Magnetic drive transportation equipment and article transportation system

Abstract

The invention provides magnetic drive transportation equipment and an article transportation system.The magnetic drive transportation equipment is connected with transmission transportation equipment, and the magnetic drive transportation equipment comprises a motion collection module used for collecting the motion state of the transmission transportation equipment and generating a motion collection signal; the magnetic drive wire body is connected with the magnetic drive control module and used for driving the magnetic moving part to move through a magnetic field; the magnetic moving part is movably connected with the magnetic drive wire body and is used for moving under the driving of a magnetic field generated by the magnetic drive wire body; the magnetic drive control module is connected with the motion acquisition module and is used for controlling the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, so that the motion condition of the magnetic motion part is matched with the motion condition of the transmission transportation equipment; by adopting the magnetic drive transportation equipment, the problem of how to improve the debugging efficiency among various types of transportation equipment in the related technology is solved.

Description

[0001] The present invention claims the priority of the Chinese patent application filed with the Chinese Patent Office on May 14, 2024, with application number 202410597602.3 and invention name “Motion control device and method, magnetic drive transportation equipment, and article transportation system”, the entire contents of which are incorporated by reference into the present invention. Technical Field

[0002] The present invention relates to the field of industrial transportation, and in particular to a magnetic drive transportation device and an article transportation system. Background Art

[0003] With the development of technology, the transportation scenarios of goods have become increasingly complex, requiring different types of transportation equipment to cooperate with each other. Due to differences in mechanical structures, different types of transportation equipment have different transportation methods. For example, some transportation equipment transports goods through conveyor belts, while some transportation equipment transports goods through turntables.

[0004] During the transportation of goods, the demand for transportation of goods will change (for example, if the production line rhythm needs to be increased, the number of goods transported per unit time needs to be increased). According to the demand for transportation of goods and the transportation methods of various types of transportation equipment, the motion parameters of various types of transportation equipment need to be adjusted respectively. Multiple types of transportation equipment may not be able to cooperate with transportation due to the adjustment of motion parameters, which requires repeated debugging and takes a long time.

[0005] Therefore, how to improve the debugging efficiency between various types of transportation equipment needs to be solved by those skilled in the art. Summary of the invention

[0006] The main purpose of the present invention is to provide a magnetic drive transport equipment and an article transport system to solve the problem of how to improve the debugging efficiency between various types of transport equipment in the related art.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a motion control device is provided, wherein the motion control device is connected to the transmission and transportation equipment and the magnetic drive transportation mechanism respectively, the magnetic drive transportation mechanism comprises a magnetic moving part and a magnetic drive line, the magnetic moving part is movably connected to the magnetic drive line, and the magnetic drive line is used to drive the magnetic moving part to move through a magnetic field; the motion control device comprises: a motion acquisition module, which is used to acquire the motion state of the transmission and transportation equipment and generate a motion acquisition signal; a magnetic drive control module, which is connected to the motion acquisition module and is used to control the magnetic field change of the magnetic drive line according to the motion acquisition signal, so that the motion condition of the magnetic moving part matches the motion condition of the transmission and transportation equipment.

[0008] Furthermore, the motion control device also includes: a position detection module, connected to the magnetic drive control module, for detecting the position information of the magnetic moving component and generating a position detection signal; the magnetic drive control module is also used to monitor the movement of the magnetic moving component according to the position detection signal when controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal.

[0009] Furthermore, the magnetic drive control module is also used to determine whether the magnetic moving component reaches the first position according to the position detection signal before controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal, and control the magnetic field of the magnetic drive line according to the judgment result.

[0010] Furthermore, the motion acquisition signal includes transmission position information of the transmission and transportation equipment, and the magnetic drive control module is also used to determine the position change of the transmission and transportation equipment according to the transmission position information of the transmission and transportation equipment indicated by the motion acquisition signal when the judgment result indicates that the magnetic moving component has reached the first position; and according to the position change of the transmission and transportation equipment, control the magnetic field change of the magnetic drive line to drive the magnetic moving component to move according to the position change of the transmission and transportation equipment.

[0011] Furthermore, the magnetic drive control module is also used to control the magnetic field change of the magnetic drive line according to the transmission speed information corresponding to the transmission transportation equipment when the judgment result indicates that the magnetic moving component has reached the first position, so as to drive the magnetic moving component to move according to the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0012] Furthermore, the magnetic drive control module is also used to control the magnetic field change of the magnetic drive line after the judgment result indicates that the magnetic moving component has not reached the first position, based on the transmission speed information corresponding to the transmission transportation equipment and the position information of the magnetic moving component indicated by the position detection signal, so as to drive the movement speed of the magnetic moving component to reach the first position to match the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0013] Furthermore, there are multiple motion acquisition modules, and the motion control device also includes: a signal processing module, connected to the multiple motion acquisition modules and the magnetic drive control module, for receiving motion acquisition signals from the multiple motion acquisition modules, and upon receiving the motion acquisition signals from the multiple motion acquisition modules, sending the motion acquisition signals from the multiple motion acquisition modules to the magnetic drive control module one by one.

[0014] Furthermore, the signal processing module includes: a signal selection unit, which is used to receive the motion acquisition signals of the multiple motion acquisition modules in a time-sharing manner, and send the motion acquisition signals of the multiple motion acquisition modules to the magnetic drive control module in a time-sharing manner.

[0015] Furthermore, the signal selection unit includes multiple signal input parts, at least one signal output part and multiple switching sub-units; wherein: the multiple signal input parts are connected to the multiple motion acquisition modules one by one; one signal output part is connected to at least one signal input part through the switching sub-unit, and at least one signal output part is connected to the magnetic drive control module; the multiple switching sub-units correspond to the multiple motion acquisition modules, and each switching sub-unit switches between the connected state and the disconnected state in pairs according to the timing of the corresponding motion acquisition module sending the motion acquisition signal.

[0016] Furthermore, the signal processing module includes: a signal integration unit, which is used to receive the motion acquisition signals generated by the multiple motion acquisition modules, and sort the motion acquisition signals of the multiple motion acquisition modules and send them to the magnetic drive control module in sequence.

[0017] Furthermore, the signal integration unit includes multiple signal input parts, at least one signal output part, and at least one signal cache sub-unit; wherein: the multiple signal input parts are connected to the multiple motion acquisition modules one by one; at least one signal output part is connected to the multiple signal input parts through at least one signal cache sub-unit, and at least one signal output part is connected to the magnetic drive control module; at least one signal cache sub-unit corresponds to the multiple motion acquisition modules, and the signal cache sub-unit is used to cache and sort the motion acquisition signals of the multiple motion acquisition modules, and send them to the connected signal output parts in sequence.

[0018] Furthermore, there are multiple signal processing modules, and at least some of the signal processing modules are connected to multiple motion acquisition modules; the connection relationship between the multiple signal processing modules includes one of the following: a series connection relationship, a parallel connection relationship.

[0019] Furthermore, in the case where the connection relationship between the multiple signal processing modules is the series connection relationship, the multiple signal processing modules transmit the received motion acquisition signals in a direction close to the magnetic drive control module according to the series connection relationship.

[0020] Furthermore, when the connection relationship between the multiple signal processing modules is the parallel connection relationship, the multiple signal processing modules are arranged according to multiple levels, and the signal processing modules in the same parallel branch transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

[0021] Furthermore, there are multiple magnetic moving parts; the magnetic drive control module is used to determine the control object from the multiple magnetic moving parts according to the transmission and transportation equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive line according to the motion acquisition signal; or, the magnetic drive control module is used to determine the control object and the transmission and transportation equipment corresponding to the control object from the multiple magnetic moving parts, and control the magnetic field change of the magnetic drive line after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

[0022] According to another aspect of the present invention, there is provided a magnetically driven transport device, which is connected to a transmission transport device, and comprises: a motion acquisition module, which is used to acquire the motion state of the transmission transport device and generate a motion acquisition signal; a magnetic drive line body, which is connected to a magnetic drive control module and is used to drive a magnetic moving part to move through a magnetic field; the magnetic moving part is movably connected to the magnetic drive line body and is used to move under the drive of the magnetic field generated by the magnetic drive line body; the magnetic drive control module is connected to the motion acquisition module and is used to control the magnetic field change of the magnetic drive line body according to the motion acquisition signal, so that the motion condition of the magnetic moving part matches the motion condition of the transmission transport device.

[0023] According to another aspect of the present invention, there is provided an article transportation system, comprising: a motion acquisition module, for acquiring the motion state of a transmission and transportation device and generating a motion acquisition signal; a magnetic drive line, connected to a magnetic drive control module, for driving a magnetic moving component to move through a magnetic field; the magnetic moving component, movably connected to the magnetic drive line, for moving under the drive of the magnetic field generated by the magnetic drive line; a magnetic drive control module, connected to the motion acquisition module, for controlling the change of the magnetic field of the magnetic drive line according to the motion acquisition signal, so that the motion condition of the magnetic moving component matches the motion condition of the transmission and transportation device; the transmission and transportation device, distributed around the magnetic drive line, for cooperating with the magnetic moving component that matches the motion condition to transport articles.

[0024] According to another aspect of the present invention, there is provided a motion control method, which is applied to the above-mentioned motion control device, comprising: receiving a motion acquisition signal generated by the motion acquisition module according to the motion state of the transmission and transportation device; controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal, so that the motion condition of the magnetic moving component matches the motion condition of the transmission and transportation device.

[0025] According to another aspect of the present invention, a computer storage medium is provided. The computer storage medium has a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the motion control method as described above.

[0026] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the method described in each embodiment of the present invention are implemented.

[0027] According to the technical solution of the present invention, the motion control device is connected to the transmission and transportation device and the magnetic drive transportation mechanism respectively. The magnetic drive transportation mechanism includes a magnetic moving part and a magnetic drive line body. The magnetic moving part is movably connected to the magnetic drive line body. The magnetic drive line body is used to drive the magnetic moving part to move through a magnetic field; the motion state of the transmission and transportation device is collected by a motion acquisition module to generate a motion acquisition signal for indicating the motion condition of the transmission and transportation device; the magnetic drive control module is connected to the motion acquisition module, receives the motion acquisition signal sent by the motion acquisition module, and controls the magnetic field of the magnetic drive line body to change according to the motion acquisition signal, thereby driving the magnetic moving part to move according to the motion condition of the transmission and transportation device. The invention relates to a method for controlling the movement of a magnetic moving part so that the movement of the magnetic moving part matches the movement of the transmission and transportation equipment; the above-mentioned motion control device is used, through the coordinated work of the motion acquisition module and the magnetic drive control module, so that the movement of the magnetic moving part can match the movement of the transmission and transportation equipment, and a motion coupling relationship can be established between the magnetic drive transportation mechanism and the transmission and transportation equipment, thereby avoiding the situation that the transmission and transportation equipment and the magnetic drive transportation mechanism cannot cooperate in transportation during debugging, thereby shortening the debugging time; thus, the problem of how to improve the debugging efficiency between various types of transportation equipment in the related art is solved; and the beneficial effect of improving the debugging efficiency between various types of transportation equipment is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 is a structural block diagram of a motion control device according to an embodiment of the present invention (I);

[0030] Figure 2 is a structural block diagram of a motion control device according to an embodiment of the present invention (II);

[0031] Figure 3 is a schematic structural diagram of an optional motion control device according to an embodiment of the present invention (I);

