Material interaction method and system and computer storage medium

Abstract

The invention provides a material interaction method and system and a computer storage medium, the method is applied to a central control system, the central control system is in communication connection with a magnetic suspension platform system, and the magnetic suspension platform system comprises a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension rotor, a second magnetic suspension rotor and an auxiliary interaction module; the method comprises the steps that if a first material borne by a first magnetic suspension rotor needs to be transferred to a second magnetic suspension rotor, the first magnetic suspension rotor and an auxiliary interaction module are controlled to complete first transfer operation, the first transfer operation is used for transferring the first material from the first magnetic suspension rotor to the auxiliary interaction module; and the second magnetic suspension rotor and the auxiliary interaction module are controlled to complete second transfer operation. According to the technical scheme, material interaction between multiple layers of magnetic suspension platforms can be achieved, and the experiment space utilization rate and the experiment efficiency are greatly improved.

Description

Technical Field

[0001] The present application relates to the field of magnetic levitation technology, and in particular to a material interaction method, system and computer storage medium. Background Art

[0002] In the field of material transportation, the magnetic levitation platform is valued due to its advantages of no friction, no wear, no lubrication, long life, low power consumption, and no noise, and a magnetic levitation transportation system has been established. The system uses magnets to accurately control the plane movement in a frictionless propulsion manner to complete the task of transporting materials without generating or carrying any pollutants, and will not cause mechanical wear due to friction.

[0003] However, the current magnetic levitation platform can generally only perform planar processes during operation, occupies a large space, and cannot meet the experimental transportation tasks that require high flexibility. Summary of the invention

[0004] In view of this, the present application provides a material interaction method, system and computer storage medium, which can realize material interaction between multi-layer magnetic levitation platforms, greatly improving the experimental space utilization and experimental efficiency.

[0005] In a first aspect, an embodiment of the present application provides a material interaction method, which is applied to a central control system, wherein the central control system is communicatively connected to a magnetic suspension platform system, wherein the magnetic suspension platform system includes a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover, and an auxiliary interaction module, wherein the first magnetic suspension platform and the second magnetic suspension platform are spaced apart in a height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform; the method includes:

[0006] If it is necessary to transfer the first material carried by the first magnetic levitation mover to the second magnetic levitation mover, control the first magnetic levitation mover and the auxiliary interaction module to complete a first transfer operation, wherein the first transfer operation is used to transfer the first material from the first magnetic levitation mover to the auxiliary interaction module;

[0007] The second magnetic levitation mover and the auxiliary interaction module are controlled to complete a second transfer operation, where the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover.

[0008] In a second aspect, an embodiment of the present application provides a central control system, wherein the central control system is communicatively connected to a magnetic suspension platform system, wherein the magnetic suspension platform system includes a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover, and an auxiliary interaction module, wherein the first magnetic suspension platform and the second magnetic suspension platform are spaced apart in a height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform; the central control system includes:

[0009] A first transfer unit is used for controlling the first magnetic levitation mover and the auxiliary interaction module to complete a first transfer operation if it is necessary to transfer the first material carried by the first magnetic levitation mover to the second magnetic levitation mover, wherein the first transfer operation is used to transfer the first material from the first magnetic levitation mover to the auxiliary interaction module;

[0010] The second transfer unit is used to control the second magnetic levitation mover and the auxiliary interaction module to complete a second transfer operation, and the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover.

[0011] In a third aspect, an embodiment of the present application provides a central control system, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps of any method in the first aspect of the embodiment of the present application.

[0012] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in any method of the first aspect of the embodiment of the present application.

[0013] In a fifth aspect, an embodiment of the present application provides a material interaction system, characterized in that it includes: a central control system and a magnetic suspension platform system, wherein the central control system and the magnetic suspension platform system are communicatively connected; the magnetic suspension platform system includes a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover and an auxiliary interaction module, wherein the first magnetic suspension platform and the second magnetic suspension platform are spaced apart in a height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform;

[0014] If it is necessary to transfer the first material carried by the first magnetic levitation mover to the second magnetic levitation mover, the central control system is used to control the first magnetic levitation mover and the auxiliary interaction module to complete a first transfer operation, and the first transfer operation is used to transfer the first material from the first magnetic levitation mover to the auxiliary interaction module;

[0015] The central control system is also used to control the second magnetic levitation mover and the auxiliary interaction module to complete a second transfer operation, and the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover.

