include:

[0177] The first verification module is used to perform a first position verification on the moving sub-module before controlling the moving sub-module to move along the stator module in accordance with the motion state of the belt conveyor in response to the transmission state signal, and to determine that the moving sub-module has reached a first designated position. The first designated position is used to indicate the starting position of the moving sub-module controlled by the transmission state signal.

[0178] As an alternative, the device may also include:

[0179] The second verification module is used to perform a second position verification on the current position information and determine that the moving submodule has reached a second designated position. The second designated position is used to indicate the end position of the moving submodule when it is not controlled by the transmission state signal.

[0180] As an alternative, the device may also include:

[0181] The second control module is used to control the moving submodule to maintain the same direction of movement or to perform a reversing movement after determining that the moving submodule has arrived at the second designated position or after determining that the moving submodule has left the second designated position.

[0182] As an optional solution, the control unit may include:

[0183] The third control module is used to control the start of the moving submodule based on the acquired transmission status signal when the moving submodule is in a stationary state, so that the moving submodule can be driven by the belt conveyor to perform joint motion.

[0184] The fourth control module is used to adjust the movement state of the moving submodule based on the acquired transmission state signal when the moving submodule is in a moving state, so that the moving submodule moves in conjunction with the belt conveyor.

[0185] In this embodiment, the implementation of the device can be referred to the above method embodiment, and will not be repeated here.

[0186] As an alternative, the device may also include:

[0187] The adjustment module is used to adjust the moving speed of the moving submodule within a set speed buffer range, based on the moving speed of the belt conveyor, before controlling the moving submodule to move along the stator module to adapt to the motion state of the belt conveyor, so as to match the moving speed of the moving submodule with the moving speed of the belt conveyor.

[0188] According to another aspect of the embodiments of this application, a magnetic drive motor device is also provided for cooperating with a belt conveyor to transport objects. The magnetic drive motor device includes a moving sub-module, a stator module, and a motion control module. The moving sub-module is used to move along the stator module. The motion control module is connected to the stator module or the moving sub-module and is used to respond to an acquired transmission state signal to control the moving sub-module to move along the stator module in a manner adapted to the motion state of the belt conveyor. The transmission state signal is used to indicate the motion state of the belt conveyor.

[0189] In this embodiment, the motion control module acquires the transmission status signal of the belt conveyor and, in response to the transmission status signal, sends a control command to the stator module included in the magnetic drive motor. The control command controls the stator module to move along the stator module included in the magnetic drive motor, adapting to the motion state of the belt conveyor. The belt conveyor and the stator module included in the magnetic drive motor are relative to each other.

[0190] The above-described magnetic drive motor device is used to execute the motion control method of the above-described moving submodule. For specific embodiments, please refer to the embodiments of the motion control method of the above-described moving submodule, which will not be repeated here.

[0191] According to another aspect of the embodiments of this application, an article transportation system is also provided, including a magnetic drive motor device and a belt conveyor device. The magnetic drive motor device is used to cooperate with the belt conveyor device to transport objects. The magnetic drive motor device includes a moving sub-module, a stator module, and a motion control module. The moving sub-module is used to move along the stator module. The motion control module is connected to the stator module or the moving sub-module and is used to respond to an acquired transmission state signal to control the moving sub-module to move along the stator module in a manner adapted to the motion state of the belt conveyor device. The transmission state signal is used to indicate the motion state of the belt conveyor device.

[0192] The aforementioned goods transportation system is used to execute the motion control method of the aforementioned moving submodule. Specific embodiments can be found in the embodiments of the motion control method of the aforementioned moving submodule, and will not be repeated here. According to another aspect of the embodiments of this application, a motion control device for implementing the aforementioned motion control method is also provided, further as follows: Figure 13As shown, the motion control device includes a memory 1302 and a processor 1304. The memory 1302 stores a computer program, and the processor 1304 is configured to execute the steps of any of the above method embodiments through the computer program.

