Mover position detection method of magnetic drive conveying system and related equipment

Abstract

According to the rotor position detection method of the magnetic drive conveying system and the related equipment, the magnetic drive conveying system comprises an arc-shaped track and at least one rotor running on the arc-shaped track, a plurality of sensors are further arranged on the arc-shaped track, and the method comprises the steps that firstly, the effective detection range and the set position of each sensor are obtained; then, when the mover runs on the arc-shaped track, a target sensor is selected from the sensors, and the mover is located in the effective detection range of the target sensor; next, the linear operation distance, collected by the target sensor, of the rotor is obtained, arc correction is carried out on the linear operation distance, and an arc operation distance is obtained; finally, the real-time position information of the rotor is obtained based on the set position and the arc-shaped operation distance of the target sensor, and the accuracy of detecting the position information of the rotor on the arc-shaped track in real time is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a mover position detection method and related equipment of a magnetic drive conveying system. Background Art

[0002] The use of magnetic grating detection technology to detect the position of the mover in real time has a wide range of applications in the field of industrial automation, such as assembly and packaging of items on the conveying logistics line and SMT of precision electronic components. In most of these applications, it is necessary to perform corresponding operations based on the real-time position of the mover during operation, so it is necessary to accurately measure the real-time position of the mover in order to accurately perform the corresponding operations.

[0003] For the position detection of the moving element in the conveying system including the curved track, a plurality of sensors are usually arranged on one side of the curved track to detect the position of the moving element in real time. However, since the sensors can only detect the linear motion distance and the moving element moves in an arc on the curved track, the moving element position information obtained by real-time detection on the curved track by this method has low accuracy. Summary of the invention

[0004] The embodiments of the present application provide a method and related equipment for detecting the position of a mover in a magnetically driven conveying system, which can improve the accuracy of real-time detection of the position information of the mover on a curved track.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a method for detecting the position of a mover of a magnetic drive conveying system, wherein the magnetic drive conveying system comprises an arc track and at least one mover running on the arc track, and a plurality of sensors are further arranged on the arc track, and the method comprises:

[0006] Obtaining the effective detection range and setting position of each of the sensors;

[0007] When the mover runs on the arc track, a target sensor is selected from the sensors, and the mover is located within the effective detection range of the target sensor;

[0008] Acquire the straight-line running distance of the mover collected by the target sensor, and perform arc correction on the straight-line running distance to obtain an arc running distance;

[0009] Based on the setting position of the target sensor and the arc running distance, the real-time position information of the mover is obtained.

[0010] In some embodiments, performing arc correction on the straight-line running distance to obtain the arc running distance includes:

[0011] Obtaining a running arc angle according to the straight-line running distance and the effective detection range of the target sensor;

[0012] A reference running radius is obtained, and the arc running distance is obtained based on the product of the running arc angle and the reference running radius.

[0013] In some embodiments, the effective detection ranges of two adjacent sensors are continuous and non-overlapping, and obtaining the running arc angle according to the straight-line running distance and the effective detection range of the target sensor includes:

[0014] Acquire the arc angle of the arc track and the number of sensors of the sensors on the arc track;

[0015] Obtaining a straight-line reference distance based on the product of the number of sensors and the effective detection range;

[0016] The ratio of the straight-line running distance to the straight-line reference distance is obtained, and the ratio is multiplied by the arc angle to obtain the running angle, and the running arc angle is obtained based on the running angle.

[0017] In some embodiments, obtaining the straight-line running distance of the mover collected by the target sensor includes:

[0018] Acquire operation signals collected by the target sensor at multiple consecutive moments;

[0019] Performing burr filtering and correction on the operation signal to obtain a continuous operation signal;

[0020] Performing phase correction on the continuous operation signal to obtain an arc operation signal;

[0021] The straight-line running distance is obtained based on the arc-shaped running signal.

[0022] In some embodiments, performing glitch filtering and correction on the operation signal to obtain a continuous operation signal includes:

[0023] Within the preset amplitude range, an amplitude whose absolute value exceeds a first preset amplitude is selected from the operating signal as a first amplitude to be corrected, and a sampling time corresponding to the first amplitude to be corrected is used as a first correction time;

[0024] A first correction amplitude is obtained based on the amplitude of the operation signal at the moment before the first correction moment plus the first preset amplitude, and the first correction amplitude replaces the first amplitude to be corrected;

[0025] The continuous operation signal is obtained based on the updated operation signal.

[0026] In some embodiments, performing phase correction on the continuous operation signal to obtain an arc operation signal includes:

[0027] Selecting from the continuous operation signal a plurality of amplitudes whose amplitudes are within a second preset amplitude range and are consistent with a preset correction amount as second amplitudes to be corrected;

[0028] Selecting, from the plurality of second amplitudes to be corrected, a second amplitude to be corrected whose time interval with other amplitudes of the continuous operation signal exceeds a first preset time interval as a removal amplitude, and removing the removal amplitude from the continuous operation signal;

[0029] The arc operation signal is obtained based on the updated continuous operation signal.

[0030] In some embodiments, performing phase correction on the continuous operation signal to obtain an arc operation signal further includes:

[0031] Performing differentiation processing on the continuous operation signal according to a second preset time interval to obtain a continuous differential signal;

[0032] Selecting an amplitude whose absolute value exceeds the second preset amplitude in the continuous differential signal as a third amplitude to be corrected, and taking a sampling time corresponding to the third amplitude to be corrected as a second correction time;

[0033] Taking the amplitude of the continuous operation signal corresponding to the moment before the second correction moment as the second correction amplitude, and obtaining the amplitude integral of the second correction amplitude;

[0034] replacing a third to-be-corrected amplitude of the continuously differentiated signal based on the second corrected amplitude and the accumulated value of the amplitude integral;

[0035] The arc operation signal is obtained based on the updated continuous operation signal.

[0036] In some embodiments, performing phase correction on the continuous operation signal to obtain an arc operation signal further includes:

[0037] Obtaining a correction time period, and obtaining a minimum average value and a maximum average value of the continuous operation signal in all the correction time periods;

[0038] Obtaining a minimum cycle value and a maximum cycle value of the continuous operation signal within the correction time period;

[0039] Obtaining a minimum correction value based on a ratio of the period minimum value to the minimum average value, and obtaining a maximum correction value based on a ratio of the period maximum value to the maximum average value;

[0040] The arc operation signal is obtained by dividing the amplitude of the continuous operation signal by the minimum correction value or the maximum correction value.

[0041] In some embodiments, obtaining the straight-line running distance based on the arc running signal includes:

[0042] Performing numerical mapping processing on the arc running signal to obtain a numerical mapping curve;

[0043] Based on the absolute value of each endpoint value of the numerical mapping curve, the endpoint positive value is obtained, and all the endpoint positive values ​​are used for superposition processing to generate a running distance curve;

[0044] A preset unit distance is acquired, and the straight-line running distance is obtained based on the preset unit distance and the running distance curve.

[0045] In some embodiments, the sensor includes a first sensing chip and a second sensing chip, the first sensing chip and the second sensing chip are arranged at a preset angle, and selecting a target sensor from the sensors includes:

[0046] Acquire the first sensing chip to collect a first sensing waveform of the mover, and acquire the second sensing chip to collect a second sensing waveform of the mover;

[0047] Based on the phase difference between the first induction waveform and the second induction waveform, the position state information between the mover and the sensor is determined, and based on the position state information, a target sensor is selected from the sensors.

[0048] In some embodiments, determining the position state information between the mover and the sensor based on the phase difference between the first sensing waveform and the second sensing waveform, and selecting a target sensor from the sensors based on the position state information includes:

[0049] When the phase difference value is less than a first preset phase difference value, determining that the position state information is a proximity state, wherein the proximity state is used to indicate that the mover is approaching the effective detection range of the sensor;

[0050] When the phase difference value is greater than the first preset phase difference value but less than the second preset phase difference value, the position state information is determined to be an arrival state, and the arrival state is used to indicate that the mover is in the effective detection range of the target sensor;

[0051] When the phase difference value is greater than the second preset phase difference value, the position state information is determined to be a moving away state, and the moving away state is used to indicate that the mover is moving away from the effective detection range of the sensor;

[0052] The sensor whose position state information is the arrival state is selected from the sensors as the target sensor.

[0053] To achieve the above-mentioned purpose, the second aspect of an embodiment of the present application proposes a magnetically driven conveying system, which is used to implement the mover position detection method of the magnetically driven conveying system described in the first aspect above, and the system includes an arc track and at least one mover running on the arc track.