[0032] Figure 4 is a schematic diagram of a serial structure of an optional signal processing module according to an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of a parallel structure of an optional signal processing module according to an embodiment of the present invention (I);

[0034] Figure 6 is a schematic diagram of a parallel structure of an optional signal processing module according to an embodiment of the present invention (II);

[0035] Figure 7 is a schematic structural diagram of an optional motion control device according to an embodiment of the present invention (II);

[0036] Figure 8 is a schematic diagram of a transport coordination area according to an embodiment of the present invention;

[0037] Fig. 9 is a structural block diagram of a magnetic drive transport device according to an embodiment of the present invention (I);

[0038] Fig.10 is a structural block diagram of a magnetic drive transport device according to an embodiment of the present invention (II);

[0039] Fig.11 is a structural schematic diagram of a magnetic drive transportation device according to an embodiment of the present invention;

[0040] Fig.12 is a structural block diagram of an article transportation system according to an embodiment of the present invention (I);

[0041] Fig.13 is a structural block diagram of an article transportation system according to an embodiment of the present invention (II);

[0042] Fig.14 is a flow chart of a motion control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0045] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0046] This embodiment provides a motion control device, such as Figure 1 , which is a structural block diagram of a motion control device according to an embodiment of the present invention, wherein the motion control device 11 is connected to the transmission transport device 12 and the magnetic drive transport mechanism 13 respectively, the magnetic drive transport mechanism 13 comprises a magnetic moving part 132 and a magnetic drive line 134, the magnetic moving part 132 is movably connected to the magnetic drive line 134, and the magnetic drive line 134 is used to drive the magnetic moving part 132 to move through a magnetic field; the motion control device 11 comprises:

[0047] The motion acquisition module 112 is used to acquire the motion state of the transmission and transportation equipment 12 and generate a motion acquisition signal;

[0048] It should be noted that the motion acquisition module can be a contact motion acquisition module or a non-contact motion acquisition module. For the motion acquisition module, the acquisition can be performed by one or more combinations of light, electricity, and magnetism. According to the contact method and acquisition method actually required, the type of device specifically included in the motion acquisition module can be determined. For example, the motion acquisition module may include an image sensor, which collects motion image data of the transmission and transportation equipment through the image sensor and analyzes it to determine the motion of the transmission and transportation equipment. For another example, the motion acquisition module may include an encoder, which measures the motion of the transmission and transportation equipment through the encoder.

[0049] The type of motion state specifically collected by the motion acquisition module is related to the motion mode of the transmission and transportation equipment to achieve transportation. If the transmission and transportation equipment is transported in a rotary motion mode, the motion acquisition module can collect the rotary motion state of the transmission and transportation equipment. If the transmission and transportation equipment is transported in a linear motion mode, since the transmission and transportation equipment may have a process of converting rotary motion into linear motion, the motion acquisition module can collect the rotary motion state or linear motion state of the transmission and transportation equipment. According to the specific motion mode of the transmission and transportation equipment to achieve transportation, the motion acquisition module can include different types of devices according to actual conditions. According to the actual motion mode of the transmission and transportation equipment to achieve transportation, the type of device specifically included in the motion acquisition module can be determined. For example, the motion acquisition module can include at least one of a rotation sensor and a linear sensor. It should be noted that the type of motion physical information represented by the motion acquisition signal. The type of motion physical information can be transmission position information, transmission speed information, etc., wherein the transmission position information is used to characterize the position of the transmission and transportation equipment at different times, and the transmission speed information is used to characterize the speed of the transmission and transportation equipment. The transmission speed information includes but is not limited to information such as transmission instantaneous speed, transmission average speed, transmission direction, and transmission acceleration. Correspondingly, in order to collect the above-mentioned different types of motion physical information, the motion collection module can be configured to include one or more of the following sensors: a position sensor capable of measuring transmission distance information, a speed sensor capable of measuring transmission speed information, and the like.

[0050] Continue to refer Figure 1 The motion control device 11 may also include: a magnetic drive control module 114, which is connected to the motion acquisition module 112, and is used to control the magnetic field change of the magnetic drive line 134 according to the motion acquisition signal to drive the magnetic moving component 132 to move, and make the movement of the magnetic moving component 132 match the movement of the transmission and transportation equipment 12.

[0051] The above-mentioned motion control device 11 is adopted to collect the motion state of the transmission and transportation equipment 12 through the motion acquisition module 112, and generate a motion acquisition signal for indicating the motion condition of the transmission and transportation equipment 12; the magnetic drive control module 114 is connected to the motion acquisition module 112, and the magnetic drive control module 114 receives the motion acquisition signal sent by the motion acquisition module 112, and controls the magnetic field of the magnetic drive line 134 to change according to the motion acquisition signal, thereby driving the magnetic moving component 132 to move according to the motion condition of the transmission and transportation equipment 12, so that the motion condition of the magnetic moving component 132 matches the motion condition of the transmission and transportation equipment 12.

[0052] Therefore, through the coordinated work of the motion acquisition module and the magnetic drive control module, the motion conditions of different types of transportation equipment can be matched, the motion conditions of the magnetic moving parts can be matched with the motion conditions of the transmission transportation equipment, and a motion coupling relationship can be established between the magnetic drive transportation mechanism and the transmission transportation equipment, thereby avoiding the situation where the transmission transportation equipment and the magnetic drive transportation mechanism cannot cooperate in transportation during debugging, thereby shortening the debugging time.

[0053] Therefore, the motion control device provided by the embodiment of the present invention can solve the problem of how to improve the debugging efficiency between various types of transportation equipment in the related art, and achieves the beneficial effect of improving the debugging efficiency between various types of transportation equipment.

[0054] It can be understood that the transmission and transportation equipment can be a device that realizes transportation by using one or more combinations of friction transmission and meshing transmission, such as belt transmission, rope transmission and friction wheel transmission, and meshing transmission such as gear transmission, chain transmission, spiral transmission and harmonic transmission, etc. The present invention does not limit this.

[0055] It should be noted that, in the embodiments of the present invention, the advantage of collecting the motion conditions of the transmission and transportation equipment through the motion acquisition module is that after the magnetic drive control module is configured by software, hardware or a combination of the two, the magnetic drive control module can obtain the motion physical information represented by the motion acquisition signal sent by the motion acquisition module. When the motion acquisition module replaces the transmission and transportation equipment with the same motion mode (such as rotational motion mode, linear motion mode, etc.) (such as changing from transmission and transportation equipment A to B, the two have the same motion mode), the magnetic drive control module can still obtain the motion physical information of the replaced transmission and transportation equipment according to the motion acquisition signal sent by the motion acquisition module and control the magnetic field change of the magnetic drive line, so that the motion control device has higher adaptability.

[0056] In practical applications, the specific part where the motion acquisition module acquires the motion state of the transmission and transportation equipment can be determined according to the specific mechanical structure of the transmission and transportation equipment. For example, the transmission and transportation equipment may include a movable module and a fixed module, the movable module moves relative to the fixed module, and the movable module may include an execution module (specifically, such as a motor, a lifting component, etc.) and a carrier module (specifically, such as an impeller, a transmission belt, etc.). The motion acquisition module can acquire the motion state of the execution module or the carrier module. Among them, the execution module and the carrier module may be directly connected or indirectly connected; further, the direct connection may be in the form of a rigid connection, and the indirect connection may be in the form of a magnetic connection, etc., and the embodiments of the present invention do not limit this.

[0057] In a specific implementation, the motion control device may further include a position detection module. The position detection module is connected to the magnetic drive control module, and the position detection module is used to detect the position information of the magnetic moving component and generate a position detection signal. Accordingly, the magnetic drive control module can monitor the movement of the magnetic moving component according to the position detection signal, and can adjust the magnetic field change of the magnetic drive line according to the monitoring result, thereby improving the movement accuracy of the magnetic moving component. It can be understood that the timing for the magnetic drive control module to monitor the movement of the magnetic moving component can be determined according to actual conditions, and the movement of the magnetic moving component can be monitored before or after the motion acquisition signal is obtained, or the movement of the magnetic moving component can be monitored after the motion acquisition signal is obtained. The embodiment of the present invention does not impose specific restrictions on this.

[0058] In an optional embodiment, the present invention provides an optional motion control device, the structure of which is as follows: Figure 2 As shown, the motion control device 11 includes: a motion acquisition module 112, a magnetic drive control module 114 and a position detection module 116. It can be understood that Figure 2 Zhongyu Figure 1 The same or similar hardware (such as the motion acquisition module 112, the magnetic drive control module 114, etc.) can refer to Figure 1 The relevant description will not be repeated here.

[0059] The position detection module 116 is connected to the magnetic drive control module 114, and is used to detect the position information of the magnetic moving part 132 and generate a position detection signal. The magnetic drive control module 114 is also used to monitor the movement of the magnetic moving part 132 according to the position detection signal when controlling the magnetic field change of the magnetic drive line 134 according to the motion acquisition signal.

[0060] By setting up a position detection module in the motion control device, the position information of the magnetic moving parts at different times can be detected, and a position detection signal can be generated according to the position information; and when the magnetic drive control module controls the magnetic field change of the magnetic drive line according to the motion acquisition signal, the movement of the magnetic moving parts can be monitored according to the position detection signal, so that the magnetic drive control module can adjust the control of the magnetic drive line according to the position detection signal at any time, so that the movement of the magnetic moving parts can match that of the transmission and transportation equipment.

[0061] It can be seen from the above embodiments that detecting the real-time position of the magnetic moving part through the position detection module can provide useful reference information for the magnetic drive control module, so that the magnetic drive control module can timely adjust the movement of the magnetic moving part when controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal, thereby ensuring that the movement of the magnetic moving part accurately matches the movement of the transmission and transportation equipment.

[0062] It is understandable that the number of the magnetic moving parts can be one or more. When the number of the magnetic moving parts is multiple, the magnetic drive control module is used to determine the control object from the multiple magnetic moving parts according to the transmission and transportation equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive line according to the motion acquisition signal, or the magnetic drive control module can determine the control object and the transmission and transportation equipment corresponding to the control object from the multiple magnetic moving parts, and control the magnetic field change of the magnetic drive line after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

[0063] When there are multiple magnetic moving parts, unique and identifiable magnetic drive identification information can be assigned to the multiple magnetic moving parts to distinguish each magnetic moving part, thereby ensuring that the magnetic drive control module can correctly control the movement of each magnetic moving part.

[0064] It can also be understood that the process of the magnetic drive control module determining the control object from the multiple magnetic moving parts can be performed in combination with the position detection module, that is, the position detection module can not only be used to detect the position information of the magnetic moving parts at different times, so that the magnetic drive control module can regulate the movement of the magnetic moving parts in combination with the position information detected by the position detection module, but also can be used to determine the corresponding relationship between the magnetic moving parts and the transmission and transportation equipment. The following is an explanation in combination with several optional implementations:

[0065] In a first optional embodiment, the number of transmission and transportation equipment is one. After acquiring the motion acquisition signal, the magnetic drive control module acquires the position of the transmission and transportation equipment relative to the magnetic drive line (i.e., the distribution position of the transmission and transportation equipment), and determines the positions of multiple magnetic moving parts when the motion acquisition signal is acquired (i.e., the current positions of the multiple magnetic moving parts) through the position detection module. According to the distribution position of the transmission and transportation equipment and the current positions of the multiple magnetic moving parts, the magnetic moving part corresponding to the transmission and transportation equipment (i.e., the first magnetic moving part) is determined from the multiple magnetic moving parts, and the magnetic field change of the magnetic drive line is controlled according to the acquired motion acquisition signal, so that the movement of the first magnetic moving part matches the movement of the transmission and transportation equipment.