[0193] Computer programs can include any suitable type of code implemented using any appropriate high-level, low-level, object-oriented, visual, compiled, and / or interpreted programming language, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, etc.

[0194] Optionally, in this embodiment, the motion control device may be located in at least one of a plurality of network devices in a computer network.

[0195] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0196] Acquire the transmission status signal of the belt conveyor, wherein the transmission status signal is used to indicate the motion status of the belt conveyor, which is relative to the stator module;

[0197] In response to the transmission status signal, the moving submodule is controlled to move along the stator module in a manner that adapts to the motion state of the belt conveyor.

[0198] Alternatively, as those skilled in the art will understand, Figure 13 The structure shown is for illustrative purposes only. Figure 13 This does not limit the structure of the aforementioned motion control device. For example, the motion control device may also include components that are more... Figure 13 The more or fewer components shown (such as network interfaces, etc.), or having the same Figure 13 The different configurations shown.

[0199] The memory 1302 can be used to store software programs and modules, such as the program instructions / modules corresponding to the motion control method and device of the moving submodule in this embodiment. The processor 1304 executes various functional applications and data processing by running the software programs and modules stored in the memory 1302, thereby realizing the motion control method of the moving submodule described above. The memory 1302 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1302 may further include memory remotely located relative to the processor 1304, and these remote memories can be connected to the motion control device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Specifically, the memory 1302 may be used, but is not limited to, to store information such as transmission status signals. As an example, such as Figure 13 As shown, the memory 1302 may include, but is not limited to, the acquisition unit 1204 and the control unit 1206 in the motion control device 1202 of the moving submodule. Furthermore, it may include, but is not limited to, other module units in the motion control device of the moving submodule, which will not be described further in this example.

[0200] Optionally, the communication device 1306 is used to receive or send data via a network. Specific examples of the network described above may include wired and wireless networks. In one example, the communication device 1306 includes a Network Interface Controller (NIC), which can be connected to other network devices and a router via a network cable to communicate with the Internet or a local area network. In another example, the communication device 1306 is a Radio Frequency (RF) module used to communicate wirelessly with the Internet.

[0201] In addition, the motion control device also includes: a display 1308 for displaying information such as transmission status signals; and a connection bus 1310 for connecting various module components in the motion control device.

[0202] According to one aspect of this application, a motion control device provides a computer program product comprising a computer program and / or instructions containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions provided in embodiments of this application.

[0203] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0204] It should be noted that the computer system of the motion control device is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0205] A computer system includes a Central Processing Unit (CPU), which performs various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) or loaded from RAM. ROM also stores various programs and data required for system operation. The CPU, ROM, and RAM are interconnected via a bus. Input / output interfaces (I / O interfaces) are also connected to the bus.

[0206] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium. When the computer program is executed by a central processing unit, it performs various functions defined in the system of this application.

[0207] According to one aspect of this application, a computer-readable storage medium is provided, wherein a processor of a computer device reads computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the computer device to perform the methods provided in the various alternative implementations described above.

[0208] Optionally, in this embodiment, the computer-readable storage medium described above may be configured to store a computer program for performing the following steps:

[0209] Acquire the transmission status signal of the belt conveyor, wherein the transmission status signal is used to indicate the motion status of the belt conveyor, which is relative to the stator module;

[0210] In response to the transmission status signal, the moving submodule is controlled to move along the stator module in a manner that adapts to the motion state of the belt conveyor.

[0211] Optionally, in this embodiment, those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the motion control device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0212] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0213] If the units and modules in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the control terminal...

[0214] (such as a control device, control equipment, etc.) performs all or part of the steps of the methods of the various embodiments of this application.

[0215] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0216] In the several embodiments provided in this application, it should be understood that the described embodiments are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0217] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0218] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each functional unit can exist physically separately, or two or more functional units can be integrated into one processing unit. Each functional unit can be implemented in hardware (such as circuits, processors, modules, etc.) or in software.

