A mover anti-collision control method and device and magnetic drive motor conveying system

Abstract

The present application discloses a method and device for controlling the anti-collision of a mover, and a magnetic drive motor conveying system. The magnetic drive motor conveying system includes a conveying line body formed by splicing a plurality of stators in sequence along the conveying line direction, a mover magnetically coupled to the stator, and a servo control component. The method includes: obtaining the current motion parameters of the mover according to the servo frequency of the servo control component; determining the real-time spacing between adjacent movers according to the current motion parameters; determining the safe spacing between adjacent movers according to the current motion parameters, the servo frequency, and the preset anti-collision spacing; judging whether there is a collision risk between adjacent movers according to the real-time spacing and the safe spacing; and if there is a collision risk, controlling the corresponding mover to slow down or stop. The present application can dynamically adjust the safe spacing between different movers to avoid mover collisions, while maximizing the conveying efficiency and ensuring the conveying stability and high precision of the magnetic drive motor conveying system under various working conditions.

Description

Technical Field

[0001] The present application relates to the field of automated conveying systems, and in particular to a mover anti-collision control method and device and a magnetic drive motor conveying system. Background Art

[0002] Magnetic motor conveying systems, also known as magnetic levitation conveying systems, are gradually replacing traditional belt and chain drive conveying systems in many applications due to their high flexibility, high speed, and high precision. These systems typically consist of a stator and a mover. The stators are joined in sequence along the conveying direction to form a conveyor line, while the movers move along the conveyor line. Despite the many advantages of magnetic motor conveying systems, collisions between movers have become a significant concern. These collisions can lead to material damage, equipment failure, and production interruptions, resulting in financial losses and reduced productivity.

[0003] In related technologies, magnetic drive motor conveying systems typically prevent collisions between movers by increasing the safety distance between them. However, while this approach can reduce the risk of collisions, it also significantly reduces conveying efficiency. Summary of the Invention

[0004] The embodiments of the present application provide a mover anti-collision control method and device, and a magnetic drive motor conveying system, which can dynamically adjust the safety distance between different movers and control the mover movement based on the safety distance, thereby avoiding mover collisions and maximizing conveying efficiency, ensuring the conveying stability and high precision of the magnetic drive motor conveying system under various working conditions. The above technical solutions are as follows:

[0005] In a first aspect, an embodiment of the present application provides a mover anti-collision control method, which is applied to a magnetic drive motor conveying system. The magnetic drive motor conveying system includes a conveying line body formed by sequentially splicing a plurality of stators along a conveying line direction, a mover magnetically coupled to the stators, and a servo control component. The method includes:

[0006] Obtaining current motion parameters of the mover according to the servo frequency of the servo control component;

[0007] Determine the real-time spacing between adjacent movers based on the above current motion parameters;

[0008] Determine the safety distance between the adjacent movers according to the current motion parameters, the servo frequency and the preset anti-collision distance; the preset anti-collision distance is used to represent the preset minimum distance between the collision edges of adjacent movers;

[0009] Determine whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing;

[0010] If there is a risk of collision, the corresponding mover is controlled to slow down or stop.

[0011] In a possible implementation, the current motion parameters include one or more of mover specifications, current position, motion direction, current speed, maximum speed limit, acceleration, and load status.

[0012] In a possible implementation, both the real-time spacing and the safety spacing represent the distance between the centers of adjacent movers; and determining the real-time spacing between adjacent movers based on the current motion parameters includes:

[0013] The real-time spacing between adjacent movers is determined according to the current positions of the movers.

[0014] In a possible implementation, determining the safe distance between adjacent movers based on the current motion parameters, the servo frequency of the servo control component, and a preset anti-collision distance includes:

[0015] Determine the safety radius of the mover according to the mover specifications and load conditions of the mover; the safety radius is used to represent the distance between the center of the mover and the collision edge;

[0016] determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle;

[0017] The safety distance between adjacent movers is determined according to the safety radius, the response distance and the preset anti-collision distance corresponding to each of the movers.

[0018] In a possible implementation, both the real-time spacing and the safety spacing represent the distance between the collision edges of adjacent movers; and determining the real-time spacing between adjacent movers based on the current motion parameters includes:

[0019] Determine a safety radius of the mover according to the mover specifications and load conditions of the mover, wherein the safety radius is used to represent the distance between the center of the mover and the collision edge;

[0020] The real-time spacing between adjacent movers is determined based on the safety radius corresponding to the movers and the current position.

[0021] In a possible implementation, determining the safe distance between adjacent movers based on the current motion parameters, the servo frequency of the servo control component, and a preset anti-collision distance includes:

[0022] determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle;

[0023] The safety distance between adjacent movers is determined according to the response distance corresponding to the movers and the preset anti-collision distance.

[0024] In one possible implementation, if there is a collision risk, controlling the corresponding mover to decelerate or stop includes:

[0025] If there is a collision risk, determining whether the adjacent movers are all in motion according to the current motion parameters corresponding to the adjacent movers;

[0026] When the adjacent movers are all in motion and move in the same direction, the rear mover among the adjacent movers is controlled to decelerate or stop;

[0027] When the adjacent movers are in motion and moving toward each other, the adjacent movers are controlled to stop simultaneously;

[0028] When there is a static mover among the adjacent movers, the mover in the moving state among the adjacent movers is controlled to stop.

[0029] In a possible implementation, after the corresponding movers are controlled to decelerate or stop, the distance between the collision edges of the adjacent movers is greater than or equal to the preset anti-collision distance.

[0030] In a possible implementation, determining the safety radius of the mover according to the mover specifications and load state of the mover includes:

[0031] When the load state is no-load, the safety radius of the mover is determined according to the mover specifications of the mover;

[0032] When the load state is loaded, obtaining a load specification of the load, and determining whether a length or a width of the load is greater than the corresponding mover according to the load specification;

[0033] If so, the safety radius of the mover is determined according to the load specification of the load;

[0034] If not, the safety radius of the mover is determined according to the mover specifications of the mover.

[0035] In a possible implementation, there are one or more preset sections on the conveyor line; each of the preset sections is independently provided with an interval anti-collision distance and / or an interval maximum speed limit.

[0036] In a possible implementation, when the mover is located within the preset interval, the preset anti-collision distance corresponding to the mover is the interval anti-collision distance of the preset interval; the maximum speed limit corresponding to the mover is the interval maximum speed limit of the preset interval.

[0037] In a possible implementation, the determining whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing includes:

[0038] If the real-time spacing between adjacent movers is smaller than the safety spacing, there is a risk of collision between the adjacent movers.

[0039] If the above-mentioned real-time distance between adjacent movers is not less than the above-mentioned safety distance, there is no collision risk between the above-mentioned adjacent movers.

[0040] In a second aspect, an embodiment of the present application provides a mover anti-collision control device configured in a magnetic drive motor conveying system, wherein the magnetic drive motor conveying system includes a conveying line body formed by sequentially splicing a plurality of stators along a conveying line direction, a mover magnetically coupled to the stators, and a servo control assembly, the device comprising:

[0041] An acquisition module, configured to acquire current motion parameters of the mover according to the servo frequency of the servo control component;

[0042] A real-time spacing module is used to determine the real-time spacing between adjacent movers based on the above current motion parameters;

[0043] A safety spacing module is used to determine the safety spacing between the adjacent movers based on the current motion parameters, the servo frequency, and a preset anti-collision spacing; the preset anti-collision spacing is used to represent a preset minimum distance between the collision edges of adjacent movers;

[0044] a risk judgment module, configured to judge whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing;

[0045] The execution module is used to control the corresponding mover to slow down or stop if there is a collision risk.

[0046] In a possible implementation, the current motion parameters include one or more of mover specifications, current position, motion direction, current speed, maximum speed limit, acceleration, and load status.