[0066] In a second optional embodiment, there are multiple transmission transport devices, and unique and identifiable transmission identification information can be assigned to the multiple transmission transport devices to distinguish each transmission transport device. The magnetic drive control module determines the corresponding transmission transport device (i.e., the first transmission transport device) according to the transmission identification information carried in the acquired motion acquisition signal, and obtains the position of the first transmission transport device relative to the magnetic drive line (i.e., the distribution position of the first transmission transport device), and determines the positions of multiple magnetic moving parts when the motion acquisition signal is acquired through the position detection module (i.e., the current positions of multiple magnetic moving parts), determines the magnetic moving part corresponding to the first transmission transport device (i.e., the first magnetic moving part) from the multiple magnetic moving parts according to the distribution position of the first transmission transport device and the current positions of the multiple magnetic moving parts, and controls the magnetic field change of the magnetic drive line according to the acquired motion acquisition signal, so that the motion of the first magnetic moving part matches the motion of the first transmission transport device.

[0067] In a third optional embodiment, the magnetic drive control module determines the current positions of the plurality of magnetic moving parts through the position detection module, and in combination with the distribution position of the transmission and transportation equipment relative to the magnetic drive line (i.e., the distribution position of the transmission and transportation equipment), determines the control object (i.e., the second magnetic moving part) and the transmission and transportation equipment corresponding to the control object (i.e., the second transmission and transportation equipment) from the plurality of magnetic moving parts, and controls the magnetic field change of the magnetic drive line after determining the motion acquisition signal of the second transmission and transportation equipment based on the transmission identification information in the acquired motion acquisition signal, so that the motion condition of the second magnetic moving part matches the motion condition of the second transmission and transportation equipment.

[0068] From the above, it can be seen that the magnetic drive control module can accurately determine the corresponding relationship between each magnetic moving component and the transmission and transportation equipment by working in cooperation with the position detection module, so that it can accurately control the movement of the correct magnetic moving component according to the motion acquisition signal, ensuring that the transmission and transportation equipment and the magnetic moving component can cooperate smoothly in transportation.

[0069] In actual application, in order to improve the efficiency of transporting goods, multiple transmission and transportation equipment may be operated simultaneously, and the number of motion acquisition modules increases accordingly. In an optional embodiment, each motion acquisition module corresponds to a transmission and transportation equipment, and each magnetic drive control module is connected to a different motion acquisition module through different interfaces to receive motion acquisition signals.

[0070] However, too many motion acquisition modules will have some adverse effects on the operation of the motion control device. For example, in order to ensure that the magnetic drive control module can know the movement of each transmission and transportation equipment in time, the magnetic drive control module needs to obtain the motion acquisition signals collected by different motion acquisition modules through different interfaces respectively; if there are too many motion acquisition modules, the number of interfaces of the magnetic drive control module will be insufficient. For another example, after the number of motion acquisition modules increases, the magnetic drive control module needs to continuously select different interfaces for signal reading to obtain the motion acquisition signal. However, due to the excessive number of interfaces of the magnetic drive control module, the waiting time for the motion acquisition signal to be read is too long. There may be some interfaces that receive changes in the motion acquisition signals during the waiting process (such as becoming a stationary signal, or being covered as the signal collected by the motion acquisition module next time), which in turn causes the magnetic drive control module to be unable to obtain the motion acquisition signals of different motion acquisition modules in time, resulting in the loss of the motion acquisition signal.

[0071] In order to solve the above problems, a signal processing module can also be set in the motion control device. The signal processing module is set between multiple motion acquisition modules and the magnetic drive control module. The signal processing module is used to send multiple motion acquisition signals collected by different motion acquisition modules to the magnetic drive control module one by one.

[0072] In an alternative embodiment, if Figure 3 As shown, the motion control device 11 may include: a plurality of motion acquisition modules 112, a magnetic drive control module 114 and a signal processing module 118, wherein: Figure 3 Zhongyu Figure 1 The same or similar hardware (such as the motion acquisition module 112 and the magnetic drive control module 114) can be referred to Figure 1 The relevant description will not be repeated here.

[0073] The signal processing module 118 is respectively connected to the multiple motion acquisition modules 112, and the signal processing module 118 is connected to the magnetic drive control module 114. The signal processing module 118 is used to receive the motion acquisition signals generated by the multiple motion acquisition modules 112, and when receiving the motion acquisition signals of the multiple motion acquisition modules 112, send the motion acquisition signals of the multiple motion acquisition modules 112 to the magnetic drive control module 114 one by one.

[0074] Therefore, through the signal processing module, the orderly sending of multiple motion acquisition signals is realized, the interface multiplexing rate of the magnetic drive control module is improved, the interface occupancy rate of the motion acquisition module to the magnetic drive control module is reduced, and the probability of loss of the motion acquisition signal is reduced.

[0075] In the case of transporting goods, there may be multiple transmission and transport equipment. In order to facilitate the control of the movement of each magnetic moving part according to the signal, multiple motion acquisition modules can be set up, and multiple transmission and transport equipment correspond to multiple motion acquisition modules one by one. For multiple motion acquisition modules, the motion acquisition signal contains identification information to indicate which motion acquisition module it comes from.

[0076] In a specific implementation, according to actual conditions, the signal processing module can process the motion acquisition signals of multiple motion acquisition modules through different processing methods to ensure the orderly sending of the motion acquisition signals of multiple motion acquisition modules. The specific structure of the signal processing module is illustrated below in combination with several optional embodiments.

[0077] In the first alternative embodiment, continue to refer to Figure 3 The signal processing module 118 may include a signal selection unit 1182, a signal selection unit 1182; the signal processing module 118 is used to receive the motion acquisition signals generated by the multiple motion acquisition modules 112 in a time-sharing manner, and send the motion acquisition signals of the multiple motion acquisition modules 112 to the magnetic drive control module 114 in a time-sharing manner.

[0078] The signal selection unit 1182 may include a plurality of signal input parts (not shown in the figure) and at least one signal output part (not shown in the figure), each signal input part of the signal selection unit 1182 is connected to a motion acquisition module 112, that is, the plurality of signal input parts of the signal selection unit 1182 are connected to the plurality of motion acquisition modules 112 in a one-to-one correspondence, and the plurality of signal input parts of the signal selection unit 1182 are used to receive motion acquisition signals of the plurality of motion acquisition modules 112. At least one signal output part of the signal selection unit 1182 is connected to the magnetic drive control module 114. The total number of signal input parts of the signal selection unit 1182 is greater than the total number of signal output parts of the signal selection unit 1182. One signal output part of the signal selection unit 1182 can be connected to at least one signal input part of the signal selection unit 1182. The signal selection unit 1182 can control the on-off status of the signal input part and the signal output part by one or more combinations of analog circuits and digital circuits.

[0079] The connected signal output part and signal input part can transmit the motion acquisition signal of the motion acquisition module 112 connected to the signal input part to the magnetic drive control module 114 .

[0080] If there is only one signal output part in the signal selection unit 1182 connected to the magnetic drive control module 114, then by controlling the on-off condition between one signal output part and multiple signal input parts, the signal output part can be connected to one signal input part at one time, and the signal selection unit 1182 outputs a motion acquisition signal of a motion acquisition module to the magnetic drive control module 114 at this time. If there are multiple signal output parts (the number of signal output parts is less than the number of signal input parts) in the signal selection unit 1182 connected to the magnetic drive control module 114, then by controlling the on-off condition between multiple signal output parts and multiple signal input parts, at least one signal output part can be connected to one signal input part at one time, and the signal selection unit 1182 outputs one or more motion acquisition signals to the magnetic drive control module 114 at this time.

[0081] Optionally, the signal selection unit 1182 may further include a switching subunit (not shown in the figure), one of the signal output parts is connected to at least one of the signal input parts through the switching subunit, a plurality of the switching subunits correspond to a plurality of the motion acquisition modules, and each of the switching subunits switches between a connected state and a disconnected state according to the timing of the corresponding motion acquisition module sending the motion acquisition signal, thereby realizing an on / off connection between the signal output part and the signal input part.

[0082] The switching subunit can realize the on-off function by one or more combinations of analog circuits and digital circuits. For example, the switching subunit can include an analog switch realized by a transistor circuit to realize the on-off function.

[0083] For ease of understanding, the working conditions of the signal selection unit are further described below in combination with specific scenarios:

[0084] In some scenarios, assuming that there are motion acquisition modules A1, A2, and A3, correspondingly, the signal selection unit 1182 may include three signal input parts (i.e., signal input part B1, signal input part B2, and signal input part B3) and a signal output part C1, each signal input part is connected to a motion acquisition module, assuming that the motion acquisition module A1 is connected to the signal input part B1, the motion acquisition module A2 is connected to the signal input part B2, and so on. The signal output part C1 is connected to the magnetic drive control module. At time t1, the signal input part B1 is connected to the signal output part C1 through the switching subunit, the signal input part B2 and the signal input part B3 are disconnected from the signal output part C1, and the signal selection unit transmits the motion acquisition signal of the motion acquisition module A1; at time t2, the signal input part B2 is connected to the signal output part C1 through the switching subunit, at which time the signal input part B1 and the signal input part B3 are disconnected from the signal output part C1, and the signal selection unit transmits the motion acquisition signal of the motion acquisition module A2... and so on.

[0085] In other scenarios, assuming that there are motion acquisition modules A4, A5 and A6, correspondingly, the signal selection unit includes three signal input parts (i.e., signal input part B4, signal input part B5 and signal input part B6) and two signal output parts (signal output part C2 and signal output part C3), each signal input part is connected to a corresponding motion acquisition module, assuming that motion acquisition module A4 is connected to signal input part B4, motion acquisition module A5 is connected to signal input part B5, and so on. Signal output part C2 and signal output part C3 are connected to the magnetic drive control module. The signal output part C2 and the signal input part B4 are connected through the switching subunit. At this time, the switching subunit only selects to control the connection or disconnection between the signal output part C2 and the signal input part B4; the signal output part C3 and the signal input part B5 and the signal input part B6 can be connected. When the switching subunit selects to control the connection between the signal output part C3 and the signal input part B5, the signal output part C3 and the signal input part B6 are disconnected; when the switching subunit selects to control the connection between the signal output part C3 and the signal input part B6, the signal output part C3 and the signal input part B6 are disconnected.

[0086] At time t1, the signal input part B4 is connected to the signal output part C2, the signal input part B5 is connected to the signal output part C3, at this time, the signal input part B6 is disconnected from the signal output part C3, and the signal selection unit transmits the motion acquisition signal of the motion acquisition module A4 and the motion acquisition module A5; at time t2, the signal input part B6 is connected to the signal output part C3, the signal input part B4 is disconnected from the signal output part C2, the signal input part B5 is disconnected from the signal output part C3, and the signal selection unit transmits the motion acquisition signal of the motion acquisition module A6. And so on.

[0087] Therefore, by switching the sub-unit to selectively connect different signal input parts and signal output parts, time-sharing transmission of multiple signals is achieved, ensuring that multiple motion acquisition signals can be sent in an orderly manner, and improving the interface multiplexing rate of the magnetic drive control module, while reducing the interface occupancy rate of the motion acquisition module to the magnetic drive control module and reducing the probability of loss of the motion acquisition signal.