[0219] The above are merely optional embodiments of this application. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A motion control method, characterized in that, Applied to magnetic drive motor equipment, the method includes: Based on the transmission control signal transmitted inside the belt conveyor, the transmission status signal of the belt conveyor is obtained, wherein the transmission status signal is used to indicate the motion state of the belt conveyor, the belt conveyor is opposite to the stator module included in the magnetic drive motor device, and the mover module included in the magnetic drive motor device is used to move along the stator module. Responding to the transmission status signal, controlling the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor includes: sampling a single transmission status signal to obtain at least one transmission reference signal; and responding to the at least one transmission reference signal to perform at least one movement control on the moving submodule, wherein the movement distance of the moving submodule each time is obtained by dividing the transmission distance increment of the belt conveyor corresponding to a single transmission status signal by the total number of transmission reference signals in a specified order.

2. The method according to claim 1, characterized in that, The step of responding to the transmission state signal and controlling the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor includes: In response to the transmission state signal, the first mover motion information corresponding to the transmission state signal is determined, and the mover module is controlled to move along the stator module according to the first mover motion information. The first mover motion information includes at least one of the first mover distance information and the first mover speed information.

3. The method according to claim 2, characterized in that, The step of responding to the transmission state signal and determining the motion information of the first mover corresponding to the transmission state signal includes: Obtain the first mover control parameters corresponding to the transmission state signal, wherein the first mover control parameters include the first mover motion information; the first mover control parameters are configured based on the transmission state quantity of the belt conveyor corresponding to the transmission state signal.

4. The method according to claim 3, characterized in that, The transmission state quantity is a linear motion state quantity or a rotational motion state quantity.

5. The method according to claim 1, characterized in that, Before responding to the transmission state signal and controlling the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor, the method further includes: The number of acquired transmission state signals is determined to have reached a preset threshold.

6. The method according to claim 5, characterized in that, The step of responding to the transmission state signal and controlling the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor includes: Based on the first mover motion information corresponding to the transmission state signals whose quantity reaches the preset threshold, the mover module is controlled to move along the stator module to adapt to the motion state of the belt conveyor. The first mover motion information includes first mover distance information, which is determined based on the number of transmission state signals and the transmission distance increment of the belt conveyor corresponding to a single transmission state signal.

7. The method according to claim 6, characterized in that, The action of performing at least one movement control on the moving submodule in response to the at least one transmission reference signal includes any one of the following: In response to each of the transmission reference signals obtained by sampling a single transmission state signal, the moving submodule is subjected to first movement control, wherein the distance moved by the moving submodule in a single movement under the first movement control is related to the number of transmission reference signals sampled; In response to a portion of the transmission reference signal obtained from a single sample of the transmission state signal, a second movement control is performed on the moving submodule, wherein the distance the moving submodule moves in a single movement under the second movement control is related to the number of the partial transmission reference signals used in response.

8. The method according to claim 1, characterized in that, After responding to the transmission state signal and controlling the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor, the method further includes: The moving submodule is determined to be in the operation area, which is the area for operating the item; The belt conveyor sends item operation information to the belt conveyor so that the belt conveyor performs relevant operations based on the item operation information.

9. The method according to claim 8, characterized in that, The belt conveyor includes a gripping mechanism; the belt conveyor performs related operations according to the item operation information, including: gripping an item carried on at least one of the moving sub-modules through the gripping mechanism, or gripping and placing at least one item on at least one of the moving sub-modules through the gripping mechanism.

10. The method according to claim 1, characterized in that, Before responding to the transmission state signal and controlling the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor, the method further includes: The moving submodule is subjected to a first position verification, and it is determined that the moving submodule has reached a first designated position, the first designated position being used to indicate the starting position of the moving submodule under the control of the transmission state signal.

11. The method according to claim 10, characterized in that, After responding to the transmission state signal and controlling the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor, the method further includes: A second position verification is performed on the current position information, and it is determined that the moving submodule has reached a second designated position, which is used to indicate the end position of the moving submodule that is no longer controlled by the transmission state signal.