[0016] In a sixth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in any method of the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0017] It can be seen that the above-mentioned material interaction method, system and computer storage medium are applied to the central control system, the central control system and the magnetic suspension platform system are connected in communication, the magnetic suspension platform system includes a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover and an auxiliary interaction module, the first magnetic suspension platform and the second magnetic suspension platform are arranged at intervals in the height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform; the method includes: if it is necessary to transfer the first material carried by the first magnetic suspension mover to the second magnetic suspension mover, control the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation, the first transfer operation is used to transfer the first material from the first magnetic suspension mover to the auxiliary interaction module; control the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation, the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic suspension mover. By implementing the technical solution of the present application, material interaction between multi-layer magnetic suspension platforms can be realized, which greatly improves the utilization rate of the experimental space and the flexibility of material transportation, thereby helping to improve the experimental efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0019] Figure 1 An architectural diagram of a material interaction system provided in an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a material interaction method provided in an embodiment of the present application;

[0021] Figure 3a A schematic diagram of the structure of a magnetic levitation platform system provided in an embodiment of the present application;

[0022] Figure 3b A schematic diagram of the structure of another magnetic levitation platform system provided in an embodiment of the present application;

[0023] Figure 3c A schematic diagram of the structure of another magnetic levitation platform system provided in an embodiment of the present application;

[0024] Figure 4a A schematic diagram of the structure of another magnetic levitation platform system provided in an embodiment of the present application;

[0025] Figure 4b A schematic diagram of the structure of another magnetic levitation platform system provided in an embodiment of the present application;

[0026] Figure 4c A schematic diagram of the structure of another magnetic levitation platform system provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of the structure of another magnetic levitation platform system provided in an embodiment of the present application;

[0028] Figure 6 A block diagram of the functional units of a central control system provided in an embodiment of the present application;

[0029] Figure 7 A block diagram of the functional units of another central control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0032] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship. The "plurality" appearing in the embodiments of the present application refers to two or more.

[0033] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0034] The "connection" that appears in the embodiments of the present application refers to various connection methods such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present application do not impose any limitations on this.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] The following is an explanation of the relevant contents, concepts, meanings, technical issues, technical solutions, beneficial effects, etc. involved in the embodiments of the present application.

[0037] At present, magnetic levitation platform systems are often used in the field of material transportation in scenarios such as experiments and manufacturing. Generally, the processes to be executed are configured in advance, and then the central control system controls the magnetic force of the magnetic levitation stator to enable the magnetic levitation mover suspended on the magnetic levitation platform to execute the corresponding processes. However, the current magnetic levitation platforms are generally single-layer and can only carry out experiments within a horizontal range, with low space utilization and flexibility.

[0038] To solve the above problems, the embodiments of the present application provide a material interaction method, system and computer storage medium, which can perform material interaction on a multi-layer magnetic levitation platform, greatly improving the experimental space utilization and experimental efficiency.

[0039] Combine the following Figure 1 The architecture of a material interaction system provided in an embodiment of the present application is described. Figure 1 This is an architecture diagram of a material interaction system provided in an embodiment of the present application. The material interaction system includes a magnetic levitation platform system 110 and a central control system 120 , wherein the central control system 120 is communicatively connected with the magnetic levitation platform system 110 .

[0040] Among them, the magnetic levitation platform system 110 includes a first magnetic levitation platform 1110, a second magnetic levitation platform 1120, a first magnetic levitation mover 1111, a second magnetic levitation mover 1121 and an auxiliary interaction module 1130; the first magnetic levitation platform 1110, the second magnetic levitation platform 1120 and the auxiliary interaction module 1130 are all communicated with the central control system 120; the first magnetic levitation platform 1110 and the second magnetic levitation platform 1120 are spaced apart in the height direction, such as the first magnetic levitation platform 1110 is at a first height, the second magnetic levitation platform 1120 is at a second height, the first height can be less than or greater than the second height, that is, the first magnetic levitation platform 1110 can be above the second magnetic levitation platform 1120 or below the second magnetic levitation platform 1120, Figure 1 In the example, the first height is less than the second height. The first magnetic suspension mover 1111 moves on the first magnetic suspension platform 1110, and the second magnetic suspension mover 1121 moves on the second magnetic suspension platform 1120. The first magnetic suspension platform 1110 and the second magnetic suspension platform 1120 are arranged in parallel and spaced apart in the height direction, and both extend in the horizontal direction. One or more first magnetic suspension movers 1111 and second magnetic suspension movers 1121 can be provided.