[0088] It is understandable that the on-off condition between the signal output part and the signal input part can be controlled externally (such as by a magnetic drive control module or other external control module) or internally (such as a control subunit provided inside the signal selection unit, which controls the on-off timing between each signal output part and at least one signal input part according to a preset program). Thus, the on-off is controlled by hardware, which has a faster response speed and can perform faster on-off switching.

[0089] In a second alternative embodiment, continue to refer to Figure 3 The signal processing module 118 may include a signal integration unit 1184 , which is located between the motion acquisition module 112 and the magnetic drive control module 114 and is used to integrate the motion acquisition signals of multiple motion acquisition modules 112 and output them to the magnetic drive control module 114 .

[0090] Specifically, the signal integration unit 1184 receives the motion acquisition signals generated by the plurality of motion acquisition modules 112, and sorts the motion acquisition signals of the plurality of motion acquisition modules and sends them to the magnetic drive control module 114 in sequence. In other words, after receiving the motion acquisition signals of the plurality of motion acquisition modules 112, the signal integration unit 1184 sorts the received motion acquisition signals of the plurality of motion acquisition modules 112 according to a certain rule (for example, according to the sorting of the motion acquisition modules 112, or according to the order of signal reception, or according to the acquisition frequency of different motion acquisition modules 112) to obtain a signal sequence, and sends the received plurality of motion acquisition signals to the magnetic drive control module 114 in sequence according to the signal sequence. For example, the signal integration unit 1184 first outputs the motion acquisition signal of the motion acquisition module 1, then outputs the motion acquisition signal of the motion acquisition module 2... until the motion acquisition signal of the motion acquisition module N is output. The signal integration unit 1184 can realize the signal integration function by one or more combinations of analog circuits and digital circuits.

[0091] The signal integration unit 1184 may include a plurality of signal input parts (not shown in the figure) and at least one signal output part (not shown in the figure), each signal input part of the signal integration unit 1184 is respectively connected to a motion acquisition module 112, that is, the plurality of signal input parts of the signal integration unit 1184 are connected to the plurality of motion acquisition modules 112 in a one-to-one correspondence, and the plurality of signal input parts of the signal integration unit 1184 are used to receive motion acquisition signals of the plurality of motion acquisition modules 112. At least one signal output part of the signal integration unit 1184 is connected to the magnetic drive control module 114. The total number of signal input parts of the signal integration unit 1184 is greater than the total number of signal output parts of the signal integration unit 1184.

[0092] The signal integration unit 1184 may also include at least one signal buffering subunit (not shown in the figure), and at least one of the signal output parts is connected to the plurality of signal input parts through at least one of the signal buffering subunits. At least one of the signal buffering subunits corresponds to the plurality of motion acquisition modules, and the signal buffering subunit is used to buffer and sort the motion acquisition signals of the plurality of motion acquisition modules, and send them to the connected signal output parts in sequence. The signal output part transmits the motion acquisition signal sent by the signal buffering subunit to the magnetic drive control module 114. Among them, the signal buffering subunit can realize the buffering and sorting functions by one or more combinations of analog circuits and digital circuits.

[0093] If there is only one signal output unit in the signal integration unit connected to the magnetic drive control module, signal caching and sorting can be achieved through a signal cache subunit, and the signal cache subunit sorts the motion acquisition signals of multiple motion acquisition modules received by multiple signal input units and outputs them to the signal output unit. If there are multiple signal output units in the signal integration unit (the number of signal output units is less than the number of signal input units) connected to the magnetic drive control module, the motion acquisition signals of multiple motion acquisition modules are cached and sorted through multiple signal cache subunits, wherein one signal cache subunit is connected to one signal output unit, and one signal cache subunit is connected to at least one motion acquisition module.

[0094] Therefore, the signals of multiple motion acquisition modules are cached and sorted through the signal caching subunit, thereby realizing the sequential transmission of multiple signals, ensuring that multiple motion acquisition signals can be sent in an orderly manner, improving the interface multiplexing rate of the magnetic drive control module, reducing the interface occupancy rate of the motion acquisition module to the magnetic drive control module, and reducing the probability of motion acquisition signal loss.

[0095] It is understandable that the signal integration process between the multi-signal output part and the signal input part can be controlled externally (such as the magnetic drive control module or other external control modules controlling the signal caching subunit to cache and sort the motion acquisition signals of multiple motion acquisition modules) or internally (such as a control subunit is provided inside the signal integration unit to control the signal caching subunit to cache and sort the motion acquisition signals of multiple motion acquisition modules according to a preset program). For external control, the integration object of the signal integration unit can be flexibly adjusted (for example, there are five motion acquisition modules, numbered 1-5, and when the transmission and transportation equipment corresponding to the motion acquisition module 5 is damaged and stopped, the signal integration unit can be controlled externally to integrate only the signals of the motion acquisition modules 1-4).

[0096] It can also be understood that since each motion acquisition module will collect and generate a signal at intervals of time, it is necessary to control the signal integration unit to integrate the signals of multiple motion acquisition modules within the same time period according to the acquisition frequency of the motion acquisition module, so that the motion acquisition signals collected by multiple motion acquisition modules within a time period can be transmitted to the magnetic drive control module to avoid signal timing disorder.

[0097] It should be noted that the number of signal processing modules can be determined according to the number of transmission and transportation equipment, and the specific structure in the signal processing module (such as whether the signal processing module includes at least one of a signal selection unit and a signal integration unit, the number of signal selection units and the number of signal integration units, etc.) can also be set according to the number of transmission and transportation equipment and actual requirements. The embodiment of the present invention does not impose specific restrictions on this.

[0098] In actual application, faced with a large number of transmission and transportation equipment, more motion acquisition modules are needed for acquisition, which means that the signal processing module needs to process the motion acquisition signals of more motion acquisition modules. The internal structure of the signal processing module will become more and more complex, and the volume will also increase. Due to some objective factors (such as the volume requirements and power consumption requirements of the signal processing module), the internal structure of the signal processing module cannot be expanded indefinitely. In order to connect more motion acquisition modules, multiple signal processing modules can be used together to support the expansion of the number of motion acquisition modules.

[0099] In an optional embodiment, there are multiple signal processing modules, and at least some of the multiple signal processing modules are connected to multiple motion acquisition modules. In other words, among the multiple signal processing modules, there may be a signal processing module connected to one or more motion acquisition modules; and the connection relationship between the multiple signal processing modules may include one of the following: a series connection relationship, a parallel connection relationship.

[0100] Specifically, when the connection relationship between the multiple signal processing modules is the series connection relationship, the multiple signal processing modules transmit the received motion acquisition signals in a direction close to the magnetic drive control module according to the series connection relationship.

[0101] When the connection relationship between the multiple signal processing modules is the parallel connection relationship, the multiple signal processing modules are arranged according to multiple levels, and the signal processing modules in the same parallel branch transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

[0102] Therefore, by setting up multiple signal processing modules, it can be ensured that when the number of transmission and transportation equipment is large, the magnetic drive control module can also efficiently and accurately process the motion acquisition signals collected by more motion acquisition modules, thereby avoiding the situation where the motion acquisition signals are out of order or lost when the number of transmission and transportation equipment and motion acquisition modules is too large.

[0103] In order to facilitate understanding and implementation by those skilled in the art, the connection between multiple signal processing modules is further described below with reference to several examples:

[0104] In a first optional embodiment, the connection relationship between the multiple signal processing modules is a series connection relationship, and the multiple signal processing modules can be connected in series in sequence according to the module order. The signal processing module whose module order is the first value is connected to the magnetic drive control module, and the signal processing module whose module order is not the first value transmits the received motion acquisition signal to the signal processing module whose module order is the first value in a time-sharing manner. The signal processing module whose module order is the first value sends the received motion acquisition signal to the magnetic drive control module in a time-sharing manner, wherein the first value is the maximum value or the minimum value in the module order.

[0105] Taking two signal processing modules 118 as an example, combined with reference Figure 4 Each signal processing module 118 is connected to a plurality of motion acquisition modules 112 (the figure exemplarily shows that each signal processing module 118 is connected to two motion acquisition modules 112), and the two signal processing modules 118 are connected in series in module order (such as order 1 and order 2 in the figure), and different control strategies can be set according to different control situations.

[0106] Control strategy one: the magnetic drive control module 114 (or a control module other than the magnetic drive control module 114) controls the timing for signal processing modules 118 of different module orders to send motion acquisition signals. The magnetic drive control module 114 can control the signal processing module 118 of order 2 to send the motion acquisition signal from the motion acquisition module 118 connected to the signal processing module 118 of order 2 to the signal processing module 118 of order 1 when the signal processing module 118 of order 1 is not transmitting the motion acquisition signal to the motion acquisition module 112 connected to itself. Through the transmission of the signal processing module 118 of order 1, the magnetic drive control module 114 receives the motion acquisition signal of the motion acquisition module 112 connected to the signal processing module 118 of order 2.

[0107] Control strategy two: The signal processing module 118 includes a control unit (not shown in the figure). After receiving the motion acquisition signal from the motion acquisition module 112, the signal selection module of sequence 2 sends a signal receiving instruction to the control unit of the signal processing module 118 of sequence 1. After the control unit of the signal processing module 118 of sequence 1 responds to the signal receiving instruction, it receives the motion acquisition signal from the signal selection module 118 of sequence 2 and transmits it to the magnetic drive control module 114.

[0108] In a second optional embodiment, when the connection relationship is the parallel connection relationship, when the number of signal processing modules is small, multiple signal processing modules can be distributed in the same level, and the magnetic drive control module and the motion acquisition module are both connected to the signal processing module. Specifically, the connection method is as follows: Figure 5As shown, the magnetic drive control module 114 is connected to the plurality of signal processing modules 118 through different interfaces, and each signal processing module is connected to a plurality of motion acquisition modules 112. In this connection mode, the signal processing modules 118 at the same level are only used to connect the plurality of motion acquisition modules 112 and the magnetic drive control module 114.

[0109] In a third optional embodiment, when the connection relationship is the parallel connection relationship, when the number of signal processing modules is large, multiple signal processing modules can be arranged in multiple levels, the signal processing module of the first level is connected to multiple motion acquisition modules, the signal processing module of the Nth level is connected to the signal processing module of the adjacent level, the signal processing module of the Nth level is used to transmit the motion acquisition signal of the signal processing module of the adjacent level and in the same parallel branch, and the transmission direction is from the signal processing module of the first level to the signal processing module of the Nth level. The larger N is, the closer the signal processing module of the corresponding level is to the magnetic drive control module. The signal processing module of the Mth level is connected to the magnetic drive control module, and the signal processing module of the Mth level is used to send the motion acquisition signal sent by the signal processing module of the previous level to the magnetic drive control module in a time-sharing manner, wherein N and M are both positive integers, and N is less than or equal to M.

[0110] Taking two levels as an example, the connection between multiple signal processing modules is as follows: Figure 6 As shown, multiple signal processing modules are arranged in two levels, the first level includes: signal processing module A and signal processing module B, and the second level includes: signal processing module C. Among them, the signal processing module A located in the first level is connected to the motion acquisition module A1-motion acquisition module Ai, and the signal processing module B is connected to the motion acquisition module B1-motion acquisition module Bj, and i and j are both positive integers; and the signal processing module C located in the second level is connected to the signal processing module A and the signal processing module B, and is connected to the magnetic drive control module 114. In this connection mode, the signal processing module A and the signal processing module C are in the same parallel branch; the signal processing module B and the signal processing module C are in the same parallel branch. The control strategy of the signal processing module using the parallel connection mode can refer to the series connection mode.