[0054] In some embodiments, a plurality of adjacently arranged long strip PCB boards are disposed on one side of the arc track, and at least one sensor is disposed on the long strip PCB boards.

[0055] In some embodiments, a long arc PCB board is arranged on one side of the arc track, the length and curvature of the long arc PCB board correspond to the arc track, and a plurality of sensors are arranged on the long arc PCB board.

[0056] To achieve the above-mentioned purpose, a third aspect of an embodiment of the present application proposes a mover position detection device for a magnetic drive conveying system, wherein the magnetic drive conveying system comprises an arc track and at least one mover running on the arc track, and a plurality of sensors are further arranged on the arc track, wherein the device comprises:

[0057] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements the mover position detection method of the magnetic drive conveying system as described in the first aspect.

[0058] To achieve the above-mentioned purpose, the fifth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the method for detecting the position of a mover of the magnetically driven conveying system described in the first aspect is implemented.

[0059] The embodiment of the present application proposes a method for detecting the position of a mover of a magnetic drive conveying system and related equipment. The magnetic drive conveying system includes an arc track and at least one mover running on the arc track. A plurality of sensors are also arranged on the arc track. The method includes: first, obtaining the effective detection range and setting position of each sensor; then, when the mover runs on the arc track, selecting a target sensor from the sensors, and the mover is located within the effective detection range of the target sensor; next, obtaining the straight-line running distance of the mover collected by the target sensor, and performing an arc correction on the straight-line running distance to obtain the arc running distance; finally, based on the setting position and the arc running distance of the target sensor, obtaining the real-time position information of the mover. The embodiment of the present application uses the sensor arranged on the arc track to perform real-time detection of the real-time straight-line running distance of the mover, and performs an arc correction on the collected straight-line running distance, thereby obtaining the arc running distance of the mover performing an arc motion within the effective detection range corresponding to the sensor, and combining the setting position of the sensor, thereby accurately obtaining the real-time position of the mover running on the arc track, thereby effectively improving the accuracy of real-time detection of the mover position information on the arc track.

[0060] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a structural schematic diagram of a magnetic drive conveying system provided in one embodiment of the present application.

[0062] Figure 2 This is a schematic diagram of the arrangement of sensors on a curved track provided in yet another embodiment of the present application.

[0063] Figure 3 This is a flow chart of a method for detecting the position of a mover of a magnetic drive conveying system provided in yet another embodiment of the present application.

[0064] Figure 4 This is a schematic diagram of the effective detection range of a magnetic grating sensor provided in yet another embodiment of the present application.

[0065] Figure 5 This is a schematic diagram of the installation position of sensors on a curved track provided in another embodiment of the present application.

[0066] Figure 6 yes Figure 3 Flow chart of step 302 in FIG.

[0067] Figure 7 It is a schematic diagram of the structure of a sensor provided in yet another embodiment of the present application.

[0068] Figure 8 yes Figure 6 Flowchart of step 602 in FIG.

[0069] Fig. 9 This is a schematic diagram of selecting a target sensor provided in yet another embodiment of the present application.

[0070] Fig.10 This is a schematic diagram of an operating signal collected by a sensor provided in another embodiment of the present application.

[0071] Fig.11 It is a schematic diagram of a correction operation signal provided by another embodiment of the present application.

[0072] Fig.12 yes Figure 8 Flowchart of step 1102 in FIG.

[0073] Fig.13 It is a schematic diagram of a preset amplitude range provided by another embodiment of the present application.

[0074] Fig.14 This is a flow chart of performing phase correction on a first continuously running signal provided by another embodiment of the present application.

[0075] Fig.15 This is a flowchart of performing phase correction on a second continuously running signal provided by another embodiment of the present application.

[0076] Fig.16 This is a flowchart of performing phase correction on a third continuously running signal provided by another embodiment of the present application.

[0077] Fig.17 It is a schematic diagram of a modified arc operation signal provided in another embodiment of the present application.

[0078] Fig.18 yes Fig.11 Flowchart of step 1104 in FIG.

[0079] Fig.19 This is a schematic diagram of generating a numerical mapping curve and a running distance curve provided in another embodiment of the present application.

[0080] Fig. 20 This is a flow chart of performing arc correction on a straight-line running distance provided by another embodiment of the present application.

[0081] Fig.21 yes Fig. 20 Flowchart of step 2001 in FIG.

[0082] Fig. 22 This is a schematic diagram of a position detection PCB board provided in another embodiment of the present application.

[0083] Fig.23 It is a structural schematic diagram of a mover position detection device of a magnetic drive conveying system provided in one embodiment of the present application.

[0084] Fig.24 It is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0085] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0086] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0087] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0088] The use of magnetic grating detection technology to detect the position of the mover in real time has a wide range of applications in the field of industrial automation, such as assembly and packaging of items on the conveying logistics line and SMT of precision electronic components. In most of these applications, it is necessary to perform corresponding operations based on the real-time position of the mover during operation, so it is necessary to accurately measure the real-time position of the mover in order to accurately perform the corresponding operations.

[0089] For the position detection of the moving element in the conveying system including the curved track, a plurality of sensors are usually arranged on one side of the curved track to detect the position of the moving element in real time. However, since the sensors can only detect the linear motion distance and the moving element moves in an arc on the curved track, the moving element position information obtained by real-time detection on the curved track by this method has low accuracy.

[0090] In order to improve the accuracy of real-time detection of the position information of the mover on the curved track, the embodiment of the present application utilizes a sensor arranged on the curved track to perform real-time detection of the real-time straight-line running distance of the mover, and performs an arc correction on the collected straight-line running distance, thereby obtaining the arc running distance of the mover performing arc motion within the effective detection range corresponding to the sensor, and combined with the setting position of the sensor, the real-time position of the mover running on the curved track can be accurately obtained, thereby effectively improving the accuracy of real-time detection of the position information of the mover on the curved track.

[0091] The following further describes the mover position detection method and related equipment of the magnetic drive conveying system provided in the embodiment of the present application. The mover position detection method of the magnetic drive conveying system provided in the embodiment of the present application can be applied to intelligent terminals, servers, computers, etc. connected to the magnetic drive conveying system.

[0092] In order to better illustrate the mover position detection method of the magnetic drive conveying system provided in the embodiment of the present application, this embodiment first describes the magnetic drive conveying system using the mover position detection method. Figure 1 , which is a schematic diagram of the structure of a magnetic drive conveying system provided in an embodiment of the present application. The magnetic drive conveying system includes an arc track and at least one mover running on the arc track, and a plurality of sensors are arranged on one side of the arc track. A plurality of magnets (such as Figure 1 A plurality of N-pole magnets and S-pole magnets are shown in the figure), and a plurality of stators are arranged under the arc track. The stators are used to sense the magnets on the mover to provide magnetic buoyancy force for the mover running on the arc track.

[0093] In addition, refer to Figure 2 As shown in FIG. 1 , it is a schematic diagram of the arrangement of sensors on a curved track provided by an embodiment of the present application. Figure 2 As shown in the upper half of the figure, the arrangement of the sensor can be to arrange a plurality of adjacent long strip PCB boards on the arc track, and then each long strip PCB board is arranged with a plurality of sensors. Figure 2 As shown in the lower half of the figure, the sensor can also be arranged in such a way that a long arc PCB board corresponding to the length and curvature of the arc track is arranged on the arc track, and then a plurality of sensors are arranged on the long arc PCB board.

[0094] Based on the above-mentioned magnetic drive conveying system, the mover position detection method of the magnetic drive conveying system in the embodiment of the present application will be described in detail below. Figure 3 , which is an optional flow chart of a method for detecting the position of a mover of a magnetic drive conveying system provided in an embodiment of the present application, Figure 3 The method in the embodiment may include but is not limited to steps 301 to 304. Figure 3The order of step 301 to step 304 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0095] Step 301: Obtain the effective detection range and setting position of each sensor.

[0096] Step 301 is described in detail below.

[0097] In some embodiments, after responding to the position detection of the moving element on the magnetic drive conveying system, it is first necessary to obtain the effective detection range and setting position of each sensor set on the arc track, so as to subsequently use the effective detection range and setting position of each sensor to perform real-time position detection on the moving element. Among them, the sensor can be a magnetic grating sensor, and the moving element needs to be provided with a corresponding magnetic grating scale.