[0041] Among them, the first magnetic suspension platform 1110 and the second magnetic suspension platform 1120 may include a magnetic suspension stator inside or below, and the magnetic suspension stator is an electromagnet that can generate magnetic force to repel the magnetic suspension mover so that the magnetic suspension mover is suspended on the magnetic suspension platform. It can be understood that the magnetic suspension stator can be connected to the central control system 120, and the central control system 120 can change the magnetic force of the magnetic suspension stator of the first magnetic suspension platform 1110 to make the first magnetic suspension mover 1111 perform the corresponding process on the first magnetic suspension platform 1110, such as moving to a specific position, etc. The central control system 120 can change the magnetic force of the magnetic suspension stator of the second magnetic suspension platform 1120 to make the second magnetic suspension mover 1121 perform the corresponding process on the second magnetic suspension platform 1120, such as moving to a specific position, etc. The specific principle of the magnetic suspension platform system 110 can refer to the relevant description of the existing magnetic suspension platform, which will not be repeated here. The first magnetic suspension platform 1110 and the second magnetic suspension platform 1120 can be set on the work surface, and the two work surfaces are arranged horizontally at intervals in the height direction.

[0042] Among them, the auxiliary interaction module 1130 can be set on any side of the first magnetic suspension platform 1110 and the second magnetic suspension platform 1120. It can be understood that the first magnetic suspension platform 1110 and the second magnetic suspension platform 1120 can be abstractly regarded as parallel to the ground, and the auxiliary interaction module 1130 can be abstractly regarded as perpendicular to the first magnetic suspension platform 1110 and the second magnetic suspension platform 1120. Since the first magnetic suspension mover 1111 can be regarded as only doing horizontal movement or approximately horizontal movement on the first magnetic suspension platform 1110, and the second magnetic suspension mover 1121 can be regarded as only doing horizontal movement or approximately horizontal movement on the second magnetic suspension platform 1120, when it is necessary to transfer materials from the first magnetic suspension platform 1110 to the second magnetic suspension platform 1120 or from the second magnetic suspension platform 1120 to the first magnetic suspension platform 1110, the central control system 120 can control the first magnetic suspension mover 1111, the second magnetic suspension mover 1121 and the auxiliary interaction module 1130 to perform the transfer of materials.

[0043] In a possible embodiment, the magnetic levitation platform system 110 may also include bypass equipment, such as a pipetting module, a robotic arm, a powder adding module, an oscillation module, a stirring module, a detection module, an ELISA instrument, an incubator, a storage module, and the like. The bypass equipment may be arranged around the first magnetic levitation platform 1110 and the second magnetic levitation platform 1120, respectively. Preferably, the bypass equipment may be arranged on a work surface that carries the first magnetic levitation platform 1110 and the second magnetic levitation platform 1120 and is located around the work surface. The bypass equipment is communicatively connected to the central control system 120, and the central control system 120 may control the bypass equipment to perform steps such as material placement and target process execution, which will not be elaborated here.

[0044] Understandably, Figure 1 The two-layer magnetic levitation platform included in the central magnetic levitation platform system 110 is only an example. In actual applications, more than two layers of magnetic levitation platforms can be set according to experimental requirements, and interaction with more than two layers of magnetic levitation platforms can be achieved through the central control system 120 and the auxiliary interaction module 1130.

[0045] Specifically, if it is necessary to transfer the first material carried by the first magnetic levitation mover 1111 to the second magnetic levitation mover 1121, the central control system 120 is used to control the first magnetic levitation mover 1111 and the auxiliary interaction module 1130 to complete a first transfer operation, and the first transfer operation is used to transfer the first material from the first magnetic levitation mover 1111 to the auxiliary interaction module 1130;

[0046] The central control system 120 is further used to control the second magnetic levitation mover 1121 and the auxiliary interaction module 1130 to complete a second transfer operation, where the second transfer operation is used to transfer the first material from the auxiliary interaction module 1130 to the second magnetic levitation mover 1121 .