[0111] It is understandable that, according to actual conditions, the signal processing module may include at least one of a signal integration unit and a signal selection unit. When the signal processing module includes a signal integration unit and a signal selection unit, the signal integration unit and the signal selection unit are used in combination, and the connection mode of the signal integration unit and the signal selection unit may be at least one of a series connection mode and a parallel connection mode. The specific connection mode of the signal integration unit and the signal selection unit may be set according to actual conditions. In an optional example, if Figure 7As shown, the motion acquisition signals transmitted by the multiple motion acquisition modules 112 are first transmitted in time-sharing manner through the multiple signal selection units 1182, and then the motion acquisition signals transmitted by the multiple signal selection units 1182 are integrated through the signal integration unit 1184, and then transmitted to the magnetic drive control module (not shown in the figure). It can be understood that Figure 7 Only one optional connection method is shown in the figure. The specific connection method can be set according to actual needs, and the present invention is not limited to this.

[0112] Through the series connection method, the connection relationship is simple, easy to implement, and the hardware cost is low; through the parallel connection method, the number of signal processing modules that the motion acquisition signal passes through during the transmission process can be reduced, the risk of motion acquisition signal loss can be reduced, and the transmission efficiency of the motion acquisition signal can be improved.

[0113] In an optional embodiment, the magnetic drive control module is also used to determine whether the magnetic moving component has reached the first position according to the position detection signal before controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal, and control the magnetic field of the magnetic drive line according to the judgment result.

[0114] It should be noted that the first position is used to characterize the position where the movement of the magnetic moving part begins to match the movement of the transmission and transportation equipment. The first position can be set based on the magnetic drive line body and the first position is related to the transportation matching area formed by the relative setting between the magnetic drive line body and the transmission and transportation equipment. According to the actual situation, the first position can be located at the boundary of the transportation matching area, or it can be located in the transportation matching area, or it can be located outside the transportation matching area. As long as it can be ensured that the movement of the magnetic moving part can match the movement of the transmission and transportation equipment after reaching the first position, the embodiment of the present invention does not impose specific restrictions on this.

[0115] For example, according to the transportation coordination area formed by the relative arrangement between the magnetic moving part and the transmission transportation equipment, the starting boundary of the transportation coordination area is set as the first position at the intersection of the magnetic drive line body. Whether the magnetic moving part reaches the first position corresponds to different processing methods for the magnetic moving part. Therefore, it is necessary to first determine whether the magnetic moving part has reached the first position according to the position detection signal, so as to control the magnetic field of the magnetic drive line body according to the judgment result. In this way, the control flexibility of the magnetic moving part can be increased.

[0116] It can be understood that when there are multiple transmission and transportation equipment, the magnetic moving parts correspond to different transmission and transportation equipment at different time periods, and the magnetic drive control module controls the motion of the magnetic moving parts according to the motion acquisition signals of the motion acquisition modules corresponding to the different transmission and transportation equipment, that is, the magnetic drive control module controls the motion of the magnetic moving parts with reference to different transmission and transportation equipment at different time periods. In order to facilitate the identification of the correspondence between the magnetic moving parts and different transmission and transportation equipment, a second position can also be set based on the magnetic drive line according to the transportation matching area formed by each transmission and transportation equipment and the magnetic drive line. The second position is used to characterize the position where the motion of the magnetic moving parts ends matching the motion of the corresponding transmission and transportation equipment.

[0117] The second position corresponds to the first position one by one, and when there are multiple first positions, the second position corresponding to the current first position is located before the adjacent first position or overlaps with the adjacent first position. According to actual conditions, the second position can be located at the boundary of the transport coordination area, or can be located within the transport coordination area, or can be located outside the transport coordination area, as long as it can be ensured that the magnetic moving part has passed the second position corresponding to the current first position after passing the current first position and before passing the adjacent first position. The embodiment of the present invention does not impose specific restrictions on this.

[0118] In order to facilitate those skilled in the art to understand the first position, the second position and the transport coordination area, a schematic description is given below through embodiments.

[0119] In an alternative embodiment, if Figure 8 As shown, a transport matching area can be set for each transmission transport device, and whether the magnetic moving component reaches the first position is determined according to the position information of the magnetic moving component. The first position can be any position in the transport matching area. When it is determined that the magnetic moving component reaches the first position (for example Figure 8 The magnetic moving component D1 is located in the transport cooperation area 1, and the magnetic moving component D2 is located in the transport cooperation area 2), and the movement of the magnetic moving component D1 is controlled by the corresponding transmission and transportation equipment E1; according to the position information of the magnetic moving component, it is determined that when the magnetic moving component has not reached the first position (such as Figure 8 The magnetic moving part D3 is not located in the transport matching area 3), the movement of the magnetic moving part D3 is not controlled by the corresponding transmission transport device E3, and the magnetic drive control module 114 can also control the magnetic moving part D3 through other control parameters, that is, the magnetic moving part D3 operates independently relative to the transmission transport device E3 and is not controlled by the transmission transport device E3 corresponding to the magnetic moving part D3. Through the above scheme, the flexibility and utilization rate of the magnetic moving part can be increased.

[0120] It can be understood that for scenarios where there are multiple transport coordination areas, the multiple transport coordination areas are independent of each other and do not overlap, so that the magnetic drive control module can determine the positional relationship between the magnetic moving parts and the transport coordination areas, thereby accurately controlling the magnetic moving parts.

[0121] In a specific implementation, the magnetic field of the magnetic drive line is controlled according to the determination result, which can be achieved through the following implementations:

[0122] In a first optional embodiment, the motion acquisition signal includes the transmission position information of the transmission transport equipment, and the magnetic drive control module is also used to determine the position change of the transmission transport equipment according to the transmission position information of the transmission transport equipment indicated by the motion acquisition signal when the judgment result indicates that the magnetic moving component has reached the first position; and according to the position change of the transmission transport equipment, control the magnetic field change of the magnetic drive line to drive the magnetic moving component to move according to the position change of the transmission transport equipment.

[0123] The motion acquisition signal can be used to indicate the transmission position information of the transmission transportation equipment. If the magnetic drive control module determines that the magnetic moving component has reached the first position based on the judgment result, the position change of the transmission transportation equipment at the current moment is determined according to the transmission position information of the transmission transportation equipment indicated by the motion acquisition signal, and then the magnetic field of the magnetic drive line is adjusted according to the position change of the transmission transportation equipment to drive the magnetic moving component to move according to the position change of the transmission transportation equipment.

[0124] In a second optional embodiment, the magnetic drive control module is also used to control the magnetic field change of the magnetic drive line according to the transmission speed information corresponding to the transmission transportation equipment when the judgment result indicates that the magnetic moving component has reached the first position, so as to drive the magnetic moving component to move according to the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0125] When the magnetic drive control module determines that the magnetic moving part has reached the first position based on the judgment result, it controls the magnetic field change of the magnetic drive line according to the transmission speed information of the transmission and transportation equipment, and then controls the magnetic moving part to move according to the speed information. The speed information of the transmission and transportation equipment can be determined by the motion acquisition signal, or by a preset first control parameter.

[0126] Specifically, in an optional embodiment, the first control parameter includes a magnetic drive speed sub-parameter set according to the speed of the transmission transportation equipment, so that when the magnetic moving part reaches the first position, the magnetic field change of the magnetic drive line is controlled according to the magnetic drive speed sub-parameter.

[0127] In another optional manner, the magnetic drive control module can also determine the speed of the magnetic moving part according to the transmission speed information of the transmission transportation equipment indicated by the motion acquisition signal. For example, the transmission speed information of the transmission transportation equipment indicated by the motion acquisition signal is v1. If the transmission speed information is rotational speed information, then the speed of the magnetic moving part can be determined to be v2 through formula conversion, so that the speed of the magnetic moving part matches the speed of the transmission transportation equipment. If the transmission speed information is linear speed information, then the speed of the magnetic moving part can be determined to be v1, so that the speed of the magnetic moving part matches the speed of the transmission transportation equipment.

[0128] It can be seen from this that before the magnetic moving parts are transported in cooperation with the transmission and transportation equipment, the speed of the magnetic moving parts needs to be adjusted according to the movement of the transmission and transportation equipment to match the speed of the transmission and transportation equipment and the magnetic moving parts, thereby achieving the prerequisite for the transmission and transportation equipment and the magnetic moving parts to cooperate in transportation.

[0129] Then, the transmission transport equipment and the magnetic moving parts can cooperate to transport the items. During the coordinated transportation process, the magnetic moving parts and the transmission transport equipment can be in the same position. At this time, the spatial positions of the magnetic moving parts and the transmission transport equipment are not completely overlapped. Optionally, the magnetic moving parts and the transmission transport equipment can be located on the same horizontal line; or although the magnetic moving parts and the transmission transport equipment are not completely on the same horizontal line (there is a slight deviation), the distance between the magnetic moving parts and the transmission transport equipment is less than or equal to a certain distance threshold.

[0130] It should be noted that the above transmission speed information may include the transmission instantaneous speed, transmission acceleration, transmission jerk, transmission direction, etc. of the transmission transportation equipment, so as to help the magnetic drive control module accurately understand the movement of the transmission transportation equipment.

[0131] In a third optional embodiment, the magnetic drive control module is also used to control the magnetic field change of the magnetic drive line after the judgment result indicates that the magnetic moving component has not reached the first position, based on the transmission speed information corresponding to the transmission transportation equipment and the position information of the magnetic moving component indicated by the position detection signal, so as to drive the movement speed of the magnetic moving component to reach the first position to match the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0132] In a fourth optional embodiment, the magnetic drive control module is also used to control the change in the magnetic field of the magnetic drive line according to a preset second control parameter after the judgment result indicates that the magnetic moving component has not reached the first position, so as to drive the magnetic moving component to reach the first position; and after the magnetic moving component reaches the first position, according to the position information or transmission speed information corresponding to the transmission and transportation equipment, control the change in the magnetic field of the magnetic drive line to drive the magnetic moving component to move according to the position information or the transmission speed information, wherein the second control parameter is used to indicate the movement speed of the magnetic moving component.

[0133] If it is determined at time t1 that the magnetic moving component has not reached the first position, the magnetic moving component is controlled to move according to the second control parameter. After the magnetic moving component reaches the first position at time t2, the magnetic moving component is controlled to move according to the transmission speed information indicated by the motion acquisition signal.

[0134] Through the above implementation, different control strategies are adopted to control the movement of the magnetic moving parts according to the different positions of the magnetic moving parts, which greatly increases the flexibility and utilization rate of the magnetic moving parts and broadens the application scenarios of the magnetic moving parts.

[0135] It should be noted that when the magnetic moving part reaches the first position, if the motion acquisition signal indicates that the transmission and transportation equipment is in a stationary state, the magnetic drive control module will control the magnetic moving part to be stationary to match the movement of the transmission and transportation equipment.

[0136] In practical applications, the optional embodiments can be combined and cross-referenced with each other without conflict, so as to extend a variety of possible embodiments, and these extended embodiments can all be considered as the embodiments disclosed and open in the specification of the present invention.