[0047] In a possible implementation, both the real-time spacing and the safety spacing represent the distance between the centers of adjacent movers; and the real-time spacing module is specifically configured to:

[0048] The real-time spacing between adjacent movers is determined according to the current positions of the movers.

[0049] In one possible implementation, the safety distance module is specifically configured to:

[0050] Determine the safety radius of the mover according to the mover specifications and load conditions of the mover; the safety radius is used to represent the distance between the center of the mover and the collision edge;

[0051] determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle;

[0052] The safety distance between adjacent movers is determined according to the safety radius, the response distance and the preset anti-collision distance corresponding to each of the movers.

[0053] In a possible implementation, both the real-time spacing and the safety spacing represent the distance between the collision edges of adjacent movers; and the real-time spacing module is specifically configured to:

[0054] Determine a safety radius of the mover according to the mover specifications and load conditions of the mover, wherein the safety radius is used to represent the distance between the center of the mover and the collision edge;

[0055] The real-time spacing between adjacent movers is determined based on the safety radius corresponding to the movers and the current position.

[0056] In one possible implementation, the safety distance module is specifically configured to:

[0057] determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle;

[0058] The safety distance between adjacent movers is determined according to the response distance corresponding to the movers and the preset anti-collision distance.

[0059] In a possible implementation, the execution module is specifically configured to:

[0060] If there is a collision risk, determining whether the adjacent movers are all in motion according to the current motion parameters corresponding to the adjacent movers;

[0061] When the adjacent movers are all in motion and move in the same direction, the rear mover among the adjacent movers is controlled to decelerate or stop;

[0062] When the adjacent movers are in motion and moving toward each other, the adjacent movers are controlled to stop simultaneously;

[0063] When there is a static mover among the adjacent movers, the mover in the moving state among the adjacent movers is controlled to stop.

[0064] In a possible implementation, after the corresponding movers are controlled to decelerate or stop, the distance between the collision edges of the adjacent movers is greater than or equal to the preset anti-collision distance.

[0065] In a possible implementation, the real-time distance module or the safety distance module is further configured to:

[0066] When the load state is no-load, the safety radius of the mover is determined according to the mover specifications of the mover;

[0067] When the load state is loaded, obtaining a load specification of the load, and determining whether a length or a width of the load is greater than the corresponding mover according to the load specification;

[0068] If so, the safety radius of the mover is determined according to the load specification of the load;

[0069] If not, the safety radius of the mover is determined according to the mover specifications of the mover.

[0070] In a possible implementation, there are one or more preset sections on the conveyor line; each of the preset sections is independently provided with an interval anti-collision distance and / or an interval maximum speed limit.

[0071] In a possible implementation, when the mover is located within the preset interval, the preset anti-collision distance corresponding to the mover is the interval anti-collision distance of the preset interval; the maximum speed limit corresponding to the mover is the interval maximum speed limit of the preset interval.

[0072] In one possible implementation, the risk assessment module is specifically configured to:

[0073] If the real-time spacing between adjacent movers is smaller than the safety spacing, there is a risk of collision between the adjacent movers.

[0074] If the above-mentioned real-time distance between adjacent movers is not less than the above-mentioned safety distance, there is no collision risk between the above-mentioned adjacent movers.

[0075] In a third aspect, an embodiment of the present application provides a computer storage medium, which stores a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the above method steps.

[0076] In a fourth aspect, an embodiment of the present application provides a magnetically driven motor conveying system, wherein the magnetically driven motor conveying system includes a conveying line body formed by a plurality of stators spliced ​​in sequence along the conveying line direction, a mover magnetically coupled with the stator, and a servo control component, wherein the servo control component includes: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the above-mentioned method steps.

[0077] In one or more embodiments of the present application, the current motion parameters of the movers are obtained according to the servo frequency of the servo control component; the real-time spacing between adjacent movers is determined based on the current motion parameters; the safety spacing between adjacent movers is determined based on the current motion parameters, the servo frequency, and a preset anti-collision spacing; the preset anti-collision spacing is used to represent the preset minimum distance between the collision edges of adjacent movers; the presence of a collision risk between adjacent movers is determined based on the real-time spacing and the safety spacing; if a collision risk exists, the corresponding mover is controlled to decelerate or stop. In this way, the mover anti-collision control method can be embedded in the servo loop of the magnetic drive motor conveying system, and the safety spacing between adjacent movers can be dynamically adjusted at high frequency, thereby effectively preventing collisions between movers while maintaining efficient conveying. Through servo control, the system can not only monitor and adjust the motion state of the movers in real time based on the servo frequency, but also dynamically adjust the safety spacing based on the current motion parameters of the movers, quickly respond to the state changes of the movers in a short time, intelligently predict and avoid collision risks, ensure that the appropriate safety spacing is always maintained between movers, and effectively avoid collisions. This method not only improves the safety and reliability of the system, but also optimizes conveying efficiency and reduces downtime and maintenance costs caused by collisions. In addition, since this method is implemented through a software algorithm and embedded in the servo loop of the magnetic drive motor conveying system, it has high control accuracy and controllability and does not require major modifications to hardware such as external sensors. Therefore, it can be easily integrated into the existing magnetic drive motor conveying system and has high applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0079] Figure 1 A schematic structural diagram of a magnetic drive motor conveying system provided in an embodiment of the present application;

[0080] Figure 2 A schematic flow chart of a mover anti-collision control method provided in an embodiment of the present application;

[0081] Figure 3 A schematic top view of the real-time distance between adjacent movers provided in an embodiment of the present application;

[0082] Figure 4 A schematic diagram of another real-time distance between adjacent movers provided in an embodiment of the present application;

[0083] Figure 5 A schematic flow chart of another mover anti-collision control method provided in an embodiment of the present application;

[0084] Figure 6 A schematic top view of a mover safety radius provided in an embodiment of the present application;

[0085] Figure 7 A schematic top view of a mover safety radius under different load conditions provided in an embodiment of the present application;

[0086] Figure 8 A schematic flow chart of another mover anti-collision control method provided in an embodiment of the present application;

[0087] Figure 9 A schematic structural diagram of a mover anti-collision control device provided in an embodiment of the present application;

[0088] Figure 10 A schematic structural diagram of another magnetic drive motor conveying system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0089] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0090] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0091] Please refer to the following Figure 1, which is a structural schematic diagram of a magnetic drive motor conveying system provided by an exemplary embodiment of this specification.

[0092] like Figure 1 As shown, the magnetic drive motor conveying system provided in the embodiment of the present application includes a stator and a mover magnetically coupled with the stator. Multiple stators are spliced ​​in sequence along the conveying line direction to form a conveying line body, and the mover can move on the conveying line body.

[0093] It is understood that the magnetic drive motor conveying system in the embodiments of this application refers to a conveying system based on a linear motor, such as a magnetic levitation conveying system. The stator is the fixed part that can be sequentially spliced ​​along the conveying direction to form a conveying line. The stator can be integrated with electromagnetic coils to generate an electromagnetic force field by controlling the current. The mover is the moving part suspended on the stator. The mover is suspended and driven by the electromagnetic force generated by the stator, thereby moving along the conveying path.

[0094] The magnetic drive motor conveying system also includes a servo control component, which can include a servo controller, sensors, and a driver. The sensors monitor the position, velocity, acceleration, and other motion parameters of the mover and feed this data back to the servo controller. The servo controller processes the sensor data, runs the control algorithm, and generates control signals. The driver receives the control signals from the servo controller and controls the stator by adjusting parameters such as current and voltage to generate an electromagnetic force field, thereby driving the levitation and movement of the mover.

[0095] In some embodiments, each stator is equipped with an independent driver. These independent drivers directly control the electromagnetic coils within their corresponding stators, enabling precise control of each stator's electromagnetic force field, improving system flexibility and control accuracy. In other embodiments, the drivers can be integrated into a local controller, to which multiple stators are connected via signals. The local controller centrally manages current and voltage control for these stators, simplifying system design and reducing hardware requirements.