[0098] Reference Figure 4 , is a schematic diagram of the effective detection range of the magnetic grating sensor provided in the embodiment of the present application. Figure 4 As shown. Take a magnetic sensor and a mover as an example. A magnetic scale is set on the mover. The magnetic scale sensor measures and reads the position information on the magnetic scale by detecting the magnetic field, and determines the corresponding mover through the encoding of the magnetic scale. In addition, when the magnetic scale begins to enter the detection magnetic field and completely leaves the detection magnetic field, it is within the range of the magnetic scale sensor. Therefore, the range of the magnetic scale sensor can be determined by determining the size and length of the magnetic scale. Figure 1 The magnetic scale equipped on the mover shown is consistent with the size of the mover. In this case, the effective range of the magnetic scale sensor can also be determined by determining the size of the mover.

[0099] Reference Figure 5 , is a schematic diagram of the location of the sensor on the arc track provided in the embodiment of the present application. Figure 5 As shown, a plurality of sensors are evenly arranged on the outer side of the arc track, and the effective detection range between each two adjacent sensors is continuous and non-overlapping, so that each two adjacent sensors can continuously detect the running trajectory of the mover, based on which the setting position of each sensor and the starting and ending positions of the effective detection range of the sensor can be determined. In addition, a virtual arc can be established based on the actual size of the entire arc track. The arc has a virtual center, and the center is at the same fixed distance from each sensor and any end point of the effective detection range corresponding to each sensor, and the distance is used as a reference running radius R; and the detection range of each evenly arranged sensor corresponds to a fixed small arc of the arc, and the effective detection range L of each sensor corresponds to the inscribed straight line of the small arc; and the center has an arc angle α from one end to the other end of the entire arc track. Based on the following Figure 5 The schematic diagram shown can directly obtain the effective detection range and setting position of each sensor on the curved track in advance.

[0100] Step 302: When the mover runs on the arc track, a target sensor is selected from the sensors.

[0101] Step 302 is described in detail below.

[0102] In some embodiments, when the mover runs on an arc track, since multiple sensors may detect the running data of the mover at the same time, it is necessary to select a target sensor for accurately outputting the real-time position of the mover from the multiple sensors one by one according to the running trajectory of the mover. The following further describes how to select a target sensor from multiple sensors in real time.

[0103] Reference Figure 6 , selecting a target sensor from the sensors includes the following steps 601 to 602.

[0104] Step 601: obtaining a first sensing waveform of a moving element acquired by a first sensing chip, and obtaining a second sensing waveform of a moving element acquired by a second sensing chip.

[0105] Step 602: Determine the position state information between the mover and the sensor based on the phase difference between the first sensing waveform and the second sensing waveform, and select a target sensor from the sensors based on the position state information.

[0106] Steps 601 to 602 are described in detail below.

[0107] Reference Figure 7 , is a schematic diagram of the structure of a sensor provided in an embodiment of the present application. Figure 7 As shown, each sensor disposed on the arc track is matched with two sensing chips (including a first sensing chip and a second sensing chip), and the first sensing chip and the second sensing chip are disposed at a preset angle. In this embodiment, there is no restriction on the method for determining the preset angle, that is, the preset angle can be customized according to user needs, or it can be a fixed parameter specified by the sensor itself.

[0108] Therefore, the first sensing waveform and the second sensing waveform obtained by the first sensing chip and the second sensing chip respectively for the moving part operation data have a phase difference, so that the phase difference between the first sensing waveform and the second sensing waveform of the multiple sensors is used to determine the position state information between the moving part and each sensor, and based on the position state information between the moving part and the multiple sensors, a target sensor is selected from the multiple sensors. The following will further describe how to select a target sensor from the multiple sensors according to the phase difference.

[0109] Reference Figure 8 , based on the phase difference between the first induction waveform and the second induction waveform, determining the position state information between the mover and the sensor, and based on the position state information, selecting a target sensor from the sensors, including the following steps 801 to 804.

[0110] Step 801: When the phase difference value is less than a first preset phase difference value, determine that the position state information is a proximity state.

[0111] Step 802: When the phase difference value is greater than the first preset phase difference value but less than the second preset phase difference value, determine that the position state information is an arrival state.

[0112] Step 803: When the phase difference value is greater than the second preset phase difference value, determine that the position state information is a far away state.

[0113] Step 804: Select a sensor whose position status information is an arrival status from the sensors as a target sensor.

[0114] Steps 801 to 804 are described in detail below.

[0115] In some embodiments, when a sensor senses the operating data of the mover, there will be three types of position state information for the state between the sensor and the mover, which specifically include an approaching state, an arriving state, and a moving away state. The approaching state indicates that the mover has not yet reached the effective detection range of the sensor, but is moving in the direction of the effective detection range of the sensor, that is, the mover is approaching the effective detection range of the sensor; the arriving state indicates that the mover is running within the effective detection range of the sensor; the moving away state indicates that the mover has left the effective detection range of the sensor and is gradually moving away from the effective detection range of the sensor.

[0116] When a sensor senses the operating data of the mover and outputs the first sensing waveform and the second sensing waveform through the first sensing chip and the second sensing chip, when the phase difference between the first sensing waveform and the second sensing waveform is less than the first preset phase difference, the phase angle between the first sensing waveform and the second sensing waveform is small, which means that the mover is running at the far front end of the sensor and has not yet entered the effective detection range of the sensor. At this time, the position state information between the mover and the sensor is in a close state.

[0117] When a sensor senses the operating data of the mover and outputs the first sensing waveform and the second sensing waveform through the first sensing chip and the second sensing chip, when the phase difference between the first sensing waveform and the second sensing waveform is greater than the first preset phase difference and less than the second phase difference, the phase angle between the first sensing waveform and the second sensing waveform at this time is more appropriate and very close to the preset angle set by the two sensing chips, which means that the mover is running within the effective detection range of the sensor. At this time, the position state information between the mover and the sensor is close to the arrival state, and the sensor corresponding to the arrival state is used as the target sensor for measuring the real-time position of the mover.

[0118] When a sensor senses the operating data of the mover and outputs the first sensing waveform and the second sensing waveform through the first sensing chip and the second sensing chip, when the phase difference between the first sensing waveform and the second sensing waveform is greater than the second preset phase difference, the phase angle between the first sensing waveform and the second sensing waveform is larger, which means that the mover is running at the farther rear end of the sensor, has left the effective detection range of the sensor, and is gradually moving away. At this time, the position state information between the mover and the sensor is in a far away state.

[0119] The first preset phase difference value and the second preset phase difference value are set based on a preset angle between the first sensing chip and the second sensing chip, and the first preset phase difference value is smaller than the preset angle, and the second preset phase difference value is larger than the preset angle.

[0120] Through the above steps 601 to 602 and steps 801 to 804, the position state information between the mover and the sensor is accurately determined by utilizing the phase difference between the first sensing waveform and the second sensing waveform output by the first sensing chip and the second sensing chip set at a preset angle, and the corresponding position state information is used to accurately select a suitable target sensor from multiple sensors to accurately detect the position of the mover on the arc track.

[0121] Reference Fig. 9 , is a schematic diagram of selecting a target sensor provided in an embodiment of the present application. Fig. 9 As shown, when the mover is running on the arc track, the sensors matching the running trajectory are selected one by one as the target sensors according to the running direction and running trajectory of the mover. That is, when the mover runs within the effective detection range of a certain sensor, the sensor is selected as the target sensor, that is, the mover is located within the effective detection range of the target sensor.

[0122] Step 303: Obtain the straight-line running distance of the mover collected by the target sensor, and perform arc correction on the straight-line running distance to obtain the arc running distance.

[0123] Step 303 is described in detail below.

[0124] In some embodiments, after determining the target sensor, in order to realize real-time detection of the position information of the mover on the arc track, it is necessary to first obtain the straight-line running distance of the mover collected by the target sensor. As described above, the straight-line running distance collected by the sensor is a straight line segment, which does not match the position trajectory of the mover doing arc motion on the arc track. Therefore, the straight-line running distance is inaccurate, and an arc correction needs to be performed on the straight-line running distance to obtain an arc running distance that matches the position trajectory of the mover doing arc motion on the arc track.

[0125] In addition, since the mover moves in an arc on the arc track, the moving signal collected by the sensor for collecting straight-line distance will fluctuate and interfere. Fig.10 , is a schematic diagram of an operation signal collected by a sensor provided in an embodiment of the present application. Fig.10 As shown in the upper half of the figure, when the sensor collects the linear motion corresponding to the linear motion signal, it usually obtains a smooth signal waveform (including cosine wave, sine wave or square wave, etc.), and this application takes the cosine wave as an example. Fig.10 As shown in the lower half of the figure, when the sensor collects the arc motion signal corresponding to the arc motion, the cosine wave waveform obtained will have waveform fluctuations around the zero point, which makes it inaccurate to calculate the straight running distance using the obtained arc motion signal. Therefore, before calculating the straight running distance, the obtained arc running signal needs to be processed accordingly. The following first further describes how to process the obtained running signal accordingly.