[0047] Among them, the central control system 120 can control the magnetic force size and / or direction of the first magnetic suspension platform 1110 so that the first magnetic suspension platform 1110 drives the first magnetic suspension mover 1111 to move, and the central control system 120 can control the auxiliary interaction module 1130 to move so that the auxiliary interaction module 1130 and the first magnetic suspension mover 1111 complete the first transfer operation. Further, the central control system 120 can control the magnetic force size and / or direction of the second magnetic suspension platform 1120 so that the second magnetic suspension platform 1120 drives the second magnetic suspension mover 1121 to move, and the central control system 120 can control the auxiliary interaction module 1130 to move so that the auxiliary interaction module 1130 and the second magnetic suspension mover 1121 complete the second transfer operation.

[0048] In a possible embodiment, the auxiliary interaction module 1130 includes a support platform and a transfer module, the support platform is located on the side of the first magnetic levitation platform 1110 and the second magnetic levitation platform 1120 and is perpendicular to the first magnetic levitation platform 1110 and the second magnetic levitation platform 1120, and the transfer module is fixed on the support platform or the transfer module moves on the support platform. The support platform can be connected to the central control system 120 for communication, and the central control system 120 can control the support platform to work so that the support platform controls the transfer module to move.

[0049] In a possible embodiment, the transfer module is provided with a first material pick-up and placement component; the central control system 120 is used to control the first magnetic suspension mover 1111 and the auxiliary interaction module 1130 to complete a first transfer operation, including:

[0050] The central control system 120 controls the first magnetic suspension mover 1111 to move toward the support platform, and / or controls the transfer module to move toward the first magnetic suspension platform 1110, so that the distance between the first material picking and placing component on the transfer module and the first magnetic suspension mover 1111 is less than or equal to the maximum picking and placing range of the first material picking and placing component on the transfer module;

[0051] The central control system 120 controls the first material picking and placing component on the transfer module to obtain the first material from the first magnetic suspension mover 1111 to complete the first transfer operation.

[0052] Furthermore, the central control system 120 is used to control the second magnetic suspension mover 1121 and the auxiliary interaction module 1130 to complete the second transfer operation, including:

[0053] The central control system 120 controls the transfer module to move toward the second magnetic suspension platform 1120, and / or controls the second magnetic suspension mover 1121 to move toward the support platform, so that the distance between the first material picking and placing component on the transfer module and the second magnetic suspension mover 1121 is less than or equal to the maximum picking and placing range of the first material picking and placing component on the transfer module;

[0054] The central control system 120 controls the first material picking and placing component on the transfer module to place the first material on the second magnetic suspension mover 1121 to complete the second transfer operation.

[0055] In this embodiment, the first magnetic levitation mover 1111 and the second magnetic levitation mover 1121 may both be provided with a material carrying component, or may both be provided with a material picking and placing component, or may one be provided with a material carrying component and the other with a material picking and placing component, which is not limited here. When the first magnetic levitation mover 1111 and the second magnetic levitation mover 1121 are both provided with a material picking and placing component, the moving distance range between the magnetic levitation mover and the transfer module is jointly determined by the picking and placing ranges of the two material picking and placing components on the magnetic levitation mover and the transfer module.

[0056] In a possible embodiment, a second material picking and placing component is provided on the first magnetic suspension mover 1111; the central control system 120 is used to control the first magnetic suspension mover 1111 and the auxiliary interaction module 1130 to complete a first transfer operation, including:

[0057] The central control system 120 controls the first magnetic suspension mover 1111 to move toward the support platform, and / or controls the transfer module to move toward the first magnetic suspension platform 1110, so that the distance between the second material picking and placing component on the first magnetic suspension mover 1111 and the transfer module is less than or equal to the maximum picking and placing range of the second material picking and placing component on the first magnetic suspension mover 1111;

[0058] The central control system 120 controls the second material picking and placing assembly on the first magnetic suspension mover 1111 to place the first material on the transfer module to complete the first transfer operation.