[0096] The servo controller can be integrated into either the local controller or the host computer. Multiple local controllers can also be connected to a PLC (Programmable Logic Controller) or PC (Personal Computer) host computer, which monitors each local controller. The host computer is responsible for global data acquisition and control logic management, and communicates with the multiple local controllers. The host computer can use a high-precision timer or real-time operating system to execute control tasks according to the servo frequency (e.g., 60 Hz), ensuring that control signals are sent at the predetermined frequency.

[0097] The following is an explanation of the principle by which the stator drives the mover to move. The stator may include an armature winding, in which a plurality of coils arranged in phase sequence are provided. By periodically energizing the armature winding to change the magnetic field around the armature winding, the purpose of driving the mover to move is achieved. For example, the mover may be provided with a permanent magnet array, which generates a constant magnetic field around the mover. When the energization direction and / or the magnitude of the energizing current of the coil in the armature winding changes, a changing magnetic field will be generated around the armature winding. The changing magnetic field interacts with the constant magnetic field to drive the mover to move relative to the stator.

[0098] It should be noted that the mover is not limited to using a permanent magnet array to achieve coordination with the stator. The mover can also use a coil or other device to achieve movement of the mover relative to the stator by coordinating the changing magnetic field around the mover with the changing magnetic field around the stator. This embodiment of the present application is not limited to this.

[0099] Optionally, the shape formed by the stator in the magnetic drive motor conveying system along the direction of movement of the mover can be a straight line or an arc. Multiple stators can be spliced ​​together. Depending on the splicing of the stators, the shape of the conveying line can be a closed shape (circular, racetrack, square circle, etc.) or a non-closed shape (S-shaped, straight line, C-shaped, etc.).

[0100] Alternatively, for a single non-closed-shaped conveyor line or multiple non-closed-shaped conveyor lines spaced apart, a transfer mechanism can be used to transfer the mover from one conveyor line to another; or, alternatively, to transfer the mover from one end of the conveyor line to the other end. The transfer mechanism can use mechanical transmission components (conveyor belt components, chain components, telescopic components) to transfer the mover, forming a mixed conveyor line.

[0101] Next, combine Figure 1 , introduces the anti-collision control method of the mover provided by the embodiment of this application. For details, please refer to Figure 2 , which is a flow chart of a mover anti-collision control method provided by an exemplary embodiment of this specification. Figure 2 As shown, the mover anti-collision control method includes the following steps:

[0102] S201 , obtaining current motion parameters of the mover according to the servo frequency of the servo control component.

[0103] Specifically, the mover anti-collision control method provided in this embodiment can be embedded in the servo controller (local controller or host computer) of the magnetic drive motor conveying system; the servo control component will periodically obtain the current motion parameters of the mover at a specific frequency (i.e., the servo frequency). This periodic sampling enables the servo controller to monitor the status of the mover in real time and make corresponding control decisions based on these data to achieve mover anti-collision control.

[0104] The servo frequency of a servo control component refers to the number of control operations per second performed by the servo control component. Specifically, this frequency determines how frequently the servo controller collects sensor data, runs the control algorithm, and generates and sends control signals. The servo frequency can be preset based on the specific implementation scenario and can generally be set in the tens to hundreds of hertz (Hz). For example:

[0105] The servo frequency is 60 Hz: This means that the servo control component executes 60 control cycles per second, with each cycle taking approximately 16.67 milliseconds.

[0106] The servo frequency is 100Hz: This means that the servo control component performs 100 control cycles per second, and each cycle takes about 10 milliseconds.

[0107] The current motion parameters of the mover refer to various physical quantities that describe the real-time state of the mover. In some embodiments, the current motion parameters may include, but are not limited to, one or more of the following:

[0108] Mover Specifications: This refers to the physical dimensions and shape of the mover, which can include length, width, and height. These dimensions help determine the space the mover will occupy on the conveyor line.

[0109] Current Position: The current coordinates or position of the mover on the conveyor. Position data is typically acquired in real time using a position sensor (such as an encoder or laser sensor). The current position helps accurately locate the mover.

[0110] Direction of motion: The current direction of motion of the actuator, which can be expressed as a vector or angle. This direction of motion, combined with the actuator's velocity and acceleration, can be used to predict its future trajectory.

[0111] Current speed: The instantaneous speed of the mover, primarily including its linear velocity along the conveyor line. Current speed is calculated from the rate of change of data from a speed sensor or position sensor. This speed information helps regulate the mover's motion, ensuring it operates within a predetermined speed range.

[0112] Maximum speed limit: The maximum speed allowed for the mover in the conveying system. The maximum speed limit is determined by the design and safety requirements of the magnetic drive motor conveying system. It can prevent the mover from overspeeding and ensure that the mover operates within a safe and efficient range, thereby avoiding system failures or safety hazards.

[0113] Acceleration: The instantaneous acceleration of the mover, primarily including its linear acceleration along the conveyor line. Acceleration is obtained using an accelerometer or by calculating the rate of change of velocity. Acceleration information helps predict the dynamic behavior of the mover and make necessary control adjustments.

[0114] Load status: The status of the items carried by the mover, including the presence of a load, load weight, and load size. Load status information helps adjust the mover's motion parameters to ensure stable and safe operation under different load conditions.

[0115] For example, in this embodiment, the servo control component can perform the following operations at a servo frequency (e.g., 60 Hz):

[0116] Data acquisition: The sensor collects the current motion parameters of the actuator every 16.67 milliseconds (corresponding to a servo frequency of 60 Hz).

[0117] Data processing: The servo controller receives and processes these sensor data and updates the current motion parameters of the actuator.

[0118] Control decision: Based on the latest current motion parameters, the servo controller runs the control algorithm to determine whether the motion state of the actuator (such as speed, acceleration, etc.) needs to be adjusted.

[0119] Signal transmission: The servo controller generates a control signal and sends it to the driver to adjust the electromagnetic force field of the stator, thereby controlling the movement of the mover.

[0120] In a magnetic drive motor conveying system, obtaining the current motion parameters of the mover according to the servo frequency of the servo control component can ensure that the system can monitor the status of the mover in real time and make control decisions based on this data to maintain high-precision motion control and safety, helping to maximize conveying efficiency while avoiding mover collisions.

[0121] S202: Determine the real-time spacing between adjacent movers according to the current motion parameters.

[0122] Specifically, after obtaining the current motion parameters of the mover, the current position of the mover can be determined, and the relative positions of adjacent movers can be calculated based on the current positions of adjacent movers. The real-time spacing is the relative position between adjacent movers calculated after each acquisition of the current motion parameters of the mover according to the servo frequency. Calculating the real-time spacing between adjacent movers in real time according to the servo frequency helps monitor and manage the relative positions of the movers, thereby ensuring that adjacent movers maintain a safe distance and prevent collisions.

[0123] In this embodiment, the real-time spacing refers to the actual physical distance between two adjacent movers at the current moment. This distance changes dynamically because the movers are constantly moving in the magnetic drive motor conveying system. The current position of the mover can be determined by the center of the mover as a reference, expressed as the center coordinates of the mover on the conveyor line. In some embodiments, the real-time spacing can represent the actual physical distance between the center coordinates of the preceding mover and the center coordinates of the following mover.

[0124] For example, Figure 3 As shown, the distance between adjacent movers can be calculated using the Euclidean distance formula. For example, if the current position coordinate value of the previous mover is (x1, y1) and the current position coordinate value of the next mover is (x2, y2), the real-time distance D between the adjacent movers is

[0125] In other embodiments, the real-time spacing can represent the actual physical distance between the collision edges of the preceding mover and the following mover, and the collision edge with the closest physical distance between adjacent movers can be used as a judgment basis. The collision edge is the edge portion corresponding to the collision between adjacent movers.