[0126] Reference Fig.11 , obtaining the straight-line running distance of the mover collected by the target sensor, including the following steps 1101 to 1104.

[0127] Step 1101: Acquire operation signals collected by a target sensor at multiple consecutive moments.

[0128] Step 1102: Perform burr filtering correction on the operating signal to obtain a continuous operating signal.

[0129] Steps 1101 to 1102 are described in detail below.

[0130] In some embodiments, when acquiring the target sensor at multiple consecutive moments, Fig.10 After obtaining the operating signal shown in the lower half of the figure, it is first necessary to perform glitch filtering and correction on the places where fluctuations appear in the operating signal to improve the smoothness of the operating signal, thereby obtaining a continuous operating signal. The following will further describe how to perform glitch filtering and correction on the operating signal.

[0131] Reference Fig.12 , perform burr filtering and correction on the operating signal to obtain a continuous operating signal, including the following steps 1201 to 1203.

[0132] Step 1201: within a preset amplitude range, select an amplitude whose absolute value exceeds a first preset amplitude from the operating signal as a first amplitude to be corrected, and use a sampling time corresponding to the first amplitude to be corrected as a first correction time.

[0133] Step 1202: A first corrected amplitude is obtained by adding a first preset amplitude to an amplitude of the operating signal corresponding to the moment before the first correction moment, and the first corrected amplitude is used to replace the first amplitude to be corrected.

[0134] Step 1203: Obtain a continuous operation signal based on the updated operation signal.

[0135] Steps 1201 to 1203 are described in detail below.

[0136] Reference Fig.13 As shown in FIG. 1 , it is a schematic diagram of a preset amplitude range provided in an embodiment of the present application. Fig.13 As shown, it is the operation signal for the arc operation of the mover obtained by the target sensor in this application. It can be clearly seen that the signal fluctuation occurs in the amplitude range of about 0. Therefore, when performing the burr filtering correction process, the correction is mainly performed for the amplitude range of about 0. Therefore, after obtaining the operation signals collected at multiple consecutive moments, within the preset amplitude range, the amplitude whose absolute value exceeds the first preset amplitude is selected from the operation signal as the first amplitude to be corrected. It can be understood that the preset amplitude range refers to a certain amplitude range with an amplitude of about 0, and its specific value can be customized according to user needs, or it can be the amplitude range corresponding to the best performance obtained after processing historical signal data. In addition, the first preset amplitude is a customized amplitude set for the preset amplitude range for judging and correcting abnormal fluctuations in the operation signal, which is not greater than the maximum value of the preset amplitude range.

[0137] Next, the sampling moment corresponding to the first correction amplitude is taken as the first correction moment, and then the amplitude corresponding to the operating signal at the previous moment of the first correction moment is added with the first preset amplitude to obtain the first correction amplitude, and the first correction amplitude replaces the first amplitude to be corrected in the operating signal.

[0138] Through the above steps 1201 to 1203, the amplitude of the continuously collected operation signal is judged by using the first preset amplitude within the preset amplitude range (i.e., a small range above and below the amplitude of 0), thereby determining the abnormal fluctuation value, and correcting the fluctuation value using the first preset amplitude and the amplitude at the previous moment to obtain a smoother continuous operation signal, so as to improve the accuracy of the subsequent calculation of the linear operation distance of the mover using the continuous operation signal.

[0139] Step 1103: Perform phase correction on the continuous operation signal to obtain an arc operation signal.

[0140] Step 1103 is described in detail below.

[0141] In some embodiments, after obtaining a relatively smooth continuous operation signal, in order to further improve the smoothness of the continuous operation signal and further improve the accuracy of the linear operation distance of the mover calculated by the continuous operation signal, the continuous operation signal is phase corrected to obtain an arc operation signal. The following further describes how to perform phase correction on the continuous operation signal.

[0142] Reference Fig.14 , performing phase correction on the continuous operation signal to obtain an arc operation signal, including the following steps 1401 to 1403.

[0143] Step 1401: Select from the continuous running signal a plurality of amplitudes within a second preset amplitude range and consistent with a preset correction amount as second amplitudes to be corrected.

[0144] Step 1402: Select a second amplitude to be corrected from a plurality of second amplitudes to be corrected, the second amplitude to be corrected having a time interval with other amplitudes of the continuous operation signal exceeding a first preset time interval, as a removal amplitude, and remove the removal amplitude from the continuous operation signal.

[0145] Step 1403: Obtain an arc operation signal based on the updated continuous operation signal.

[0146] Steps 1401 to 1403 are described in detail below.

[0147] In some embodiments, after obtaining a continuous running signal with a relatively smooth amplitude, the phase of the continuous running signal is then corrected, that is, multiple amplitudes with amplitudes within a second preset amplitude range and a known preset correction number are selected from the continuous signal as the second amplitude to be corrected, wherein the second preset amplitude range can be similar to the first preset amplitude range (that is, an amplitude range above and below 0), or it can be other amplitude ranges of the continuous running signal, and the preset correction number is a custom setting, which can be ten values, that is, five amplitudes are selected from the left side of the second preset amplitude range of the continuous running signal with the center point of the second preset amplitude range, and five amplitudes are selected from the right side of the second preset amplitude range, and they are all used as the second amplitude to be corrected.

[0148] Next, a second amplitude to be corrected whose time interval with other amplitudes of the continuous operation signal exceeds a first preset time interval is selected from these second amplitudes to be corrected as a removal amplitude, and the removed amplitude is removed from the continuous operation signal, that is, an amplitude with a large amplitude-time difference with its sampling moment is selected from the continuous operation signal for removal, and an arc operation signal is obtained based on the updated continuous operation signal to improve the phase continuity of the continuous operation signal.

[0149] Reference Fig.15 , performing phase correction on the continuous operation signal to obtain an arc operation signal, also includes the following steps 1501 to 1505.

[0150] Step 1501: Differentiate the continuous operation signal according to a second preset time interval to obtain a continuous differential signal.

[0151] Step 1502: Select an amplitude whose absolute value exceeds the second preset amplitude in the continuous differential signal as a third amplitude to be corrected, and use a sampling time corresponding to the third amplitude to be corrected as a second correction time.

[0152] Step 1503: taking the amplitude of the continuous running signal corresponding to the moment before the second correction moment as the second correction amplitude, and obtaining the amplitude integral of the second correction amplitude.

[0153] Step 1504: Replace the third amplitude to be corrected of the continuously differentiated signal based on the second corrected amplitude and the accumulated value of the amplitude integral.

[0154] Step 1505: Obtain an arc operation signal based on the updated continuous operation signal.

[0155] Steps 1501 to 1505 are described in detail below.

[0156] In some embodiments, after the phase of the continuous operation signal is corrected at the first preset time interval, the continuous operation signal is further differentiated according to the second preset time interval to obtain a continuous differential signal corresponding to the continuous operation signal, and then the amplitude whose absolute value exceeds the second preset amplitude is selected from the continuous differential signal as the third amplitude to be corrected, and the sampling moment corresponding to the third amplitude to be corrected is used as the second correction moment, and then the third amplitude to be corrected of the continuous differential signal is replaced based on the accumulated value of the second correction amplitude and the amplitude integral. That is, a value with an excessively large slope amplitude is selected from the continuous operation signal, and then the value is replaced by the amplitude at the previous moment and the amplitude integral of the value, so as to improve the phase continuity of the continuous operation signal.

[0157] Reference Fig.16 , performing phase correction on the continuous operation signal to obtain an arc operation signal, also includes the following steps 1601 to 1604.

[0158] Step 1601: Obtain the correction time period, and obtain the minimum average value and the maximum average value of the continuous operation signal in all the correction time periods.

[0159] Step 1602: Obtain the minimum cycle value and the maximum cycle value of the continuously running signal within the correction time period.

[0160] Step 1603: Obtain a minimum correction value based on a ratio of a period minimum value to a minimum average value, and obtain a maximum correction value based on a ratio of a period maximum value to a maximum average value.

[0161] Step 1604: Divide the amplitude of the continuous operation signal by the minimum correction value or the maximum correction value to obtain an arc operation signal.