[0059] Furthermore, a third material picking and placing component is provided on the second magnetic suspension mover 1121; the central control system 120 is used to control the second magnetic suspension mover 1121 and the auxiliary interaction module 1130 to complete the second transfer operation, including:

[0060] The central control system 120 controls the transfer module to move toward the second magnetic suspension platform 1120, and / or controls the second magnetic suspension mover 1121 to move toward the support platform, so that the distance between the third material picking and placing component on the second magnetic suspension mover 1121 and the transfer module is less than or equal to the maximum picking and placing range of the third material picking and placing component on the second magnetic suspension mover 1121;

[0061] The central control system 120 controls the third material picking and placing component on the second magnetic suspension mover 1121 to obtain the first material from the transfer module to complete the second transfer operation.

[0062] In this embodiment, a material pick-up and placement assembly or a material carrying assembly may be provided on the transfer module. When a material pick-up and placement assembly is provided on the transfer module, the moving distance range between the magnetic suspension mover and the transfer module is jointly determined by the pick-up and placement ranges of the magnetic suspension mover and the two material pick-up and placement assemblies on the transfer module.

[0063] In a possible embodiment, the magnetic suspension platform system 110 further includes a first bypass device, which is located on one side of the first magnetic suspension platform 1110, and a fourth material picking and placing component is provided on the first bypass device; the central control system 120 is used to control the first magnetic suspension mover 1111 and the auxiliary interaction module 1130 to complete the first transfer operation, including:

[0064] The central control system 120 controls the first magnetic suspension mover 1111 to move toward the first bypass device so that the distance between the fourth material picking and placing component on the first bypass device and the first magnetic suspension mover 1111 is less than or equal to the maximum picking and placing range of the fourth material picking and placing component on the first bypass device; and / or,

[0065] The central control system 120 controls the transfer module to move toward the first bypass device so that the distance between the fourth material picking and placing component on the first bypass device and the transfer module is less than or equal to the maximum picking and placing range of the fourth material picking and placing component on the first bypass device;

[0066] The central control system 120 controls the fourth material picking and placing component on the first bypass device to obtain the first material from the first magnetic suspension mover 1111;

[0067] The central control system 120 controls the fourth material picking and placing component on the first bypass device to place the first material in the transfer module to complete the first transfer operation.

[0068] Furthermore, the magnetic suspension platform system 110 further includes a second bypass device, which is located on one side of the second magnetic suspension platform 1120, and a fifth material picking and placing component is provided on the second bypass device; the central control system 120 is used to control the second magnetic suspension mover 1121 and the auxiliary interaction module 1130 to complete the second transfer operation, including:

[0069] The central control system 120 controls the transfer module to move toward the second bypass device so that the distance between the fifth material pick-up and placement component on the second bypass device and the transfer module is less than or equal to the maximum pick-up and placement range of the fifth material pick-up and placement component on the second bypass device; and / or,

[0070] The central control system 120 controls the second magnetic suspension mover 1121 to move toward the second bypass device, so that the distance between the fifth material picking and placing component on the second bypass device and the second magnetic suspension mover 1121 is less than or equal to the maximum picking and placing range of the fifth material picking and placing component on the second bypass device;

[0071] The central control system 120 controls the fifth material picking and placing component on the second bypass device to obtain the first material from the transfer module;

[0072] The central control system 120 controls the fifth material picking and placing component on the second bypass device to place the first material on the second magnetic suspension mover 1121 to complete the second transfer operation.

[0073] In this embodiment, the first bypass device is located on a work surface for carrying the first magnetic suspension platform 1110 and is arranged near the first magnetic suspension platform 1110. The second bypass device is located on a work surface for carrying the second magnetic suspension platform 1120 and is arranged near the second magnetic suspension platform 1120. Both the first bypass device and the second bypass device can be connected to the central control system 120 for communication, and the central control system 120 can control the operation of the first bypass device and the second bypass device respectively. Optionally, both the first bypass device and the second bypass device can be mechanical arms with grippers. The first magnetic suspension mover 1111 and the second magnetic suspension mover 1121 can both be provided with material bearing components, or can both be provided with material picking and placing components, or can one be provided with a material bearing component and the other with a material picking and placing component, which is not limited here. When both the first magnetic suspension mover 1111 and the second magnetic suspension mover 1121 are provided with material picking and placing components, the moving distance range between the magnetic suspension mover and the bypass device is jointly determined by the picking and placing range of the two material picking and placing components on the magnetic suspension mover and the bypass device. The transfer module may be provided with a material pick-up and placement component or a material carrying component. When the transfer module is provided with a material pick-up and placement component, the moving distance range between the transfer module and the bypass device is jointly determined by the pick-up and placement ranges of the two material pick-up and placement components on the transfer module and the bypass device.