[0126] For example, Figure 4 As shown, the distance D1 between the centers of adjacent movers can be determined based on the center coordinates of the current positions of the adjacent movers, and then the distances D2 (previous mover) and D3 (next mover) from the center of the mover to the collision edge of the mover can be determined based on the specifications and load status of the movers, thereby calculating the real-time spacing D between the adjacent movers to be D1-D2-D3.

[0127] S203 : determining a safe distance between adjacent movers according to current motion parameters, servo frequency, and a preset anti-collision distance.

[0128] Specifically, by comprehensively considering the current motion parameters of the movers, the servo frequency of the servo control component, and the preset anti-collision spacing, a safe spacing between adjacent movers is calculated. This safe spacing is dynamically adjusted to ensure sufficient space between movers to avoid collisions while maximizing conveying efficiency.

[0129] The current motion parameters of the mover may include but are not limited to the mover's specifications, current position, motion direction, current speed, maximum speed limit, acceleration, and load status. The real-time status of the mover can be determined by the mover's current motion parameters. This embodiment can set corresponding optimal safety distances for movers in different states. For example, the safety distance set when adjacent movers are moving towards each other is different from the safety distance when they are moving in the same direction; the safety distance set when adjacent movers are moving in a straight line is different from the safety distance when adjacent movers are turning; when adjacent movers use mover modules of different specifications, different safety distances are set according to the different specifications of the mover modules.

[0130] The servo control component performs control operations according to the servo frequency. When the servo frequency f of the servo control component is fixed, the time interval T (servo cycle) for performing the control operation is the same. However, the servo control component requires a certain response time from detecting a state change to performing the control operation. For example, the servo controller obtains the current motion parameters of the mover from the sensor at time t1; the servo controller processes the collected current motion parameters and runs the control algorithm, and sends a control signal to the driver at time t2 to adjust the motion of the mover; the servo controller obtains the current motion parameters of the mover from the sensor at time t3 and determines that the adjustment of the mover motion is complete. Among them, the interval time from time t1 to time t3 is the response time, specifically one or more time intervals T.

[0131] When a mover is running at high speed and there is a risk of collision with adjacent movers, even if the system responds promptly and controls the corresponding mover to slow down or stop, it may still continue to move forward a certain distance within the mover's response time. In other words, the response distance moved by the mover within the response time will affect the determination of the safe distance between adjacent movers. The servo frequency and the current motion parameters of the mover jointly affect the mover's response distance. A higher servo frequency means that the magnetic drive motor conveying system can detect and respond to changes in motion state more quickly, thereby reducing the required safe distance and improving the safety and efficiency of the system.

[0132] The preset anti-collision distance is used to characterize the preset minimum distance between the collision edges of adjacent movers. It can be understood that no matter what the circumstances, the distance between the collision edges of adjacent movers should always be greater than or equal to the preset anti-collision distance to meet the necessary safety requirements for running the movers.

[0133] In this embodiment, based on the preset anti-collision distance, combined with the current motion parameters of the mover and the servo frequency of the servo control component, the safety distance between adjacent movers is dynamically adjusted, which can achieve real-time monitoring and rapid response to the motion state of the mover, ensuring that the magnetic drive motor conveying system effectively avoids the risk of collision between movers while operating efficiently. Through high-frequency data acquisition and control operations, the system can detect potential collision risks in the shortest time and adjust the motion trajectory and speed of the mover in time, thereby maintaining the stability and safety of the entire conveying process. In addition, this dynamic adjustment mechanism not only improves the system's anti-collision capability, but also optimizes the spacing management between movers, so that the conveying system can maintain efficient and reliable operation under various working conditions.

[0134] S204: Determine whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing.

[0135] Specifically, whether there is a risk of mover collision is determined by comparing the actual physical distance (real-time spacing) between adjacent movers with the calculated safety spacing.

[0136] In some embodiments, the above-mentioned determination of whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing includes:

[0137] If the real-time spacing between adjacent movers is less than the safety spacing, there is a risk of collision between the adjacent movers;

[0138] If the real-time spacing between adjacent movers is not less than the safety spacing, there is no collision risk between adjacent movers.

[0139] Specifically, the real-time spacing is determined based on the current motion parameters of adjacent movers, and the safety spacing is determined based on the current motion parameters of adjacent movers, the servo frequency of the servo control component, and the preset anti-collision spacing. The safety spacing corresponding to different adjacent movers may be different.

[0140] It is important to note that the calculation format for the real-time spacing and the safety spacing should be unified. If the real-time spacing represents the actual physical distance between the center coordinates of the preceding mover and the center coordinates of the following mover, then the safety spacing also represents the safe distance between the center coordinates of the preceding mover and the center coordinates of the following mover. If the real-time spacing represents the actual physical distance between the collision edges of the preceding mover and the following mover, then the safety spacing also represents the safe distance between the collision edges of the preceding mover and the following mover.

[0141] S205: If there is a collision risk, the corresponding mover is controlled to decelerate or stop.

[0142] Specifically, if the real-time spacing between adjacent movers is less than the safety spacing, it is determined that the adjacent movers may collide if they continue to move in this manner, and the corresponding movers should be decelerated or stopped to avoid the occurrence of mover collision.

[0143] In some embodiments, after the corresponding movers are decelerated or stopped, the distance between the collision edges of adjacent movers is greater than or equal to a preset anti-collision distance. The preset anti-collision distance is always maintained between adjacent movers, meeting the necessary safety requirements for the movement of the movers.

[0144] In an embodiment of the present application, the current motion parameters of the movers are obtained according to the servo frequency of the servo control component; the real-time spacing between adjacent movers is determined based on the current motion parameters; the safety spacing between adjacent movers is determined based on the current motion parameters, the servo frequency, and a preset anti-collision spacing; the preset anti-collision spacing is used to represent the preset minimum distance between the collision edges of adjacent movers; the presence of a collision risk between adjacent movers is determined based on the real-time spacing and the safety spacing; if a collision risk exists, the corresponding mover is controlled to decelerate or stop. In this way, the mover anti-collision control method can be embedded in the servo loop of the magnetic drive motor conveying system, and the safety spacing between adjacent movers can be dynamically adjusted at high frequency, thereby effectively preventing collisions between movers while maintaining efficient conveying. Through servo control, the system can not only monitor and adjust the motion state of the movers in real time based on the servo frequency, but also dynamically adjust the safety spacing based on the current motion parameters of the movers, quickly respond to the state changes of the movers in a short time, intelligently predict and avoid collision risks, ensure that the appropriate safety spacing is always maintained between movers, and effectively avoid collisions. This method not only improves the safety and reliability of the system, but also optimizes conveying efficiency and reduces downtime and maintenance costs caused by collisions. In addition, since this method is implemented through a software algorithm and embedded in the servo loop of the magnetic drive motor conveying system, it has high control accuracy and controllability and does not require major modifications to hardware such as external sensors. Therefore, it can be easily integrated into the existing magnetic drive motor conveying system and has high applicability.

[0145] Please refer to the following Figure 5 , which is a flow chart of another mover anti-collision control method provided by an exemplary embodiment of this specification. Figure 5 As shown, the mover anti-collision control method includes the following steps:

[0146] S501 , obtaining current motion parameters of the mover according to the servo frequency of the servo control component.

[0147] Specifically, S501 is consistent with S201 and will not be described in detail here.

[0148] S502: Determine the real-time spacing between adjacent movers according to the current positions of the movers.

[0149] Specifically, the current motion parameters of the mover are obtained. The current motion parameters include the current position of the mover. The relative positions of adjacent movers can be calculated based on the current positions of adjacent movers. In this embodiment, the current position of the mover can be determined based on the center of the mover, which is expressed as the center coordinates of the mover on the conveyor line. The real-time spacing can represent the actual physical distance between the center coordinates of the previous mover and the center coordinates of the next mover. For example, the calculation process of the real-time spacing can refer to Figure 3.