12. The method according to claim 11, characterized in that, After determining that the moving submodule has reached the second designated position, the method further includes: After determining that the moving submodule has moved out of the second designated position, control the moving submodule to maintain the same direction of movement, or control the moving submodule to perform a reversing movement.

13. The method according to any one of claims 1 to 12, characterized in that, The control of the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor includes: When the moving submodule is stationary, the moving submodule is started based on the acquired transmission status signal, so that the belt conveyor drives the moving submodule to perform joint motion; When the moving submodule is in a moving state, the moving state of the moving submodule is adjusted based on the acquired transmission state signal so that the moving submodule moves in conjunction with the belt conveyor.

14. The method according to any one of claims 1 to 12, characterized in that, Before controlling the moving submodule to move along the stator module in a motion state adapted to the belt conveyor, the method further includes: Within the set speed buffer zone, the moving speed of the moving submodule is adjusted based on the moving speed of the belt conveyor so that the moving speed of the moving submodule matches the moving speed of the belt conveyor.

15. A motion control device, characterized in that, The motion control device is connected to a stator module or a mover module included in a magnetic drive motor device, the mover module being used to move along the stator module. The acquisition unit is used to acquire the transmission status signal of the belt conveyor based on the transmission control signal transmitted inside the belt conveyor, wherein the transmission status signal is used to indicate the motion state of the belt conveyor, and the belt conveyor is relative to the stator module. A control unit is configured to respond to the transmission state signal and control the moving submodule to move along the stator module in a manner adapted to the motion state of the belt conveyor, comprising: sampling a single transmission state signal to obtain at least one transmission reference signal; and, in response to the at least one transmission reference signal, performing at least one movement control on the moving submodule, wherein the movement distance of the moving submodule each time is obtained by dividing the transmission distance increment of the belt conveyor corresponding to the single transmission state signal by the total number of transmission reference signals in a specified order.

16. A magnetic drive motor device, characterized in that, The magnetic drive motor device, used in conjunction with a belt conveyor to transport objects, includes a mover module, a stator module, and a motion control module. The moving module is used to move along the stator module; The motion control module, connected to the stator module or the moving sub-module, is used to control the moving sub-module to move along the stator module in accordance with the motion state of the belt conveyor in response to a transmission state signal obtained based on the transmission control signal transmitted inside the belt conveyor. This includes: sampling a single transmission state signal to obtain at least one transmission reference signal; and performing at least one motion control on the moving sub-module in response to the at least one transmission reference signal. The moving distance of the moving sub-module each time is obtained by dividing the transmission distance increment of the belt conveyor corresponding to a single transmission state signal by the total number of transmission reference signals in a specified order. The transmission state signal is used to indicate the motion state of the belt conveyor.

17. A goods transportation system, characterized in that, The system includes a magnetic drive motor and a belt conveyor. The magnetic drive motor is used in conjunction with the belt conveyor to transport objects. The magnetic drive motor includes a mover module, a stator module, and a motion control module. The moving module is used to move along the stator module; The motion control module, connected to the stator module or the moving sub-module, is used to control the moving sub-module to move along the stator module in accordance with the motion state of the belt conveyor in response to a transmission state signal obtained based on the transmission control signal transmitted inside the belt conveyor. This includes: sampling a single transmission state signal to obtain at least one transmission reference signal; and performing at least one motion control on the moving sub-module in response to the at least one transmission reference signal. The moving distance of the moving sub-module each time is obtained by dividing the transmission distance increment of the belt conveyor corresponding to a single transmission state signal by the total number of transmission reference signals in a specified order. The transmission state signal is used to indicate the motion state of the belt conveyor.

18. A computer-readable storage medium, characterized in that, It stores a program that, when executed by a processor, implements the method described in any one of claims 1 to 14.

19. A motion control device, characterized in that, The method includes a memory and one or more processors, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method of any one of claims 1 to 14.

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