[0162] Steps 1601 to 1604 are described in detail below.

[0163] In some embodiments, after performing phase correction on the continuous operation signal at a first preset time interval and correcting the excessive slope amplitude of the continuous operation signal, the collected operation signal is divided into multiple correction time periods, and then the maximum amplitude and minimum amplitude of the continuous operation signal in all correction time periods are obtained, and then the minimum average value Dx and the maximum average value Cx of the continuous operation signal are obtained based on the average of all the maximum amplitudes and the minimum amplitudes.

[0164] Next, in each correction time period, the maximum amplitude value of the continuous operation signal is taken as the cycle maximum value C of the correction time period, and the minimum amplitude value of the continuous operation signal is taken as the cycle minimum value D of the correction time period. Then, the minimum correction value D / Dx is obtained based on the ratio of the cycle minimum value to the minimum average value, and the maximum correction value C / Cx is obtained based on the ratio of the cycle maximum value to the maximum average value. Then, the amplitude greater than 0 in the correction time period is divided by the maximum correction value, and the amplitude less than 0 is divided by the minimum correction value. After the amplitudes in all correction time periods are corrected, a completely smooth arc-shaped operation signal is obtained.

[0165] Through the above steps 1401 to 1403, 1501 to 1505, and 1601 to 1604, the amplitude with a large time difference from the amplitude at the sampling moment is selected from the continuous operation signal using the first preset time interval for removal, thereby removing the abnormal value of the phase in the continuous operation signal to improve the continuity of the phase in the continuous operation signal; and, after differential processing, the abnormal point of the slope in the continuous operation signal is determined, and the abnormal point of the slope is corrected to improve the phase continuity in the continuous operation signal; in addition, the amplitude in the continuous operation signal is normalized using the minimum average value, the maximum average value, the minimum value of the cycle, and the maximum value of the cycle to obtain an arc operation signal with more continuous phase and amplitude, thereby facilitating the subsequent improvement of the accuracy of the straight-line operation distance calculation of the mover using the arc operation signal.

[0166] Reference Fig.17 , is a schematic diagram of a modified arc running signal provided in an embodiment of the present application. Fig.17 As shown in FIG. 1 , the sensor corrects the running signal collected by the mover when it performs arc motion on the arc track. Fig.17 The first signal diagram is a schematic diagram of the situation before the running signal correction, such as Fig.17 The second signal schematic diagram is a sine wave schematic diagram after amplitude and phase corrections are performed on the operating signal.

[0167] Step 1104: Obtain the straight-line running distance based on the arc running signal.

[0168] Step 1104 is described in detail below.

[0169] In some embodiments, after obtaining the corrected arc running signal, the linear running distance of the mover corresponding to the arc running signal is obtained by signal distance conversion based on the arc running signal. The following further describes how to use the arc running signal to obtain the linear running distance.

[0170] Reference Fig.18, obtaining the straight-line running distance based on the arc running signal, including the following steps 1801 to 1803.

[0171] Step 1801: Perform numerical mapping processing on the arc running signal to obtain a numerical mapping curve.

[0172] Step 1802: Based on the absolute value of each endpoint value of the numerical mapping curve, the endpoint positive value is obtained, and all the endpoint positive values ​​are used for superposition processing to generate a running distance curve.

[0173] Step 1803: Obtain a preset unit distance, and obtain a straight-line running distance based on the preset unit distance and the running distance curve.

[0174] Steps 1801 to 1803 are described in detail below.

[0175] In some embodiments, after obtaining Fig.17 After the arc operation signal shown in the lower half of the figure is obtained, the arc operation signal is first numerically mapped to obtain a numerical mapping curve. The numerical mapping process refers to the operation of converting the continuous signal waveform of the arc operation signal into a corresponding discrete numerical value. This embodiment takes two numerical mapping processing methods as examples. The first numerical mapping processing method is: using relevant trigonometric functions (such as tangent functions or inverse tangent functions) to calculate the trigonometric values ​​corresponding to the arc operation signal at each moment, and then obtaining the numerical mapping curve corresponding to the arc operation signal based on the trigonometric values ​​at each moment; the second method numerical mapping processing method is: determining all the local maximum endpoints and local minimum endpoints of the arc operation curve, and then connecting every two local minimum endpoints and local maximum endpoints in turn, so as to obtain the numerical mapping curve corresponding to the arc operation signal.

[0176] After obtaining the numerical mapping curve corresponding to the arc-shaped running signal, based on the absolute value of each endpoint (i.e., the local minimum endpoint and the local maximum endpoint) of the numerical mapping curve, the endpoint positive value corresponding to each endpoint is obtained, and then all the endpoint positive values ​​are used for superposition processing to generate a running distance curve. Among them, superposition processing refers to generating a multi-stage straight curve using all endpoint positive values, and the straight curve is monotonically increasing. This embodiment takes two superposition processing methods as examples. The first superposition processing method is: based on time, each endpoint positive value is accumulated in turn to obtain the superposition value of each endpoint positive value corresponding to the time, and all superposition values ​​are connected to obtain the running distance curve; the second superposition processing method is: calculate the slope value between each two endpoint positive values, and then start from the starting point, use the slope value of the corresponding line segment (i.e., corresponding to each two endpoint positive values) one by one, generate the superposition curve of the corresponding line segment, so as to generate the running distance curve based on all superposition curves.

[0177] Reference Fig.19 As shown in FIG. 1 , it is a schematic diagram of generating a numerical mapping curve and a running distance curve provided by an embodiment of the present application. Fig.19 As shown, in the obtained Fig.19 After the arc running curve shown in the first figure is obtained, the numerical mapping curve corresponding to the arc running curve is generated using the above two numerical mapping methods (such as Fig.19 The second curve graph (i.e., numerical mapping curve 1) shown in FIG. 1 is a numerical mapping curve obtained based on the arc operation curve and the first numerical mapping method, as shown in FIG. Fig.19 The third curve graph (i.e., numerical mapping curve 2) shown in FIG. 1 is a numerical mapping curve obtained based on the arc running curve and the second numerical mapping method. Next, after superimposing the numerical mapping curves, a running distance curve corresponding to the arc running curve is generated, as shown in FIG. Fig.19 The corresponding fourth curve is shown in the figure.

[0178] After the running distance curve is obtained, the amplitude of the running distance curve is multiplied based on time using the obtained preset unit distance to obtain the linear running distance of the mover corresponding to each moment.

[0179] Through the above steps 1801 to 1803, by performing numerical mapping processing and superposition processing on the arc running signal in sequence, and combining with the preset unit distance, the straight-line running distance of the mover performing arc motion on the sensor can be accurately obtained, thereby improving the accuracy of subsequently obtaining the arc running distance using the straight-line running distance.

[0180] After obtaining the real-time linear running distance of the mover within the effective detection range of the target sensor, in order to accurately realize the real-time position detection of the mover when performing arc motion on the arc track, it is necessary to perform arc correction on the linear running distance to obtain the real-time arc running distance within the effective detection range of the freezing disaster target sensor. The following will further describe how to perform arc correction on the linear running distance.

[0181] Reference Fig. 20 , performing arc correction on the straight-line running distance to obtain the arc running distance, including the following steps 2001 to 2002.

[0182] Step 2001: Obtain the running arc angle according to the straight-line running distance and the effective detection range of the target sensor.

[0183] Step 2001 is described in detail below.

[0184] In some embodiments, after obtaining the straight-line running distance, firstly, according to the straight-line running distance of the mover running within the effective detection range of the target sensor and the effective detection range, combined with the above Figure 5The following is a further description of how to obtain the running radian angle for correcting the straight-line running distance.

[0185] Reference Fig.21 , the running arc angle is obtained according to the straight-line running distance of the mover and the effective detection range of the target sensor, including the following steps 2101 to 2103.

[0186] Step 2101: Obtain the arc angle of the arc track and the number of sensors on the arc track.

[0187] Step 2102: Obtain a straight-line reference distance based on the product of the number of sensors and the effective detection range.

[0188] Step 2103: Obtain the ratio of the straight-line running distance to the straight-line reference distance, and multiply it by the arc angle to obtain the running angle, and obtain the running arc angle based on the running angle.

[0189] Steps 2101 to 2103 are described in detail below.