[0074] Optionally, the supporting platform may be a third magnetic suspension platform, the transfer module may be a third magnetic suspension mover, and the third magnetic suspension mover moves on the third magnetic suspension platform.

[0075] Optionally, the supporting platform may be a guide rail module, and the transfer module moves on the guide rail module.

[0076] In a possible embodiment, the auxiliary interaction module 1130 includes a mobile module and a material pick-up and placement module, and the material pick-up and placement module is arranged on the mobile module and moves with the mobile module. The mobile module and the material pick-up and placement module can both be connected to the central control system 120 for communication, and the central control system 120 can control the movement of the mobile module and control the material pick-up and placement module to pick up and place materials. The central control system 120 is used to control the first magnetic suspension mover 1111 and the auxiliary interaction module 1130 to complete the first transfer operation, including:

[0077] The central control system 120 controls the mobile module to move to the first area, and / or controls the first magnetic suspension mover 1111 to move toward the mobile module, so that the distance between the material picking and placing module and the first magnetic suspension mover 1111 is less than or equal to the maximum picking and placing range of the material picking and placing module;

[0078] The central control system 120 controls the material picking and placing module to obtain the first material from the first magnetic suspension mover 1111 to complete the first transfer operation.

[0079] Furthermore, the central control system 120 is used to control the second magnetic suspension mover 1121 and the auxiliary interaction module 1130 to complete the second transfer operation, including:

[0080] The central control system 120 controls the mobile module to move to the second area, and / or controls the second magnetic suspension mover 1121 to move toward the mobile module, so that the distance between the material picking and placing module and the second magnetic suspension mover 1121 is less than or equal to the maximum picking and placing range of the material picking and placing module;

[0081] The central control system 120 controls the material placing module to place the first material on the second magnetic suspension mover 1121 to complete the second transfer operation.

[0082] In this embodiment, the first area and the second area may be the same or different. The first magnetic levitation mover 1111 and the second magnetic levitation mover 1121 may both be provided with a material carrying component, or both may be provided with a material picking and placing component, or one may be provided with a material carrying component and the other may be provided with a material picking and placing component, which is not limited here. When a material picking and placing component is provided on the magnetic levitation mover, the moving distance range between the magnetic levitation mover and the moving module is jointly determined by the picking and placing range of the material picking and placing component on the magnetic levitation mover and the material picking and placing module.

[0083] It can be understood that the structures of the above-mentioned different material picking and placing components can be all the same, partially the same, partially similar, or completely different, and this is not limited here.

[0084] The specific operation of the material interaction system is described by taking the enzyme linked immunosorbent assay (ELISA) as an example. The ELISA experimental process may include steps such as sample gradient dilution, first incubation, first washing, enzyme addition, second incubation, second washing, color developer addition, third incubation, stop solution addition, and microplate reader determination. The experimental platform required by the traditional experimental process takes up a large space and has low flexibility. Considering the continuity of the ELISA experimental process, two layers of magnetic levitation platforms are set here. The bypass equipment set around one layer of magnetic levitation platform can include a bypass plate washer, a bypass microplate reader, and an incubator to perform incubation, plate washing, and microplate labeling. The bypass equipment set around another layer of magnetic levitation platform can include a suspended independent multi-channel pipette, a storage rack, and a well plate stack; among them, the suspended independent multi-channel pipette can be used to perform the pipetting function, which involves a variety of medium consumables, such as a pipette tip; sample test tubes, pipette tips, etc. can be set on the storage rack to perform functions such as sample storage and consumable storage. The two layers of magnetic levitation platforms respectively serve to transport experimental materials to connect the experimental steps on the corresponding platforms in series, and the auxiliary interaction module serves to interact the experimental materials on the two magnetic levitation platforms to connect the entire ELISA experiment in series. Preferably, the bypass device with heavier weight can be set on the magnetic levitation platform side of the lower layer, and the bypass device with lighter weight can be set on the magnetic levitation platform side of the upper layer. Storage racks, material stacks, etc. that occupy large space can also be set on the magnetic levitation platform side of the lower layer to make full use of the interval space between the two layers of magnetic levitation platforms. For example, a bypass plate washer, a bypass microplate reader and an incubator are set on the upper layer, and a pipette, a storage rack and a well plate stack are set on the lower layer, so that the space occupied by the ELISA experiment process is less, the experimental efficiency is higher, and the experimental flexibility is higher. The above-mentioned instrument layout is only a possible example, and a multi-layer instrument layout can be adopted as needed, which is not specifically limited here.