[0137] According to another aspect of the embodiment of the present invention, a magnetic drive transport device is also provided. The magnetic drive transport device is used to control the magnetic field change of the magnetic drive line body so that the movement of the magnetic moving part matches the movement of the transmission transport device. The following is a detailed description through specific embodiments with reference to the accompanying drawings.

[0138] It can be understood that the contents of the magnetic drive transport device described below can be referenced to each other with the contents of the motion control device described above.

[0139] The present invention also provides a magnetic drive transport device, such as Fig. 9 As shown, it is a structural block diagram of a magnetic drive transport device according to an embodiment of the present invention. The magnetic drive transport device 92 is connected to the transmission transport device 94, and the magnetic drive transport device 92 includes:

[0140] The motion acquisition module 922 is used to acquire the motion state of the transmission and transportation device 94 and generate a motion acquisition signal;

[0141] The magnetic drive line 924 is connected to the magnetic drive control module 926 and is used to drive the magnetic moving part 928 to move through the magnetic field;

[0142] The magnetic moving part 928 is movably connected to the magnetic drive line 924 and is used to move under the drive of the magnetic field generated by the magnetic drive line 924;

[0143] The magnetic drive control module 926 is connected to the motion acquisition module 922 and is used to control the magnetic field change of the magnetic drive line 924 according to the motion acquisition signal so that the movement of the magnetic moving component 928 matches the movement of the transmission and transportation equipment 94.

[0144] Through the above-mentioned magnetic drive transportation equipment, the motion state of the transmission transportation equipment is firstly collected by the motion acquisition module to generate a motion acquisition signal; the magnetic drive control module is connected to the motion acquisition module, and the magnetic field of the magnetic drive line is controlled to change according to the motion acquisition signal, and then the magnetic drive line drives the magnetic moving parts to move through the magnetic field, so that the movement of the magnetic moving parts matches the movement of the transmission transportation equipment; by using the above-mentioned magnetic drive transportation equipment, the motion acquisition module, the magnetic drive control module, the magnetic drive line and the magnetic moving parts work together to match the movement of different types of transportation equipment, thereby solving the problem of how to improve the debugging efficiency between various types of transportation equipment in the related technology; and achieving the beneficial effect of improving the debugging efficiency between various types of transportation equipment.

[0145] In an alternative embodiment, if Fig.10 As shown, the magnetic drive transport equipment 92 includes: a motion acquisition module 922, a magnetic drive line 924, a magnetic drive control module 926, a magnetic moving component 928 and a position detection module 925. The position detection module 925 is connected to the magnetic drive control module 926, and is used to detect the position information of the magnetic moving component 928 and generate a position detection signal; the magnetic drive control module 926 is also used to monitor the movement of the magnetic moving component 928 according to the position detection signal when controlling the magnetic field change of the magnetic drive line 924 according to the motion acquisition signal.

[0146] In an optional embodiment, the magnetic drive control module is also used to determine whether the magnetic moving component has reached the first position according to the position detection signal before controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal, and control the magnetic field of the magnetic drive line according to the judgment result.

[0147] In an optional embodiment, the motion acquisition signal includes the transmission position information of the transmission and transportation equipment, and the magnetic drive control module is also used to determine the position change of the transmission and transportation equipment according to the transmission position information of the transmission and transportation equipment indicated by the motion acquisition signal when the judgment result indicates that the magnetic moving component has reached the first position; and control the magnetic field change of the magnetic drive line according to the position change of the transmission and transportation equipment to drive the magnetic moving component to move according to the position change of the transmission and transportation equipment.

[0148] In an optional embodiment, the magnetic drive control module is also used to control the magnetic field change of the magnetic drive line according to the transmission speed information corresponding to the transmission transportation equipment when the judgment result indicates that the magnetic moving component has reached the first position, so as to drive the magnetic moving component to move according to the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0149] In an optional embodiment, the magnetic drive control module is also used to control the magnetic field change of the magnetic drive line after the judgment result indicates that the magnetic moving component has not reached the first position, based on the transmission speed information corresponding to the transmission transportation equipment and the position information of the magnetic moving component indicated by the position detection signal, so as to drive the movement speed of the magnetic moving component to reach the first position to match the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0150] In an alternative embodiment, continue to refer to Fig.10 , the number of the motion acquisition modules 922 is multiple, and the motion control device also includes: a signal processing module 923, the signal processing module 923 is connected to the multiple motion acquisition modules 922, and is connected to the magnetic drive control module 926, and is used to receive the motion acquisition signals of the multiple motion acquisition modules 922, and when receiving the motion acquisition signals of the multiple motion acquisition modules 922, send the motion acquisition signals of the multiple motion acquisition modules 922 to the magnetic drive control module 926 one by one.

[0151] In an alternative embodiment, continue to refer to Fig.10 The signal processing module 923 includes: a signal selection unit 9232, which is used to receive the motion acquisition signals of the multiple motion acquisition modules 922 in a time-sharing manner, and send the motion acquisition signals of the multiple motion acquisition modules 922 to the magnetic drive control module 926 in a time-sharing manner.

[0152] In an optional embodiment, the signal selection unit includes multiple signal input parts, at least one signal output part and multiple switching sub-units; wherein: the multiple signal input parts are connected one-to-one with the multiple motion acquisition modules; one signal output part is connected to at least one signal input part through the switching sub-unit, and at least one signal output part is connected to the magnetic drive control module; the multiple switching sub-units correspond to the multiple motion acquisition modules, and each switching sub-unit switches between the connected state and the disconnected state in pairs according to the timing of the corresponding motion acquisition module sending the motion acquisition signal.

[0153] In an alternative embodiment, continue to refer to Fig.10 The signal processing module 923 also includes: a signal integration unit 9234, which is used to receive the motion acquisition signals of the multiple motion acquisition modules 922, and sort the motion acquisition signals of the multiple motion acquisition modules 922 and send them to the magnetic drive control module 926 in sequence.

[0154] In an optional embodiment, the signal integration unit includes multiple signal input parts, at least one signal output part, and at least one signal cache sub-unit; wherein: the multiple signal input parts are connected to the multiple motion acquisition modules one by one; at least one signal output part is connected to the multiple signal input parts through at least one signal cache sub-unit, and at least one signal output part is connected to the magnetic drive control module; at least one signal cache sub-unit corresponds to the multiple motion acquisition modules, and the signal cache sub-unit is used to cache and sort the motion acquisition signals of the multiple motion acquisition modules, and send them to the connected signal output parts in sequence.

[0155] In an optional embodiment, there are multiple signal processing modules, and at least some of the signal processing modules are connected to multiple motion acquisition modules; the connection relationship between the multiple signal processing modules includes one of the following: a series connection relationship, a parallel connection relationship.

[0156] In an optional embodiment, when the connection relationship between the multiple signal processing modules is the series connection relationship, the multiple signal processing modules transmit the received motion acquisition signals in a direction close to the magnetic drive control module according to the series connection relationship.

[0157] In an optional embodiment, when the connection relationship between the multiple signal processing modules is the parallel connection relationship, the multiple signal processing modules are arranged according to multiple levels, and the signal processing modules in the same parallel branch transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

[0158] In an optional embodiment, there are multiple magnetic moving parts; the magnetic drive control module is used to determine the control object from the multiple magnetic moving parts according to the transmission and transportation equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive line according to the motion acquisition signal; or, the magnetic drive control module is used to determine the control object and the transmission and transportation equipment corresponding to the control object from the multiple magnetic moving parts, and control the magnetic field change of the magnetic drive line after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

[0159] In this embodiment, the transmission transport device 94 cooperates with the magnetic drive transport device 92 to transport items. The connection structure of each component in the magnetic drive transport device 92 is as follows: Fig.11 As shown, it includes: a magnetic drive control module 926, a magnetic moving component 928 and a magnetic drive line 924. The magnetic drive line 924 extends along the transportation direction, and a transmission and transportation device 94 (not shown in the figure) is arranged around the magnetic drive line 924. The magnetic moving component 928 is movably connected to the magnetic drive line 924, and the magnetic drive control module 926 controls the magnetic moving component 928 to move along the magnetic drive line 924. The motion acquisition module 922 is used to collect the motion of the transmission and transportation device 94 and generate a corresponding motion acquisition signal. The motion acquisition signal is used to indicate whether the transmission and transportation device 94 is in a transmission state or a stationary state. The motion acquisition module 922 is electrically connected to the magnetic drive control module 926. The motion acquisition module 922 can send the collected motion acquisition signal to the magnetic drive control module 926 according to the sending cycle, and can also send the collected motion acquisition signal to the magnetic drive control module 926 after the magnetic drive control module 926 sends an acquisition instruction.

[0160] The working principle of the above magnetic drive transport equipment is further explained below:

[0161] 1. Working principle of the magnetic drive control module controlling the movement of the magnetic moving part: The magnetic drive control module generates thrust by controlling the magnetic field between the magnetic moving part and the magnetic drive line, thereby driving the magnetic moving part to move. Specifically, the magnetic moving part includes a magnetic unit, which makes the magnetic moving part have a magnetic field. The magnetic unit includes a magnetizing part (such as a permanent magnet) or an excitation unit (such as a magnetic field generated by an energized coil. In order to maintain the magnetic field of the magnetic moving part, it needs to be powered on all the time).

[0162] The magnetic drive line is composed of a plurality of stator modules, which provide thrust and limit to the magnetic moving parts. The stator module includes an excitation unit (such as a coil), which corresponds to the magnetized part of the magnetic moving part and there is a certain gap between the two. The power-on condition of the excitation unit of the stator module is controlled by the magnetic drive control module. When the excitation unit is powered on, the excitation unit generates a magnetic field. The magnetic field generated by the stator module after power-on interacts with the magnetic field of the magnetic moving part to form a thrust. The thrust acts on the magnetic moving part, causing the magnetic moving part to change position relative to the stator module. The excitation unit without power does not generate a magnetic field and cannot generate thrust with the magnetic moving part. Therefore, the selected excitation unit is related to the position of the magnetic moving part in the magnetic drive line. After obtaining the motion acquisition signal of the transmission and transportation equipment, the magnetic drive control module determines the magnetic moving part corresponding to the transmission and transportation equipment, and then adjusts the current flowing through the excitation unit of the stator module that is movably connected to the magnetic moving part, so as to achieve the purpose of controlling the movement of the magnetic moving part through the changing magnetic field.

[0163] 2. The working principle of the magnetic drive control module to control the movement of the magnetic moving parts according to the movement of the transmission and transportation equipment: After obtaining the motion acquisition signal sent by the motion acquisition module, the magnetic drive control module controls the movement of the magnetic moving parts to match the movement of the transmission and transportation equipment based on the motion acquisition signal. Specifically, if the motion acquisition signal indicates that the transmission and transportation equipment is in a transmission state, the movement of the magnetic moving parts is controlled based on the first motion parameter corresponding to the motion acquisition signal, and the first motion parameter can be the transmission position information or speed information of the transmission and transportation equipment; wherein, the magnetic drive control module can control the power-on and power-off timing between multiple stator modules, the power-on and power-off timing of the coils in each stator module, and the current size of each stator module according to the indication of the first motion parameter, thereby controlling the movement of the magnetic moving parts; if the motion acquisition signal indicates that the transmission and transportation equipment is in a stationary state, the magnetic moving parts are controlled to be stationary based on the second motion parameter corresponding to the motion acquisition signal.