[0150] S503 : Determine a safe radius of the mover according to the mover specifications and load status of the mover.

[0151] Specifically, the current motion parameters of the mover are obtained. The current motion parameters include the mover specifications and load status. The mover specifications include the mover's physical dimensions and shape, which may include length, width, and height. The load status includes the status of the item carried by the mover, including the presence of a load, load weight, and load size.

[0152] In this embodiment, the position of the collision edge of the mover can be determined by the mover specifications and load status. The collision edge is the edge portion corresponding to the collision between adjacent movers. The safety radius is used to represent the distance between the center of the mover and the collision edge.

[0153] In practical applications, the edge position where a mover may collide with an adjacent mover may vary with the movement of the mover, e.g. Figure 6 As shown in the figure, when the mover moves in a straight line, the edge position where the mover may collide with the adjacent movers in front and behind is the edge of the moving direction ( Figure 6 When the mover turns, the edge where the mover may collide with the adjacent movers in front and behind is the inward-bending corner ( Figure 6 (b) In some embodiments, the safety radius (L1) between the current mover and the previous adjacent mover, as well as the safety radius (L2) between the current mover and the next adjacent mover, can be determined in real time based on the actual collision edge between adjacent movers. In this case, the safety radius of the mover can correspond to different safety radii depending on the adjacent movers. In some embodiments, to reduce computational complexity, the safety radius (L3) can be determined based on the distance between the center coordinate of the mover and the mover's farthest collision edge. In this case, regardless of how the mover rotates, the safety radius can meet the requirements for safe movement of the mover.

[0154] In some embodiments, determining the safety radius of the mover according to the mover specifications and load status of the mover includes:

[0155] When the load state is no load, the safety radius of the mover is determined according to the mover specifications;

[0156] When the load state is loaded, the load specification of the load is obtained, and whether the length or width of the load is greater than the corresponding mover is determined according to the load specification;

[0157] If so, determine the safe radius of the mover based on the load specifications of the load;

[0158] If not, the safety radius of the mover is determined according to the mover specifications of the mover.

[0159] Specifically, when the mover operates at each workstation, the corresponding operation information will be stored, so the load status will also be recorded when a load is placed on the mover. Each mover is equipped with a unique mover ID. Based on the mover ID, the load status of the current mover can be obtained. The load status includes whether there is a load and the load specifications. When the mover is unloaded, the collision edge of the mover is the edge of the mover module itself, and the safety radius of the mover can be calculated based on the mover specifications of the mover. When the mover is loaded, it is necessary to compare the specifications of the mover and the load. When the length and width of the load are smaller than the mover, it means that the load is small and the load does not exceed the load-bearing area of ​​the mover. The collision edge of the mover is still the edge of the mover module itself, and the safety radius of the mover is still calculated based on the mover specifications of the mover. When either the length or width of the load is larger than the mover, it means that the load is large and the load exceeds the load-bearing area of ​​the mover. The collision edge of the mover is the edge of the load, and the safety radius of the mover should be calculated based on the load specifications of the load.

[0160] like Figure 7 As shown, mover A1 is equipped with a load B1. The length and width of mover A1 are both greater than those of load B1. In this case, the safety radius L1 of mover A1 can be calculated based on the specifications of mover A1. Mover A2 is equipped with a load B2. The length of mover A2 is less than the length of load B2. In this case, the safety radius L2 of mover A2 can be calculated based on the specifications of load B2. Mover A3 is equipped with a load B3. The width of mover A3 is less than the width of load B1. In this case, the safety radius L3 of mover A3 can be calculated based on the specifications of load B3.

[0161] In this embodiment, the magnetic drive motor conveying system can use movers of different specifications and can place loads of different specifications. Whether in linear motion or curved motion, the safety distance can be dynamically adjusted based on the safety radius of the mover, so that the safety distance can both avoid mover collision and maximize the conveying efficiency.

[0162] S504 : determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency.

[0163] Specifically, the response distance is used to characterize the maximum movement distance of the mover within the predicted response time, and can be calculated based on the current speed or maximum speed limit of the mover and the predicted response time. The predicted response time represents the longest response time of the magnetic drive motor conveying system from the start of detecting the current motion parameters of the mover to confirming that the mover has completed deceleration or stopping when the mover is at risk of collision. Since the magnetic drive motor conveying system obtains the current motion parameters of the mover based on the servo frequency, the process from judging the risk of collision of the mover to confirming that the mover has completed deceleration or stopping is all carried out according to the servo frequency. Therefore, the predicted response time is an integer multiple of the servo cycle, that is, it includes at least one servo cycle, and the servo cycle can be calculated based on the servo frequency. Among them, the predicted response time can be preset based on the number of servo cycles occupied in actual applications. For example, the predicted response time can be 1 servo cycle, 2 servo cycles, or 3 servo cycles.

[0164] In this embodiment, the safety distance is dynamically adjusted based on the response distance of the mover. A reasonable response distance can be dynamically adjusted under different servo frequencies and different mover speeds. The safety distance can be dynamically adjusted based on the response distance of the mover, so that the safety distance can avoid mover collision and maximize the conveying efficiency.

[0165] S505 , determining a safety distance between adjacent movers according to the safety radius, response distance, and preset anti-collision distance corresponding to each mover.

[0166] Specifically, when the real-time spacing represents the distance between the centers of adjacent movers, the safety spacing can also be correspondingly expressed as the distance between the centers of adjacent movers. When movers A and B move in the same direction, the calculation of the safety spacing only considers the response distance of the rear mover A, and the safety spacing = the safety radius L1 of mover A + the response distance L2 of mover A + the safety radius L3 of mover B + the preset anti-collision spacing L0; when movers A and B move in opposite directions, the calculation of the safety spacing needs to consider the response distances of movers A and B at the same time, and the safety spacing = the safety radius L1 of mover A + the response distance L2 of mover A + the safety radius L3 of mover B + the response distance L4 of mover B + the preset anti-collision spacing L0.

[0167] S506, judging whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing;

[0168] Specifically, S506 is consistent with S204 and will not be repeated here.

[0169] S507: If there is a collision risk, control the corresponding mover to decelerate or stop.

[0170] Specifically, S507 is consistent with S205 and will not be repeated here.

[0171] Please refer to the following Figure 8 , which is a flow chart of another mover anti-collision control method provided by an exemplary embodiment of this specification. Figure 8 As shown, the mover anti-collision control method includes the following steps:

[0172] S801 , obtaining current motion parameters of the mover according to the servo frequency of the servo control component.

[0173] Specifically, S801 is consistent with S201 and will not be described in detail here.

[0174] S802: Determine a safe radius of the mover according to the mover specifications and load status of the mover.

[0175] Specifically, S802 is consistent with S503 and will not be described in detail here.

[0176] S803: Determine the real-time spacing between adjacent movers according to the safety radius and current position of the movers.

[0177] Specifically, in this embodiment, the current position of the mover can be determined based on the center of the mover, which is expressed as the center coordinate of the mover on the conveyor line. The real-time spacing can represent the actual physical distance between the collision edges of the previous mover and the next mover. For example, the calculation process of the real-time spacing can refer to Figure 4 , the distance D1 between the centers of adjacent movers is determined based on the center coordinates of the current positions of the adjacent movers, and then the safe radius D2 (previous mover) and D3 (next mover) of the movers are determined based on the specifications and load conditions of the movers, so that the real-time spacing D between the adjacent movers is calculated to be D1-D2-D3.

[0178] S804: Determine the response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency.

[0179] Specifically, S804 is the same as S504 and will not be described in detail here.

[0180] S805 , determining a safety distance between adjacent movers according to a response distance corresponding to the movers and a preset anti-collision distance.