[0190] In some embodiments, in combination Figure 5 As shown, firstly, the arc angle α of the arc track and the number of sensors N of the sensors set on the arc track are obtained, and since the sensors on the arc track are evenly spaced by the effective detection range, each effective detection range is L. Next, the straight line reference distance N*L of the inscribed straight line of the arc track is obtained based on the product of the number of sensors and the effective detection range; then the ratio Y / (N*L) between the straight line running distance Y and the straight line reference distance is obtained, and the ratio is multiplied by the arc angle α to obtain the running angle corresponding to the straight line running distance of the mover running within the effective detection range of the target sensor is Y / (N*L)*α.

[0191] The running angle is then processed into a radian angle, that is, the running angle is multiplied by π and then divided by 180 to obtain a running radian angle θ corresponding to the straight-line running distance of the mover within the effective detection range of the target sensor.

[0192] Step 2002: Obtain a reference running radius, and obtain an arc running distance based on the product of the running arc angle and the reference running radius.

[0193] Step 2002 is described in detail below.

[0194] In some embodiments, after the running arc angle is obtained, based on the product θR of the running arc angle θ and the reference running radius R, the arc running distance corresponding to the straight running distance of the mover within the effective detection range of the target sensor can be obtained.

[0195] Through the above steps 2001 to 2002, the arc angle corresponding to the straight-line running distance of the mover within the effective detection range of the target sensor is obtained by using the straight-line running distance, the effective detection range and the arc angle, combined with the pre-acquired reference running radius, to perform arc correction on the straight-line running distance, so as to accurately obtain the arc running distance of the mover in the effective detection range of the target sensor.

[0196] Step 304: Based on the setting position of the target sensor and the arc running distance, the real-time position information of the mover is obtained.

[0197] Step 304 is described in detail below.

[0198] In some embodiments, after obtaining the arc running distance of the mover within the effective detection range of the target sensor, combined with the above Figure 5 According to the relevant description, the starting position of the effective detection range of the target sensor is determined based on the setting position of the target sensor, and then based on the starting position plus the arc running distance, the precise real-time position information of the mover on the arc track can be obtained.

[0199] Reference Fig. 22 , is a schematic diagram of a position detection PCB board provided in an embodiment of the present application. Fig. 22 As shown in , the PCB board includes multiple sensors, digital modules, AD modules, computing cores, interface modules and power modules; wherein, multiple sensors are used to detect the running signals of the movers on the arc track, and then the running signals are input into the digital modules and AD modules for signal digital-to-analog conversion processing, and then the processed signals are input into the computing core for the signal correction process in the above steps and the straight-line running distance is calculated, and then the arc running distance and the real-time position information of the movers are calculated based on the straight-line running distance, and the real-time position information is output to the external device through the interface module; and the power supply operation is maintained through the power module.

[0200] The sensor chip can be an angle sensor chip or a displacement sensor chip, and the computing core can use an FPGA / CPLD digital processing chip or an ARM processor chip. When the sensor chip can be directly connected to the computing core (FPGA / CPLD or ARM processor can be directly connected to the sensor), the digital module and AD module may not exist.

[0201] The present application proposes a method for detecting the position of a mover of a magnetic drive conveying system and related equipment. The magnetic drive conveying system includes an arc track and at least one mover running on the arc track. A plurality of sensors are also arranged on the arc track. The method includes: first, obtaining the effective detection range and setting position of each sensor; then, when the mover runs on the arc track, obtaining the first sensing waveform of the mover collected by the first sensing chip, and obtaining the second sensing waveform of the mover collected by the second sensing chip; when the phase difference is less than the first preset phase difference, determining the position state information as the approaching state, the approaching state is used to characterize that the mover is approaching the effective detection range of the sensor; when the phase difference is greater than the first preset phase difference but less than the second preset phase difference, determining the position state information as the arriving state, the arriving state is used to characterize that the mover is in the effective detection range of the target sensor; when the phase difference is greater than the second preset phase difference, determining the position state information as the moving away state, the moving away state is used to characterize that the mover is moving away from the effective detection range of the sensor; selecting the sensor whose position state information is the moving away state as the target sensor from the sensors as the target sensor, and the mover is located within the effective detection range of the target sensor; next, obtaining the operation signal collected by the target sensor at multiple consecutive moments;Then, within the preset amplitude range, an amplitude whose absolute value exceeds the first preset amplitude is selected from the operating signal as the first amplitude to be corrected, and the sampling moment corresponding to the first amplitude to be corrected of the operating signal is taken as the first correction moment, and the first correction amplitude is obtained based on the amplitude corresponding to the moment before the first correction moment plus the first preset amplitude of the operating signal, and the first correction amplitude of the operating signal replaces the first amplitude to be corrected of the operating signal, and based on the updated operating signal continuous operating signal, multiple amplitudes whose amplitudes are within the second preset amplitude range and consistent with the preset correction number are selected from the operating signal continuous operating signal as the second amplitude to be corrected. The correction amplitude is selected from the second to-be-corrected amplitudes of the multiple operation signals, and the time interval between the second to-be-corrected amplitude and other amplitudes of the continuous operation signal of the operation signal exceeds the first preset time interval as the removal amplitude, and the operation signal removal amplitude is removed from the continuous operation signal of the operation signal, and the continuous operation signal of the operation signal is differentiated according to the second preset time interval to obtain a continuous differential signal, and the amplitude whose absolute value exceeds the second preset amplitude is selected from the continuous differential signal of the operation signal as the third to-be-corrected amplitude, and the sampling time corresponding to the third to-be-corrected amplitude of the operation signal is used as the second correction time, and the operation signal continuous differential signal is processed. The amplitude of the continuous operation signal corresponding to the moment before the second correction moment of the operation signal is used as the second correction amplitude, and the amplitude integral of the second correction amplitude of the operation signal is obtained. The correction time period is obtained by replacing the third amplitude to be corrected of the continuous differential signal of the operation signal based on the accumulated value of the second correction amplitude of the operation signal and the amplitude integral of the operation signal, and the minimum average value and the maximum average value of the continuous operation signal of the operation signal in all the correction time periods of the operation signal are obtained. The cycle minimum value and the cycle maximum value of the continuous operation signal of the operation signal in the correction time period of the operation signal are obtained. The minimum correction value is obtained based on the ratio of the minimum cycle value of the operation signal to the minimum average value of the operation signal, and the maximum correction value is obtained based on the ratio of the maximum cycle value of the operation signal to the maximum average value of the operation signal. The amplitude of the continuous operation signal of the operation signal is divided by the minimum correction value of the operation signal or the maximum correction value of the operation signal to obtain an arc operation signal of the operation signal, and the arc operation signal of the operation signal is obtained by numerical mapping processing on the arc operation signal to obtain a numerical mapping curve, and the positive value of the endpoint is obtained based on the absolute value of each endpoint value of the numerical mapping curve. All the positive values ​​of the endpoint are used for superposition processing to generate a running distance curve, and a preset unit distance is obtained. The straight line running distance is obtained based on the preset unit distance and the running distance curve;After that, the arc angle of the running signal arc track and the number of running signal sensors on the running signal arc track are obtained, and the straight line reference distance is obtained by multiplying the number of running signal sensors and the effective detection range of the running signal. The ratio of the running signal straight line running distance to the running signal straight line reference distance is obtained, and multiplied by the running signal arc angle to obtain the running angle, and the running arc angle of the running signal is obtained based on the running angle of the running signal, and the reference running radius is obtained. The running arc running distance of the running signal is obtained based on the product of the running arc angle of the running signal and the reference running radius of the running signal, and the arc running distance is obtained; finally, the real-time position information of the mover is obtained based on the setting position of the target sensor and the arc running distance. ;

[0202] The embodiment of the present application utilizes the phase difference between the first sensing waveform and the second sensing waveform output by the first sensing chip and the second sensing chip set by a preset angle to accurately determine the position state information between the mover and the sensor, and utilizes the corresponding position state information to accurately select a suitable target sensor from multiple sensors to accurately detect the position of the mover on the arc track; at the same time, by sequentially performing numerical mapping and superposition processing on the arc running signal, and combining with the preset unit distance, the straight-line running distance of the mover in the arc motion on the sensor can be accurately obtained, thereby improving the accuracy of the subsequent use of the straight-line running distance to obtain the arc running distance; and, utilizing the first preset time interval, selecting from the continuous running signal an amplitude with a large time difference with the amplitude at the sampling moment and removing it, thereby removing the abnormal value of the phase in the continuous running signal to improve the continuity of the phase in the continuous running signal; and, utilizing the differential processing to determine the slope of the continuous running signal. The abnormal point of the slope is found and corrected to improve the phase continuity in the continuous operation signal; in addition, the amplitude in the continuous operation signal is normalized by using the minimum average value, the maximum average value, the minimum value of the cycle and the maximum value of the cycle to obtain an arc operation signal with more continuous phase and amplitude, so as to facilitate the subsequent improvement of the accuracy of the straight-line operation distance calculation of the mover using the arc operation signal; and, the straight-line operation distance corresponding to the straight-line operation distance of the mover running within the effective detection range of the target sensor obtained by the straight-line operation distance, the effective detection range and the arc angle is used, combined with the pre-acquired reference operation radius, the straight-line operation distance is corrected in an arc shape, so as to accurately obtain the arc operation distance of the mover running in the effective detection range of the target sensor, and then combined with the setting position of the sensor, the real-time position of the mover running on the arc track is accurately obtained, thereby effectively improving the accuracy of real-time detection of the mover position information on the arc track.