[0164] Therefore, the motion condition of the transmission and transportation equipment can be known through the motion acquisition module, and the motion condition of the magnetic moving parts can be controlled based on the motion acquisition signal acquired by the motion acquisition module, so that the motion condition of the magnetic moving parts is associated with the motion condition of the transmission and transportation equipment, thereby realizing the synchronous movement of the magnetic moving parts and the transmission and transportation equipment, which can be beneficial for the magnetic drive transportation equipment and the transmission and transportation equipment to cooperate in transporting goods. For example, the magnetic moving parts can transfer the transported goods to the transmission and transportation equipment, thereby changing the transportation trajectory of the goods. Of course, the above-mentioned example objects can also be interchanged, that is, the magnetic moving parts can take the goods from the transmission and transportation equipment to complete the transmission of the goods. Therefore, the efficiency of transporting goods can be improved.

[0165] The present invention also provides an article transport system 120, such as Fig.12 As shown, including:

[0166] The motion acquisition module 1202 is used to acquire the motion state of the transmission and transportation equipment 1210 and generate a motion acquisition signal;

[0167] The magnetic drive line 1204 is connected to the magnetic drive control module 1206 and is used to drive the magnetic moving part 1208 to move through the magnetic field;

[0168] The magnetic moving part 1208 is movably connected to the magnetic drive line 1204 and is used to move under the drive of the magnetic field generated by the magnetic drive line 1204;

[0169] The magnetic drive control module 1206 is connected to the motion acquisition module 1202 and is used to control the magnetic field change of the magnetic drive line 1204 according to the motion acquisition signal, so that the motion of the magnetic moving part 1208 matches the motion of the transmission and transportation equipment 1210;

[0170] The transmission and transportation equipment 1210 is distributed around the magnetic drive line 1204 and is used to cooperate with the magnetic moving parts 1208 that match the movement conditions to transport items.

[0171] Through the above-mentioned article transportation system 120, the movement state of the transmission transportation device 1210 is collected by the motion collection module 1202, and a motion collection signal for indicating the movement of the transmission transportation device 1210 is generated; the magnetic drive control module 1206 is connected to the motion collection module 1202, receives the motion collection signal sent by the motion collection module 1202, and controls the magnetic field of the magnetic drive line body 1204 to change according to the motion collection signal, and then the magnetic drive line body 1204 drives the magnetic moving part 1208 to move according to the movement of the transmission transportation device 1210 through the magnetic field, so that the movement of the magnetic moving part 1208 is consistent with the movement of the transmission transportation device 1210. 0 matches the motion condition of the magnetic moving component 1208, and the transmission transportation equipment 1210 cooperates with the magnetic moving component 1208 to transport the goods; the above-mentioned article transportation system 120 is adopted, through the coordinated work of the motion acquisition module 1202, the magnetic drive control module 1206, the magnetic drive line 1204, the magnetic moving component 1208 and the transmission transportation equipment 1210, the motion conditions of different types of transportation equipment are matched, thereby solving the problem of how to improve the debugging efficiency between various types of transportation equipment in the related technology; the beneficial effect of improving the debugging efficiency between various types of transportation equipment is achieved.

[0172] In an optional embodiment, the present invention provides an optional article transport system, the structure of which is as follows: Fig.13As shown, the article transport system 120 includes: a motion acquisition module 1202, a magnetic drive line 1204, a magnetic drive control module 1206, a magnetic motion component 1208 and a position detection module 1205. Fig.13 As shown, the position detection module 1205 is connected to the magnetic drive control module 1206, and is used to detect the position information of the magnetic moving component 1208 and generate a position detection signal; the magnetic drive control module 1206 is also used to control the magnetic field change of the magnetic drive line 1204 according to the motion acquisition signal, and monitor the movement of the magnetic moving component 1208 according to the position detection signal.

[0173] In an optional embodiment, the magnetic drive control module is also used to determine whether the magnetic moving component has reached the first position according to the position detection signal before controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal, and control the magnetic field of the magnetic drive line according to the judgment result.

[0174] In an optional embodiment, the motion acquisition signal includes transmission position information of the transmission and transportation equipment, and the magnetic drive control module is also used to determine the position change of the transmission and transportation equipment according to the transmission position information of the transmission and transportation equipment indicated by the motion acquisition signal when the judgment result indicates that the magnetic moving component has reached the first position, and control the magnetic field change of the magnetic drive line according to the position change of the transmission and transportation equipment to drive the magnetic moving component to move according to the position change of the transmission and transportation equipment.

[0175] In an optional embodiment, the magnetic drive control module is also used to control the magnetic field change of the magnetic drive line according to the transmission speed information corresponding to the transmission transportation equipment when the judgment result indicates that the magnetic moving component has reached the first position, so as to drive the magnetic moving component to move according to the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0176] In an optional embodiment, the magnetic drive control module is also used to control the magnetic field change of the magnetic drive line after the judgment result indicates that the magnetic moving component has not reached the first position, based on the transmission speed information corresponding to the transmission transportation equipment and the position information of the magnetic moving component indicated by the position detection signal, so as to drive the movement speed of the magnetic moving component to reach the first position to match the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0177] In an alternative embodiment, continue to refer to Fig.13, the number of the motion acquisition modules 1202 is multiple, and the article transportation system 120 also includes: a signal processing module 1203, the signal processing module 1203 is connected to the multiple motion acquisition modules 1202, and is connected to the magnetic drive control module 1206, and is used to receive the motion acquisition signals of the multiple motion acquisition modules 1202, and when receiving the motion acquisition signals of the multiple motion acquisition modules 1202, the motion acquisition signals of the multiple motion acquisition modules 1202 are sent one by one to the magnetic drive control module 1206.

[0178] In an alternative embodiment, continue to refer to Fig.13 The signal processing module 1203 includes: a signal selection unit 12032, which is used to receive the motion acquisition signals of the multiple motion acquisition modules 1202, and send the motion acquisition signals of the multiple motion acquisition modules 1202 to the magnetic drive control module 1206 in a time-sharing manner.

[0179] In an optional embodiment, the signal selection unit includes multiple signal input parts, at least one signal output part and multiple switching sub-units; wherein: the multiple signal input parts are connected one-to-one with the multiple motion acquisition modules; one signal output part is connected to at least one signal input part through the switching sub-unit, and at least one signal output part is connected to the magnetic drive control module; the multiple switching sub-units correspond to the multiple motion acquisition modules, and each switching sub-unit switches between the connected state and the disconnected state in pairs according to the timing of the corresponding motion acquisition module sending the motion acquisition signal.

[0180] In an alternative embodiment, continue to refer to Fig.13 The signal processing module 1203 also includes: a signal integration unit 12034, which is used to receive the motion acquisition signals of the multiple motion acquisition modules 1202, and sort the motion acquisition signals of the multiple motion acquisition modules 1202 and send them to the magnetic drive control module 1206 in sequence.

[0181] In an optional embodiment, the signal integration unit includes multiple signal input parts, at least one signal output part, and at least one signal cache sub-unit; wherein: the multiple signal input parts are connected to the multiple motion acquisition modules one by one; at least one signal output part is connected to the multiple signal input parts through at least one signal cache sub-unit, and at least one signal output part is connected to the magnetic drive control module; at least one signal cache sub-unit corresponds to the multiple motion acquisition modules, and the signal cache sub-unit is used to cache and sort the motion acquisition signals of the multiple motion acquisition modules, and send them to the connected signal output parts in sequence.

[0182] In an optional embodiment, there are multiple signal processing modules, and at least some of the signal processing modules are connected to multiple motion acquisition modules; the connection relationship between the multiple signal processing modules includes one of the following: a series connection relationship, a parallel connection relationship.

[0183] In an optional embodiment, when the connection relationship between the multiple signal processing modules is the series connection relationship, the multiple signal processing modules transmit the received motion acquisition signals in a direction close to the magnetic drive control module according to the series connection relationship.

[0184] In an optional embodiment, when the connection relationship between the multiple signal processing modules is the parallel connection relationship, the multiple signal processing modules are arranged according to multiple levels, and the signal processing modules in the same parallel branch transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

[0185] In an optional embodiment, there are multiple magnetic moving parts; the magnetic drive control module is used to determine the control object from the multiple magnetic moving parts according to the transmission and transportation equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive line according to the motion acquisition signal; or, the magnetic drive control module is used to determine the control object and the transmission and transportation equipment corresponding to the control object from the multiple magnetic moving parts, and control the magnetic field change of the magnetic drive line after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

[0186] The present invention also provides a motion control method, which is applied to the above-mentioned motion control device 11, and the process is as follows: Fig.14 As shown, the following steps are included:

[0187] Step S1402, receiving a motion acquisition signal generated by the motion acquisition module according to the motion state of the transmission and transportation equipment;

[0188] Step S1404, controlling the change of the magnetic field of the magnetic drive line according to the motion acquisition signal, so that the motion of the magnetic moving part matches the motion of the transmission and transportation equipment.

[0189] Through the present invention, the motion state of the transmission and transportation equipment is first collected, and a motion collection signal for indicating the motion condition of the transmission and transportation equipment is generated. Then, the magnetic field change of the magnetic drive line is controlled according to the motion collection signal to drive the magnetic moving part to move, and the motion condition of the magnetic moving part is matched with the motion condition of the transmission and transportation equipment. By adopting the above scheme, the motion conditions of different types of transportation equipment are matched by timely acquiring the motion state of the transmission and transportation equipment, thereby solving the problem of how to improve the debugging efficiency between various types of transportation equipment in the related art, and achieving the beneficial effect of improving the debugging efficiency between various types of transportation equipment.

[0190] In an optional embodiment, the method further includes: detecting position information of the magnetic moving component to generate a position detection signal; and monitoring the movement of the magnetic moving component according to the position detection signal when controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal.

[0191] In an optional embodiment, the method further includes: before controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal, judging whether the magnetic moving component has reached the first position according to the position detection signal, and controlling the magnetic field of the magnetic drive line according to the judgment result.

[0192] In an optional embodiment, the motion acquisition signal includes transmission position information of the transmission transportation equipment, and the method further includes: when the judgment result indicates that the magnetic moving component has reached the first position, determining the position change of the transmission transportation equipment according to the transmission position information of the transmission transportation equipment indicated by the motion acquisition signal; and according to the position change of the transmission transportation equipment, controlling the magnetic field change of the magnetic drive line to drive the magnetic moving component to move according to the position change of the transmission transportation equipment.

[0193] In an optional embodiment, the method further includes: when the judgment result indicates that the magnetic moving component has reached the first position, according to the transmission speed information corresponding to the transmission transportation equipment, controlling the magnetic field change of the magnetic drive line to drive the magnetic moving component to move according to the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0194] In an optional embodiment, the method further includes: after the judgment result indicates that the magnetic moving component has not reached the first position, according to the transmission speed information corresponding to the transmission and transportation equipment and the position information of the magnetic moving component indicated by the position detection signal, controlling the magnetic field change of the magnetic drive line to drive the movement speed of the magnetic moving component and the transmission and transportation equipment to reach the first position to match the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0195] In an optional embodiment, there are multiple motion acquisition modules, and the method further includes: when receiving motion acquisition signals from the multiple motion acquisition modules, sending the motion acquisition signals from the multiple motion acquisition modules to the magnetic drive control module one by one.