[0181] Specifically, when the real-time spacing represents the distance between the collision edges of adjacent movers, the safety spacing can also be correspondingly expressed as the distance between the collision edges of adjacent movers. When movers A and B move in the same direction, the calculation of the safety spacing only considers the response distance of mover A at the rear, and the safety spacing = the response distance L2 of mover A + the preset anti-collision spacing L0; when movers A and B move in opposite directions, the calculation of the safety spacing needs to consider the response distances of movers A and B at the same time, and the safety spacing = the response distance L2 of mover A + the response distance L4 of mover B + the preset anti-collision spacing L0.

[0182] S806, judging whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing;

[0183] Specifically, S806 is consistent with S204 and will not be repeated here.

[0184] S807: If there is a collision risk, control the corresponding mover to decelerate or stop.

[0185] Specifically, S807 is consistent with S205 and will not be repeated here.

[0186] In some embodiments of the present application, if there is a collision risk, controlling the corresponding mover to decelerate or stop includes:

[0187] If there is a collision risk, determine whether the adjacent movers are in motion based on their respective current motion parameters;

[0188] When the adjacent movers are in motion and move in the same direction, the rear mover among the adjacent movers is controlled to decelerate or stop;

[0189] When the adjacent movers are in motion and moving toward each other, the adjacent movers are controlled to stop at the same time;

[0190] When there is a static mover among the adjacent movers, the mover in the moving state among the adjacent movers is controlled to stop.

[0191] Specifically, if the magnetic drive motor conveying system determines that there is a risk of collision between adjacent movers, the current motion parameters corresponding to each adjacent mover are required to determine whether the adjacent movers are in motion. Whether the movers are in motion can be determined based on motion parameters such as the movers' speed and acceleration.

[0192] When adjacent movers are in motion and moving in the same direction, the risk of collision is caused by the rear mover being too fast. This mover can be decelerated. When the rear mover slows down to the same speed as the front mover, the distance between the collision edges of the adjacent movers should be greater than or equal to the preset anti-collision distance. Furthermore, the rear mover can be further decelerated or stopped to ensure that the real-time distance between the adjacent movers is greater than or equal to the safe distance, after which normal motion control of the movers can resume.

[0193] When adjacent movers are in motion and moving toward each other, they should be stopped simultaneously to avoid collision. When both adjacent movers are stopped, the distance between the collision edges of the adjacent movers should be greater than or equal to the preset anti-collision spacing.

[0194] When one adjacent mover is stationary and the other is in motion, the collision risk is caused by the moving mover, and the moving mover should be stopped. When the moving mover stops, the distance between the collision edges of the adjacent movers should be greater than or equal to the preset anti-collision distance.

[0195] In this embodiment, collision risk monitoring and corresponding mover control measures are performed in each servo control.

[0196] Through the control strategy of this embodiment, the magnetic drive motor conveying system can take the most appropriate control measures to avoid collision according to the specific relative positions and motion states between the movers.

[0197] In some embodiments of the present application, there are one or more preset interval sections on the conveyor line; each preset interval section is independently set with an interval anti-collision distance and / or an interval maximum speed limit.

[0198] Specifically, the conveyor line in this embodiment can uniformly adopt the same maximum speed limit and preset anti-collision distance, or it can be divided into preset intervals, and the interval anti-collision distance and / or interval maximum speed limit can be independently set within the preset interval. In different intervals, setting the anti-collision distance and maximum speed limit suitable for the specific conditions of the section can optimize the operating performance of the mover. For example, in intervals with turns, intersections, or large load changes, stricter anti-collision distances and lower speed limits can be set to ensure safety; while in straight and obstacle-free intervals, looser anti-collision distances and higher speed limits can be set to improve transportation efficiency.

[0199] In some embodiments, when the mover is located within a preset interval, the preset anti-collision distance corresponding to the mover is the interval anti-collision distance of the preset interval; the maximum speed limit corresponding to the mover is the interval maximum speed limit of the preset interval.

[0200] Please refer to the following Figure 9 , Figure 9 An exemplary embodiment of the present application provides a mover anti-collision control device, which is configured in a magnetic drive motor conveying system. The magnetic drive motor conveying system includes a conveying line body formed by sequentially splicing a plurality of stators along the conveying line direction, a mover magnetically coupled to the stator, and a servo control component, such as Figure 9 As shown, the mover anti-collision control device 900 includes:

[0201] An acquisition module 910 is configured to acquire current motion parameters of the mover according to the servo frequency of the servo control component;

[0202] A real-time spacing module 920 is used to determine the real-time spacing between adjacent movers based on the current motion parameters;

[0203] A safety spacing module 930 is configured to determine a safety spacing between adjacent movers based on the current motion parameters, the servo frequency, and a preset anti-collision spacing; the preset anti-collision spacing is used to represent a preset minimum distance between collision edges of adjacent movers;

[0204] A risk judgment module 940 is configured to judge whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing;

[0205] The execution module 950 is used to control the corresponding mover to decelerate or stop if there is a collision risk.

[0206] In some possible embodiments, the current motion parameters include one or more of mover specifications, current position, motion direction, current speed, maximum speed limit, acceleration, and load status.

[0207] In some possible embodiments, both the real-time spacing and the safety spacing represent the distance between the centers of adjacent movers; the real-time spacing module 920 is specifically configured to:

[0208] The real-time spacing between adjacent movers is determined according to the current positions of the movers.

[0209] In some possible embodiments, the safety distance module 930 is specifically configured to:

[0210] Determine the safety radius of the mover according to the mover specifications and load conditions of the mover; the safety radius is used to represent the distance between the center of the mover and the collision edge;

[0211] determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle;

[0212] The safety distance between adjacent movers is determined according to the safety radius, the response distance and the preset anti-collision distance corresponding to each of the movers.

[0213] In some possible embodiments, both the real-time spacing and the safety spacing represent the distance between the collision edges of adjacent movers; the real-time spacing module 920 is specifically configured to:

[0214] Determine a safety radius of the mover according to the mover specifications and load conditions of the mover, wherein the safety radius is used to represent the distance between the center of the mover and the collision edge;

[0215] The real-time spacing between adjacent movers is determined based on the safety radius corresponding to the movers and the current position.

[0216] In some possible embodiments, the safety distance module 930 is specifically configured to:

[0217] determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle;

[0218] The safety distance between adjacent movers is determined according to the response distance corresponding to the movers and the preset anti-collision distance.

[0219] In some possible embodiments, the execution module 950 is specifically configured to:

[0220] If there is a collision risk, determining whether the adjacent movers are all in motion according to the current motion parameters corresponding to the adjacent movers;

[0221] When the adjacent movers are all in motion and move in the same direction, the rear mover among the adjacent movers is controlled to decelerate or stop;

[0222] When the adjacent movers are in motion and moving toward each other, the adjacent movers are controlled to stop simultaneously;

[0223] When there is a static mover among the adjacent movers, the mover in the moving state among the adjacent movers is controlled to stop.

[0224] In some possible embodiments, after the corresponding movers are controlled to decelerate or stop, the distance between the collision edges of the adjacent movers is greater than or equal to the preset anti-collision distance.

[0225] In some possible embodiments, the real-time distance module 920 or the safety distance module 930 is further specifically configured to:

[0226] When the load state is no-load, the safety radius of the mover is determined according to the mover specifications of the mover;

[0227] When the load state is loaded, obtaining a load specification of the load, and determining whether a length or a width of the load is greater than the corresponding mover according to the load specification;

[0228] If so, the safety radius of the mover is determined according to the load specification of the load;

[0229] If not, the safety radius of the mover is determined according to the mover specifications of the mover.

[0230] In some possible embodiments, there are one or more preset sections on the conveyor line; each of the preset sections is independently provided with an interval anti-collision distance and / or an interval maximum speed limit.

[0231] In some possible embodiments, when the above-mentioned mover is located in the above-mentioned preset interval segment, the above-mentioned preset anti-collision distance corresponding to the above-mentioned mover is the interval anti-collision distance of the above-mentioned preset interval; the maximum speed limit corresponding to the above-mentioned mover is the interval maximum speed limit of the above-mentioned preset interval.