[0203] The present application also provides a magnetic drive conveying system, which can be used to implement the above-mentioned method for detecting the position of a mover of the magnetic drive conveying system. Figure 1The system shown includes a curved track and a mover running on the curved track.

[0204] In some embodiments, a plurality of adjacent long strip PCB boards are arranged on one side of the arc track, and at least one sensor is arranged on the long strip PCB board, such as Figure 2 As shown in the upper half of the figure.

[0205] In some embodiments, a long arc PCB board is set on one side of the arc track, and the length and curvature of the long arc PCB board correspond to the arc track. A plurality of sensors are set on the long arc PCB board, such as Figure 2 As shown in the lower half of the figure.

[0206] In the above embodiment, the specific implementation of the magnetic drive conveying system is basically consistent with the specific implementation of the mover position detection method of the above magnetic drive conveying system and its beneficial effects, which will not be repeated here.

[0207] The present application also provides a device for detecting the position of a mover of a magnetic drive conveying system, which can implement the above-mentioned method for detecting the position of a mover of a magnetic drive conveying system. Fig.23 , the device 2300 comprises:

[0208] An acquisition module 2310 is used to acquire an effective detection range and a setting position of each sensor;

[0209] The target sensor selection module 2320 is used to select a target sensor from the sensors when the mover runs on the arc track, and the mover is located within the effective detection range of the target sensor;

[0210] The correction module 2330 is used to obtain the straight-line running distance of the mover collected by the target sensor, and perform arc correction on the straight-line running distance to obtain the arc running distance;

[0211] The information output module 2340 is used to obtain the real-time position information of the mover based on the setting position of the target sensor and the arc running distance.

[0212] In some embodiments, the correction module 2330 is further configured to:

[0213] The running arc angle is obtained according to the straight-line running distance and the effective detection range of the target sensor;

[0214] The reference running radius is obtained, and the arc running distance is obtained based on the product of the running arc angle and the reference running radius.

[0215] In some embodiments, the correction module 2330 is further configured to:

[0216] Obtain the arc angle of the arc track and the number of sensors on the arc track;

[0217] The straight-line reference distance is obtained based on the product of the number of sensors and the effective detection range;

[0218] The ratio of the straight-line running distance to the straight-line reference distance is obtained, and the ratio is multiplied by the arc angle to obtain the running angle, and the running arc angle is obtained based on the running angle.

[0219] In some embodiments, the correction module 2330 is further configured to:

[0220] Obtaining operation signals collected by the target sensor at multiple consecutive moments;

[0221] Perform burr filtering and correction on the running signal to obtain a continuous running signal;

[0222] Perform phase correction on the continuous operation signal to obtain an arc operation signal;

[0223] The straight-line running distance is obtained based on the arc running signal.

[0224] In some embodiments, the correction module 2330 is further configured to:

[0225] Within the preset amplitude range, an amplitude whose absolute value exceeds the first preset amplitude is selected from the operating signal as the first amplitude to be corrected, and a sampling time corresponding to the first amplitude to be corrected is used as the first correction time;

[0226] A first correction amplitude is obtained based on the amplitude of the operation signal corresponding to the moment before the first correction moment plus a first preset amplitude, and the first correction amplitude replaces the first amplitude to be corrected;

[0227] A continuous operation signal is obtained based on the updated operation signal.

[0228] In some embodiments, the correction module 2330 is further configured to:

[0229] Selecting from the continuous running signal a plurality of amplitudes whose amplitudes are within a second preset amplitude range and are consistent with a preset correction amount as second amplitudes to be corrected;

[0230] Selecting, from among the plurality of second amplitudes to be corrected, a second amplitude to be corrected whose time interval with other amplitudes of the continuous operation signal exceeds a first preset time interval as a removal amplitude, and removing the removal amplitude from the continuous operation signal;

[0231] An arc operation signal is obtained based on the updated continuous operation signal.

[0232] In some embodiments, the correction module 2330 is further configured to:

[0233] Performing differentiation processing on the continuous operation signal according to a second preset time interval to obtain a continuous differential signal;

[0234] Selecting an amplitude whose absolute value exceeds the second preset amplitude in the continuous differential signal as a third amplitude to be corrected, and taking a sampling time corresponding to the third amplitude to be corrected as a second correction time;

[0235] Taking the amplitude of the continuous running signal corresponding to the moment before the second correction moment as the second correction amplitude, and obtaining the amplitude integral of the second correction amplitude;

[0236] replacing a third to-be-corrected amplitude of the continuously differentiated signal based on the second corrected amplitude and the accumulated value of the amplitude integral;

[0237] An arc operation signal is obtained based on the updated continuous operation signal.

[0238] In some embodiments, the correction module 2330 is further configured to:

[0239] Obtain the correction time period, and obtain the minimum average value and the maximum average value of the continuously running signal in all correction time periods;

[0240] Get the minimum and maximum cycle values ​​of the continuously running signal within the correction time period;

[0241] A minimum correction value is obtained based on the ratio of the minimum value of the period to the minimum average value, and a maximum correction value is obtained based on the ratio of the maximum value of the period to the maximum average value;

[0242] The amplitude of the continuous operation signal is divided by the minimum correction value or the maximum correction value to obtain the arc operation signal.

[0243] In the above embodiments, the description of each embodiment has its own emphasis. For the part that is not described in detail in a certain embodiment, the specific implementation method of the mover position detection device of the magnetic drive conveying system is basically the same as the specific implementation method of the mover position detection method of the above magnetic drive conveying system, and will not be repeated here.

[0244] In the embodiment of the present application, the mover position detection device of the magnetic drive conveying system uses the phase difference between the first sensor waveform and the second sensor waveform output by the first sensor chip and the second sensor chip set by the preset angle to accurately determine the position state information between the mover and the sensor, and uses the corresponding position state information to accurately select a suitable target sensor from multiple sensors to accurately detect the position of the mover on the arc track; at the same time, by sequentially performing numerical mapping and superposition processing on the arc running signal, and combining with the preset unit distance, the straight-line running distance of the mover in the arc motion on the sensor can be accurately obtained, thereby improving the accuracy of the subsequent use of the straight-line running distance to obtain the arc running distance; and, using the first preset time interval, select the amplitude with a large time difference with the amplitude at the sampling moment from the continuous running signal to remove it, thereby removing the abnormal value of the phase in the continuous running signal to improve the continuity of the phase in the continuous running signal; and, using the differential processing to determine the continuous running distance The abnormal point of the slope in the continuous operation signal is detected and corrected to improve the phase continuity of the continuous operation signal; in addition, the amplitude in the continuous operation signal is normalized by using the minimum average value, the maximum average value, the minimum value of the cycle and the maximum value of the cycle to obtain an arc operation signal with more continuous phase and amplitude, so as to facilitate the subsequent improvement of the accuracy of the straight-line operation distance calculation of the mover using the arc operation signal; and, the straight-line operation distance obtained by the straight-line operation distance, the effective detection range and the arc angle The corresponding running arc angle of the mover running within the effective detection range of the target sensor is used, combined with the pre-acquired reference running radius, and the straight-line operation distance is corrected in an arc shape to accurately obtain the arc operation distance of the mover running in the effective detection range of the target sensor, and then combined with the setting position of the sensor, the real-time position of the mover running on the arc track is accurately obtained, thereby effectively improving the accuracy of real-time detection of the mover position information on the arc track.

[0245] The present application also provides an electronic device, including:

[0246] at least one memory;

[0247] at least one processor;

[0248] at least one program;

[0249] The program is stored in the memory, and the processor executes the at least one program to implement the method for detecting the position of the mover of the magnetic drive conveying system in the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a car computer, etc.