[0196] In an optional embodiment, the method further includes: receiving motion acquisition signals from a plurality of the motion acquisition modules in a time-sharing manner, and sending the motion acquisition signals from the plurality of the motion acquisition modules to the magnetic drive control module in a time-sharing manner.

[0197] In an optional embodiment, the signal selection unit includes multiple signal input parts, at least one signal output part and multiple switching sub-units; wherein: the multiple signal input parts are connected one-to-one with the multiple motion acquisition modules; one signal output part is connected to at least one signal input part through the switching sub-unit, and at least one signal output part is connected to the magnetic drive control module; the multiple switching sub-units correspond to the multiple motion acquisition modules, and each switching sub-unit switches between the connected state and the disconnected state in pairs according to the timing of the corresponding motion acquisition module sending the motion acquisition signal.

[0198] In an optional embodiment, the method further includes: receiving motion acquisition signals generated by a plurality of the motion acquisition modules, and sorting the motion acquisition signals of the plurality of the motion acquisition modules and sending them to the magnetic drive control module in sequence.

[0199] In an optional embodiment, the signal integration unit includes multiple signal input parts, at least one signal output part, and at least one signal cache sub-unit; wherein: the multiple signal input parts are connected to the multiple motion acquisition modules one by one; at least one signal output part is connected to the multiple signal input parts through at least one signal cache sub-unit, and at least one signal output part is connected to the magnetic drive control module; at least one signal cache sub-unit corresponds to the multiple motion acquisition modules, and the signal cache sub-unit is used to cache and sort the motion acquisition signals of the multiple motion acquisition modules, and send them to the connected signal output parts in sequence.

[0200] In an optional embodiment, there are multiple signal processing modules, and at least some of the signal processing modules are connected to multiple motion acquisition modules; the connection relationship between the multiple signal processing modules includes one of the following: a series connection relationship, a parallel connection relationship.

[0201] In an optional embodiment, the method further includes: when the connection relationship between the multiple signal processing modules is the series connection relationship, the multiple signal processing modules transmit the received motion acquisition signals in a direction close to the magnetic drive control module according to the series connection relationship.

[0202] In an optional embodiment, the method further includes: when the connection relationship between the multiple signal processing modules is the parallel connection relationship, the multiple signal processing modules are arranged according to multiple levels, and the signal processing modules in the same parallel branch transmit the received motion acquisition signals in a direction close to the magnetic drive control module according to the level.

[0203] In an optional embodiment, the method also includes: there are multiple magnetic moving parts, and the control object is determined from the multiple magnetic moving parts according to the transmission and transportation equipment indicated by the received motion acquisition signal, and the magnetic field change of the magnetic drive line is controlled according to the motion acquisition signal; or, the magnetic drive control module is used to determine the control object and the transmission and transportation equipment corresponding to the control object from the multiple magnetic moving parts, and control the magnetic field change of the magnetic drive line after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

[0204] The present invention also provides a computer storage medium, which has a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the motion control method as described above. Since the motion control method described above can solve the problem in the related art, thereby solving the problem of how to improve the debugging efficiency between various types of transportation equipment in the related art, the computer storage medium having instructions suitable for being loaded by a processor and executing the motion control method described above can solve the same technical problem.

[0205] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0206] S11, receiving a motion acquisition signal generated by the motion acquisition module according to the motion state of the transmission and transportation equipment;

[0207] S12, controlling the change of the magnetic field of the magnetic drive line according to the motion acquisition signal, so that the motion of the magnetic moving part matches the motion of the transmission and transportation equipment.

[0208] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0209] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0210] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0211] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0212] S21, receiving a motion acquisition signal generated by the motion acquisition module according to the motion state of the transmission and transportation equipment;

[0213] S22, controlling the change of the magnetic field of the magnetic drive line according to the motion acquisition signal, so that the motion of the magnetic moving part matches the motion of the transmission and transportation equipment.

[0214] In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0215] An embodiment of the present invention further provides a computer program product, comprising a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program product, and when the computer program is executed by a processor, the steps of the method described in each embodiment of the present invention are implemented.

[0216] Optionally, in this embodiment, the above computer program may be configured to implement the following steps when executed by a processor:

[0217] S31, receiving a motion acquisition signal generated by the motion acquisition module according to the motion state of the transmission and transportation equipment;

[0218] S32, controlling the change of the magnetic field of the magnetic drive line according to the motion acquisition signal, so that the motion of the magnetic moving part matches the motion of the transmission and transportation equipment.

[0219] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail herein.

[0220] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0221] The above description is only an optional embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A magnetic drive transport device, characterized in that: The magnetic drive transport device is connected to the transmission transport device, and the magnetic drive transport device comprises: A motion acquisition module is used to acquire the motion state of the transmission and transportation equipment and generate a motion acquisition signal; A magnetic drive line body, connected to the magnetic drive control module, is used to drive the magnetic moving part to move through a magnetic field; The magnetic moving part is movably connected to the magnetic drive line body and is used to move under the drive of the magnetic field generated by the magnetic drive line body; The magnetic drive control module is connected to the motion acquisition module and is used to control the magnetic field change of the magnetic drive line according to the motion acquisition signal so that the movement of the magnetic moving part matches the movement of the transmission and transportation equipment.

2. The magnetic drive transport equipment according to claim 1, characterized in that: The magnetic drive transport equipment also includes: A position detection module, connected to the magnetic drive control module, for detecting the position information of the magnetic moving component and generating a position detection signal; The magnetic drive control module is also used to monitor the movement of the magnetic moving component according to the position detection signal when controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal.

3. The magnetic drive transport equipment according to claim 2, characterized in that: The magnetic drive control module is also used to determine whether the magnetic moving component reaches the first position according to the position detection signal before controlling the magnetic field change of the magnetic drive line according to the motion acquisition signal, and control the magnetic field of the magnetic drive line according to the judgment result.

4. The magnetic drive transport equipment according to claim 3, characterized in that: The motion acquisition signal includes the transmission position information of the transmission and transportation equipment. The magnetic drive control module is also used to determine the position change of the transmission and transportation equipment according to the transmission position information of the transmission and transportation equipment indicated by the motion acquisition signal when the judgment result indicates that the magnetic moving component has reached the first position; and control the magnetic field change of the magnetic drive line according to the position change of the transmission and transportation equipment to drive the magnetic moving component to move according to the position change of the transmission and transportation equipment.

5. The magnetic drive transport equipment according to claim 3, characterized in that: The magnetic drive control module is also used to control the magnetic field change of the magnetic drive line according to the transmission speed information corresponding to the transmission transportation equipment when the judgment result indicates that the magnetic moving component has reached the first position, so as to drive the magnetic moving component to move according to the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

6. The magnetic drive transport equipment according to claim 3, characterized in that: The magnetic drive control module is also used to control the magnetic field change of the magnetic drive line after the judgment result indicates that the magnetic moving component has not reached the first position, based on the transmission speed information corresponding to the transmission transportation equipment and the position information of the magnetic moving component indicated by the position detection signal, so as to drive the movement speed of the magnetic moving component when it reaches the first position to match the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

7. The magnetic drive transport equipment according to claim 1, characterized in that: The number of the motion acquisition modules is multiple, and the magnetic drive transportation equipment also includes: The signal processing module is connected to the plurality of motion acquisition modules and the magnetic drive control module, and is used for receiving the motion acquisition signals of the plurality of motion acquisition modules, and when receiving the motion acquisition signals of the plurality of motion acquisition modules, sending the motion acquisition signals of the plurality of motion acquisition modules to the magnetic drive control module one by one.

8. The magnetic drive transport equipment according to claim 7, characterized in that: The signal processing module comprises: The signal selection unit is used to receive the motion acquisition signals of the multiple motion acquisition modules in a time-sharing manner, and send the motion acquisition signals of the multiple motion acquisition modules to the magnetic drive control module in a time-sharing manner.

9. The magnetic drive transport equipment according to claim 8, characterized in that: The signal selection unit comprises a plurality of signal input parts, at least one signal output part and a plurality of switching sub-units; wherein: The plurality of signal input parts are connected to the plurality of motion acquisition modules in a one-to-one correspondence; One of the signal output parts is connected to at least one of the signal input parts through the switching subunit, and at least one of the signal output parts is connected to the magnetic drive control module; The plurality of switching subunits correspond to the plurality of motion acquisition modules, and each of the switching subunits switches between a connected state and a disconnected state in pairs according to the timing of the corresponding motion acquisition module sending the motion acquisition signal.

10. The magnetic drive transport equipment according to claim 7, characterized in that: The signal processing module comprises: The signal integration unit is used to receive the motion acquisition signals generated by the multiple motion acquisition modules, and to sort the motion acquisition signals of the multiple motion acquisition modules and send them to the magnetic drive control module in sequence.

11. The magnetic drive transport equipment according to claim 10, characterized in that: The signal integration unit includes a plurality of signal input parts, at least one signal output part, and at least one signal buffer sub-unit; wherein: The plurality of signal input parts are connected to the plurality of motion acquisition modules in a one-to-one correspondence; At least one of the signal output parts is connected to the plurality of signal input parts through at least one of the signal buffer subunits, and at least one of the signal output parts is connected to the magnetic drive control module; At least one of the signal buffer subunits corresponds to a plurality of the motion acquisition modules, and the signal buffer subunit is used to buffer and sort the motion acquisition signals of the plurality of motion acquisition modules, and send them to the connected signal output parts in sequence.

12. The magnetic drive transport equipment according to claim 7, characterized in that: There are multiple signal processing modules, and at least some of the signal processing modules are connected to multiple motion acquisition modules; the connection relationship between the multiple signal processing modules includes one of the following: a series connection relationship and a parallel connection relationship.

13. The magnetic drive transport equipment according to claim 12, characterized in that: In the case where the connection relationship between the multiple signal processing modules is the series connection relationship, the multiple signal processing modules transmit the received motion acquisition signals in a direction close to the magnetic drive control module according to the series connection relationship.

14. The magnetic drive transport equipment according to claim 12, characterized in that: When the connection relationship between the multiple signal processing modules is the parallel connection relationship, the multiple signal processing modules are arranged according to multiple levels, and the signal processing modules in the same parallel branch transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

15. The magnetic drive transport equipment according to claim 1 or 2, characterized in that: There are multiple magnetic moving parts; the magnetic drive control module is used to determine the control object from the multiple magnetic moving parts according to the transmission and transportation equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive line according to the motion acquisition signal; or, the magnetic drive control module is used to determine the control object and the transmission and transportation equipment corresponding to the control object from the multiple magnetic moving parts, and control the magnetic field change of the magnetic drive line after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

16. An article transport system, characterized in that: include: A motion acquisition module is used to acquire the motion state of the transmission and transportation equipment and generate a motion acquisition signal; A magnetic drive line body, connected to the magnetic drive control module, is used to drive the magnetic moving part to move through a magnetic field; The magnetic moving part is movably connected to the magnetic drive line body and is used to move under the drive of the magnetic field generated by the magnetic drive line body; The magnetic drive control module is connected to the motion acquisition module and is used to control the magnetic field change of the magnetic drive line body according to the motion acquisition signal, so that the motion of the magnetic moving part matches the motion of the transmission and transportation equipment; The transmission and transportation equipment is distributed around the magnetic drive line and is used to transport items in coordination with the magnetic moving parts that match the movement conditions.

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