[0232] In some possible embodiments, the risk determination module 940 is specifically configured to:

[0233] If the real-time spacing between adjacent movers is smaller than the safety spacing, there is a risk of collision between the adjacent movers.

[0234] If the above-mentioned real-time distance between adjacent movers is not less than the above-mentioned safety distance, there is no collision risk between the above-mentioned adjacent movers.

[0235] The division of the modules in the above-mentioned mover anti-collision control device is only for illustration. In other embodiments, the mover anti-collision control device can be divided into different modules as needed to complete all or part of the functions of the above-mentioned mover anti-collision control device. The implementation of each module in the mover anti-collision control device provided in the embodiment of the present application can be in the form of a computer program. The computer program can be run on a terminal or a server. The program modules constituted by the computer program can be stored in the memory of the terminal or the server. When the computer program is executed by the processor, all or part of the steps of the mover anti-collision control method described in the embodiment of the present application are implemented.

[0236] See also Figure 10 , Figure 10 A schematic diagram of a magnetic drive motor conveying system according to an exemplary embodiment of the present application is provided. The magnetic drive motor conveying system 1000 includes a conveying line body formed by sequentially splicing a plurality of stators 1010 along the conveying line, a mover 1020 magnetically coupled to the stator 1010, and a servo control assembly 1030. The servo control assembly 1030 includes: a processor 1031 and a memory 1032;

[0237] The processor 1031 may include one or more processing cores. The processor 1031 utilizes various interfaces and lines to connect various parts of the entire magnetic drive motor conveying system 1000, and executes various functions and processes data of the magnetic drive motor conveying system 1000 by running or executing instructions, programs, code sets or instruction sets stored in the memory 1032, and calling data stored in the memory 1032. Optionally, the processor 1031 may be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 1031 may integrate one or a combination of a processor (Central Processing Unit, CPU), a graphics processing unit (GPU), and a modem.

[0238] Among them, the memory 1032 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 1032 includes a non-transitory computer-readable medium. The memory 1032 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1032 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as an acquisition function, a judgment function, an execution function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1032 may also be optionally at least one storage device located away from the aforementioned processor 1031. As Figure 10 As shown, the memory 1032 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0239] Specifically, the processor 1031 may be configured to call program instructions stored in the memory 1032 and perform the following operations:

[0240] Obtaining current motion parameters of the mover according to the servo frequency of the servo control component;

[0241] Determine the real-time spacing between adjacent movers based on the above current motion parameters;

[0242] Determine the safety distance between the adjacent movers according to the current motion parameters, the servo frequency and the preset anti-collision distance; the preset anti-collision distance is used to represent the preset minimum distance between the collision edges of adjacent movers;

[0243] Determine whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing;

[0244] If there is a risk of collision, the corresponding mover is controlled to slow down or stop.

[0245] In some possible embodiments, the current motion parameters include one or more of mover specifications, current position, motion direction, current speed, maximum speed limit, acceleration, and load status.

[0246] In some possible embodiments, both the real-time spacing and the safety spacing represent the distance between the centers of adjacent movers; when determining the real-time spacing between adjacent movers according to the current motion parameters, the processor 1031 further specifically performs:

[0247] The real-time spacing between adjacent movers is determined according to the current positions of the movers.

[0248] In some possible embodiments, when determining the safe distance between adjacent movers based on the current motion parameters, the servo frequency of the servo control component, and the preset anti-collision distance, the processor 1031 further specifically performs:

[0249] Determine the safety radius of the mover according to the mover specifications and load conditions of the mover; the safety radius is used to represent the distance between the center of the mover and the collision edge;

[0250] determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle;

[0251] The safety distance between adjacent movers is determined according to the safety radius, the response distance and the preset anti-collision distance corresponding to each of the movers.

[0252] In some possible embodiments, both the real-time spacing and the safety spacing represent the distance between the collision edges of adjacent movers; when determining the real-time spacing between adjacent movers according to the current motion parameters, the processor 1031 further specifically performs:

[0253] Determine a safety radius of the mover according to the mover specifications and load conditions of the mover, wherein the safety radius is used to represent the distance between the center of the mover and the collision edge;

[0254] The real-time spacing between adjacent movers is determined based on the safety radius corresponding to the movers and the current position.

[0255] In some possible embodiments, when determining the safe distance between adjacent movers based on the current motion parameters, the servo frequency of the servo control component, and the preset anti-collision distance, the processor 1031 further specifically performs:

[0256] determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle;

[0257] The safety distance between adjacent movers is determined according to the response distance corresponding to the movers and the preset anti-collision distance.

[0258] In some possible embodiments, when the processor 1031 controls the corresponding mover to decelerate or stop if there is a collision risk, it further specifically performs:

[0259] If there is a collision risk, determining whether the adjacent movers are all in motion according to the current motion parameters corresponding to the adjacent movers;

[0260] When the adjacent movers are all in motion and move in the same direction, the rear mover among the adjacent movers is controlled to decelerate or stop;

[0261] When the adjacent movers are in motion and moving toward each other, the adjacent movers are controlled to stop simultaneously;

[0262] When there is a static mover among the adjacent movers, the mover in the moving state among the adjacent movers is controlled to stop.

[0263] In some possible embodiments, after the corresponding movers are controlled to decelerate or stop, the distance between the collision edges of the adjacent movers is greater than or equal to the preset anti-collision distance.

[0264] In some possible embodiments, when determining the safety radius of the mover according to the mover specifications and load status of the mover, the processor 1031 further specifically performs:

[0265] When the load state is no-load, the safety radius of the mover is determined according to the mover specifications of the mover;

[0266] When the load state is loaded, obtaining a load specification of the load, and determining whether a length or a width of the load is greater than the corresponding mover according to the load specification;

[0267] If so, the safety radius of the mover is determined according to the load specification of the load;

[0268] If not, the safety radius of the mover is determined according to the mover specifications of the mover.

[0269] In some possible embodiments, there are one or more preset sections on the conveyor line; each of the preset sections is independently provided with an interval anti-collision distance and / or an interval maximum speed limit.

[0270] In some possible embodiments, when the above-mentioned mover is located in the above-mentioned preset interval segment, the above-mentioned preset anti-collision distance corresponding to the above-mentioned mover is the interval anti-collision distance of the above-mentioned preset interval; the maximum speed limit corresponding to the above-mentioned mover is the interval maximum speed limit of the above-mentioned preset interval.

[0271] In some possible embodiments, when determining whether there is a collision risk between adjacent movers based on the real-time distance and the safety distance, the processor 1031 further specifically performs:

[0272] If the real-time spacing between adjacent movers is smaller than the safety spacing, there is a risk of collision between the adjacent movers.

[0273] If the above-mentioned real-time distance between adjacent movers is not less than the above-mentioned safety distance, there is no collision risk between the above-mentioned adjacent movers.

[0274] The present application also provides a computer-readable storage medium containing instructions that, when executed on a computer or processor, cause the computer or processor to perform one or more steps of the aforementioned embodiments. If the various components of the aforementioned mover anti-collision control device are implemented as software functional units and sold or used as independent products, they may be stored in the aforementioned computer-readable storage medium.

[0275] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The above-mentioned computer program product includes one or more computer instructions. When the above-mentioned computer program instructions are loaded and executed on a computer, the above-mentioned process or function according to the embodiment of the present application is generated in whole or in part. The above-mentioned computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The above-mentioned computer instructions can be stored in a computer-readable storage medium or transmitted by the above-mentioned computer-readable storage medium. The above-mentioned computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The above-mentioned computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The above-mentioned available media can be magnetic media (for example, floppy disks, hard disks, tapes), optical media (for example, digital versatile discs (DVDs)), or semiconductor media (for example, solid state disks (SSDs)).