[0250] See also Fig.24 , Fig.24 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0251] The processor 2401 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0252] The memory 2402 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 2402 can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 2402, and the processor 2401 calls and executes the mover position detection method of the magnetic drive conveying system of the embodiment of the present application;

[0253] Input / output interface 2403, used to implement information input and output;

[0254] Communication interface 2404, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

[0255] A bus 2405 that transmits information between various components of the device (e.g., processor 2401, memory 2402, input / output interface 2403, and communication interface 2404);

[0256] The processor 2401 , the memory 2402 , the input / output interface 2403 and the communication interface 2404 are connected to each other in communication within the device via the bus 2405 .

[0257] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the mover position detection method of the magnetic drive conveying system is implemented.

[0258] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0259] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0260] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0261] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0262] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0263] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0264] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0265] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0266] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0267] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0268] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0269] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for detecting the position of a mover of a magnetic drive conveying system, characterized in that: The magnetic drive conveying system comprises a curved track and at least one mover running on the curved track, and a plurality of sensors are also arranged on the curved track. The method comprises: Obtaining the effective detection range and setting position of each of the sensors; When the mover runs on the arc track, a target sensor is selected from the sensors, and the mover is located within the effective detection range of the target sensor; Acquire the straight-line running distance of the mover collected by the target sensor, and perform arc correction on the straight-line running distance to obtain an arc running distance; Based on the setting position of the target sensor and the arc running distance, the real-time position information of the mover is obtained.

2. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 1, characterized in that: The arc-shaped correction is performed on the straight-line running distance to obtain the arc-shaped running distance, including: Obtaining a running arc angle according to the straight-line running distance and the effective detection range of the target sensor; A reference running radius is obtained, and the arc running distance is obtained based on the product of the running arc angle and the reference running radius.

3. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 2, characterized in that: The effective detection ranges of two adjacent sensors are continuous, and the operation arc angle is obtained according to the straight-line operation distance and the effective detection range of the target sensor, including: Acquire the arc angle of the arc track and the number of sensors of the sensors on the arc track; Obtaining a straight-line reference distance based on the product of the number of sensors and the effective detection range; The ratio of the straight-line running distance to the straight-line reference distance is obtained, and the ratio is multiplied by the arc angle to obtain the running angle, and the running arc angle is obtained based on the running angle.

4. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 1, characterized in that: The obtaining of the straight-line running distance of the mover collected by the target sensor comprises: Acquire operation signals collected by the target sensor at multiple consecutive moments; Performing burr filtering and correction on the operation signal to obtain a continuous operation signal; Performing phase correction on the continuous operation signal to obtain an arc operation signal; The straight-line running distance is obtained based on the arc-shaped running signal.

5. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 4, characterized in that: The performing burr filtering and correction on the operation signal to obtain a continuous operation signal includes: Within the preset amplitude range, an amplitude whose absolute value exceeds a first preset amplitude is selected from the operating signal as a first amplitude to be corrected, and a sampling time corresponding to the first amplitude to be corrected is used as a first correction time; A first correction amplitude is obtained based on the amplitude of the operation signal at the moment before the first correction moment plus the first preset amplitude, and the first correction amplitude replaces the first amplitude to be corrected; The continuous operation signal is obtained based on the updated operation signal.

6. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 4, characterized in that: The step of performing phase correction on the continuous operation signal to obtain an arc operation signal comprises: Selecting from the continuous operation signal a plurality of amplitudes whose amplitudes are within a second preset amplitude range and are consistent with a preset correction amount as second amplitudes to be corrected; Selecting, from the plurality of second amplitudes to be corrected, a second amplitude to be corrected whose time interval with other amplitudes of the continuous operation signal exceeds a first preset time interval as a removal amplitude, and removing the removal amplitude from the continuous operation signal; The arc operation signal is obtained based on the updated continuous operation signal.

7. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 4, characterized in that: The phase correction of the continuous operation signal to obtain the arc operation signal also includes: Performing differentiation processing on the continuous operation signal according to a second preset time interval to obtain a continuous differential signal; Selecting an amplitude whose absolute value exceeds the second preset amplitude in the continuous differential signal as a third amplitude to be corrected, and taking a sampling time corresponding to the third amplitude to be corrected as a second correction time; Taking the amplitude of the continuous operation signal corresponding to the moment before the second correction moment as the second correction amplitude, and obtaining the amplitude integral of the second correction amplitude; replacing a third to-be-corrected amplitude of the continuously differentiated signal based on the second corrected amplitude and the accumulated value of the amplitude integral; The arc operation signal is obtained based on the updated continuous operation signal.

8. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 4, characterized in that: The phase correction of the continuous operation signal to obtain the arc operation signal also includes: Obtaining a correction time period, and obtaining a minimum average value and a maximum average value of the continuous operation signal in all the correction time periods; Obtaining a minimum cycle value and a maximum cycle value of the continuous operation signal within the correction time period; Obtaining a minimum correction value based on a ratio of the period minimum value to the minimum average value, and obtaining a maximum correction value based on a ratio of the period maximum value to the maximum average value; The arc operation signal is obtained by dividing the amplitude of the continuous operation signal by the minimum correction value or the maximum correction value.

9. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 4, characterized in that: The obtaining the straight-line running distance based on the arc-shaped running signal comprises: Performing numerical mapping processing on the arc running signal to obtain a numerical mapping curve; Based on the absolute value of each endpoint value of the numerical mapping curve, the endpoint positive value is obtained, and all the endpoint positive values ​​are used for superposition processing to generate a running distance curve; A preset unit distance is acquired, and the straight-line running distance is obtained based on the preset unit distance and the running distance curve.

10. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 1, characterized in that: The sensor includes a first sensing chip and a second sensing chip, the first sensing chip and the second sensing chip are arranged at a preset angle, and the selecting a target sensor from the sensors includes: Acquire the first sensing chip to collect a first sensing waveform of the mover, and acquire the second sensing chip to collect a second sensing waveform of the mover; Based on the phase difference between the first induction waveform and the second induction waveform, the position state information between the mover and the sensor is determined, and based on the position state information, a target sensor is selected from the sensors.

11. The method for detecting the position of a mover of a magnetic drive conveying system according to claim 10, characterized in that: The determining, based on the phase difference between the first sensing waveform and the second sensing waveform, the position state information between the mover and the sensor, and selecting a target sensor from the sensors based on the position state information, comprises: When the phase difference value is less than a first preset phase difference value, determining that the position state information is a proximity state, wherein the proximity state is used to indicate that the mover is approaching the effective detection range of the sensor; When the phase difference value is greater than the first preset phase difference value but less than the second preset phase difference value, the position state information is determined to be an arrival state, and the arrival state is used to indicate that the mover is in the effective detection range of the target sensor; When the phase difference value is greater than the second preset phase difference value, the position state information is determined to be a moving away state, and the moving away state is used to indicate that the mover is moving away from the effective detection range of the sensor; The sensor whose position state information is the arrival state is selected from the sensors as the target sensor.

12. A magnetic drive conveying system, characterized in that: The magnetic drive conveying system is used to implement the mover position detection method of the magnetic drive conveying system according to any one of claims 1 to 11, and the system includes an arc track and at least one mover running on the arc track.

13. The magnetic drive conveying system according to claim 12, characterized in that: A plurality of adjacently arranged long strip PCB boards are disposed on one side of the arc track, and at least one sensor is disposed on the long strip PCB boards.

14. The magnetic drive conveying system according to claim 12, characterized in that: A long arc PCB board is arranged on one side of the arc track, the length and curvature of the long arc PCB board correspond to the arc track, and a plurality of sensors are arranged on the long arc PCB board.

15. A mover position detection device for a magnetic drive conveying system, characterized in that: The magnetic drive conveying system comprises an arc track and at least one mover running on the arc track, and a plurality of sensors are also arranged on the arc track. The device comprises: An acquisition module, used for acquiring the effective detection range and setting position of each of the sensors; A target sensor selection module, used for selecting a target sensor from the sensors when the mover runs on the arc track, and the mover is located within the effective detection range of the target sensor; A correction module, used for acquiring the straight-line running distance of the mover collected by the target sensor, and performing arc correction on the straight-line running distance to obtain an arc running distance; The information output module is used to obtain the real-time position information of the mover based on the setting position of the target sensor and the arc running distance.

16. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the method for detecting the position of the mover of the arc track according to any one of claims 1 to 11 is implemented.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for detecting the position of a mover of an arc track according to any one of claims 1 to 11 is implemented.

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