[0276] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When executed, the program can include the processes of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks. The technical features of this embodiment and the implementation scheme can be combined in any manner unless they conflict.

[0277] The embodiments described above are merely preferred embodiments of the present application and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should fall within the scope of protection determined by the claims.

[0278] The foregoing description describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims and the specification can be performed in a different order than that described in the embodiments described in the specification and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A mover anti-collision control method, characterized in that: Applied to a magnetic drive motor conveying system, the magnetic drive motor conveying system includes a conveying line body formed by sequentially splicing a plurality of stators along the conveying line direction, a mover magnetically coupled to the stators, and a servo control component, the method comprising: obtaining current motion parameters of the mover according to a servo frequency of the servo control component, wherein the servo frequency is the number of control operations performed by the servo control component per second, wherein the control operations include collecting sensor data, running a control algorithm, and generating and sending a control signal; Determine the real-time spacing between adjacent movers according to the current motion parameters; Determining the safety distance between adjacent movers according to the current motion parameter, the servo frequency and a preset anti-collision distance; the preset anti-collision distance is used to represent a preset minimum distance between collision edges of adjacent movers; Determining whether there is a collision risk between adjacent movers according to the real-time spacing and the safety spacing; If there is a risk of collision, the corresponding mover is controlled to slow down or stop; The real-time spacing and the safety spacing both represent the distance between the centers of adjacent movers; and determining the real-time spacing between adjacent movers according to the current motion parameters includes: determining a real-time spacing between adjacent movers according to the current position of the movers; The step of determining the safe distance between adjacent movers according to the current motion parameter, the servo frequency of the servo control component, and the preset anti-collision distance includes: The collision edge position of the mover is determined according to the mover specifications and load state of the mover, and the safety radius of the mover is determined based on the center coordinates of the mover and the collision edge position; the safety radius is used to represent the distance between the center of the mover and the collision edge. When the mover moves in a straight line, the collision edge position is the edge of the mover in the direction of movement; when the mover turns, the collision edge position is the inward-bending corner of the mover; Determining a response distance of the mover based on the current speed or maximum speed limit of the mover, the servo frequency, and the number of occupied servo cycles; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time is an integer multiple of the servo cycle and includes at least one servo cycle; The safety distance between adjacent movers is determined according to the safety radius, the response distance and the preset anti-collision distance corresponding to each of the movers.

2. The mover anti-collision control method according to claim 1, characterized in that: The current motion parameters include one or more of mover specifications, current position, motion direction, current speed, maximum speed limit, acceleration and load status.

3. The mover anti-collision control method according to claim 1, characterized in that: The real-time spacing and the safety spacing both represent the distance between the collision edges of adjacent movers; and determining the real-time spacing between adjacent movers according to the current motion parameters includes: determining a safety radius of the mover according to the mover specification and load state of the mover, wherein the safety radius is used to represent the distance between the center of the mover and the collision edge; The real-time spacing between adjacent movers is determined according to the safety radius and current position corresponding to the movers.

4. The mover anti-collision control method according to claim 3, characterized in that: The step of determining the safe distance between adjacent movers according to the current motion parameter, the servo frequency of the servo control component, and the preset anti-collision distance includes: Determining a response distance of the mover according to the current speed or maximum speed limit of the mover and the servo frequency; the response distance is used to represent the maximum moving distance of the mover within a predicted response time; the predicted response time includes at least one servo cycle; The safety distance between adjacent movers is determined according to the response distance corresponding to the movers and the preset anti-collision distance.

5. The mover anti-collision control method according to claim 1, characterized in that: If there is a collision risk, the corresponding mover is controlled to decelerate or stop, including: If there is a collision risk, determining whether the adjacent movers are both in motion according to the current motion parameters corresponding to the adjacent movers; When the adjacent movers are all in motion and move in the same direction, the rear mover among the adjacent movers is controlled to decelerate or stop; When the adjacent movers are both in motion and moving toward each other, the adjacent movers are controlled to stop simultaneously; When there is a mover in a stationary state among the adjacent movers, the mover in a moving state among the adjacent movers is controlled to stop.

6. The mover anti-collision control method according to claim 1, characterized in that: After the corresponding movers are controlled to decelerate or stop, the distance between the collision edges of adjacent movers is greater than or equal to the preset anti-collision distance.

7. The mover anti-collision control method according to claim 1 or 3, characterized in that: Determining the safety radius of the mover according to the mover specifications and load state of the mover includes: When the load state is no load, determining the safety radius of the mover according to the mover specifications of the mover; When the load state is loaded, obtaining a load specification of the load, and determining whether a length or a width of the load is greater than the corresponding mover according to the load specification; If so, determining the safety radius of the mover according to the load specification of the load; If not, the safety radius of the mover is determined according to the mover specifications of the mover.

8. The mover anti-collision control method according to claim 1, characterized in that: There are one or more preset sections on the conveyor line; each of the preset sections is independently provided with an interval anti-collision distance and / or an interval maximum speed limit.

9. The mover anti-collision control method according to claim 8, characterized in that: When the mover is located within the preset interval, the preset anti-collision distance corresponding to the mover is the interval anti-collision distance of the preset interval; and the maximum speed limit corresponding to the mover is the interval maximum speed limit of the preset interval.

10. The mover anti-collision control method according to claim 1, characterized in that: The determining whether there is a collision risk between adjacent movers according to the real-time spacing and the safety spacing includes: If the real-time distance between adjacent movers is smaller than the safety distance, there is a collision risk between the adjacent movers; If the real-time distance between adjacent movers is not less than the safety distance, there is no collision risk between the adjacent movers.

11. A mover anti-collision control device, characterized in that: The device is configured in a magnetic drive motor conveying system, which includes a conveying line body formed by splicing multiple stators in sequence along the conveying line direction, a mover magnetically coupled to the stator, and a servo control component. The device includes: an acquisition module, configured to acquire current motion parameters of the mover according to a servo frequency of the servo control assembly, wherein the servo frequency is the number of control operations performed by the servo control assembly per second, wherein the control operations include collecting sensor data, running a control algorithm, and generating and sending a control signal; A real-time spacing module, configured to determine the real-time spacing between adjacent movers according to the current motion parameters; a safety spacing module, configured to determine a safety spacing between adjacent movers based on the current motion parameters, the servo frequency, and a preset anti-collision spacing; the preset anti-collision spacing is used to represent a preset minimum distance between collision edges of adjacent movers; a risk judgment module, configured to judge whether there is a collision risk between adjacent movers based on the real-time spacing and the safety spacing; An execution module is used to control the corresponding mover to slow down or stop if there is a collision risk; The real-time spacing and the safety spacing both represent the distance between the centers of adjacent movers; the real-time spacing module is specifically used to determine the real-time spacing between adjacent movers according to the current position of the movers; The safety distance module is specifically used to determine the collision edge position of the mover according to the mover specifications and load state of the mover, and determine the safety radius of the mover based on the center coordinates of the mover and the collision edge position; the safety radius is used to characterize the distance between the center of the mover and the collision edge. When the mover moves in a straight line, the collision edge position is the edge of the mover's moving direction; when the mover turns, the collision edge position is the inward-bending corner of the mover; Determining a response distance of the mover based on the current speed or maximum speed limit of the mover, the servo frequency, and the number of occupied servo cycles; the response distance is used to represent the maximum movement distance of the mover within a predicted response time; the predicted response time is an integer multiple of the servo cycle and includes at least one servo cycle; The safety distance between adjacent movers is determined according to the safety radius, the response distance and the preset anti-collision distance corresponding to each of the movers.

12. A magnetic drive motor conveying system, characterized in that: The magnetic drive motor conveying system includes a conveying line body formed by multiple stators spliced ​​in sequence along the conveying line direction, a mover magnetically coupled to the stator, and a servo control component, and the servo control component includes: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the method steps as claimed in any one of claims 1 to 10.

Images