[0085] It can be seen that through the above system architecture, material interaction between multi-layer magnetic levitation platforms can be realized, which greatly improves the experimental space utilization and experimental efficiency.

[0086] After understanding the software and hardware architecture of the embodiment of the present application, Figure 2 A material interaction method in an embodiment of the present application is described. Figure 2A flow chart of a material interaction method provided in an embodiment of the present application is applied to a central control system, wherein the central control system is communicatively connected to a magnetic suspension platform system, wherein the magnetic suspension platform system comprises a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover and an auxiliary interaction module, wherein the first magnetic suspension platform and the second magnetic suspension platform are spaced apart in a height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform; specifically, the following steps are included:

[0087] Step 201: If it is necessary to transfer the first material carried by the first magnetic levitation mover to the second magnetic levitation mover, control the first magnetic levitation mover and the auxiliary interaction module to complete the first transfer operation.

[0088] Wherein, the first transfer operation is used to transfer the first material from the first magnetic levitation mover to the auxiliary interaction module.

[0089] Step 202: Control the second magnetic suspension mover and the auxiliary interaction module to complete a second transfer operation.

[0090] Wherein, the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover.

[0091] It can be seen that by implementing the above-mentioned material interaction method, material interaction between multi-layer magnetic levitation platforms can be achieved, which greatly improves the experimental space utilization and experimental efficiency.

[0092] Among them, the auxiliary interaction module includes a supporting platform and a transfer module, the supporting platform is located on the side of the first magnetic levitation platform and the second magnetic levitation platform and is perpendicular to the first magnetic levitation platform and the second magnetic levitation platform, and the transfer module is fixed on the supporting platform or the transfer module moves on the supporting platform.

[0093] In a possible embodiment, the transfer module is provided with a first material pick-up and placement component; and the controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation includes:

[0094] Controlling the first magnetic suspension mover to move toward the support platform, and / or controlling the transfer module to move toward the first magnetic suspension platform, so that the distance between the first material picking and placing component on the transfer module and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the first material picking and placing component on the transfer module;

[0095] The first material picking and placing component on the transfer module is controlled to obtain the first material from the first magnetic suspension mover to complete the first transfer operation.

[0096] Furthermore, the controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation includes:

[0097] Control the transfer module to move toward the second magnetic suspension platform, and / or control the second magnetic suspension mover to move toward the support platform, so that the distance between the first material pick-up and placement component on the transfer module and the second magnetic suspension mover is less than or equal to the maximum pick-up and placement range of the first material pick-up and placement component on the transfer module;

[0098] The first material picking and placing component on the transfer module is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0099] In a possible embodiment, a second material picking and placing component is provided on the first magnetic suspension mover; and controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation includes:

[0100] Controlling the first magnetic suspension mover to move toward the support platform, and / or controlling the transfer module to move toward the first magnetic suspension platform, so that the distance between the second material pick-up and placement component on the first magnetic suspension mover and the transfer module is less than or equal to the maximum pick-up and placement range of the second material pick-up and placement component on the first magnetic suspension mover;

[0101] The second material picking and placing assembly on the first magnetic suspension mover is controlled to place the first material on the transfer module to complete the first transfer operation.

[0102] Furthermore, a third material picking and placing component is provided on the second magnetic suspension mover; and the controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation includes:

[0103] Control the transfer module to move toward the second magnetic suspension platform, and / or control the second magnetic suspension mover to move toward the support platform, so that the distance between the third material pick-up and placement component on the second magnetic suspension mover and the transfer module is less than or equal to the maximum pick-up and placement range of the third material pick-up and placement component on the second magnetic suspension mover;

[0104] The third material picking and placing component on the second magnetic suspension mover is controlled to obtain the first material from the transfer module to complete the second transfer operation.

[0105] In a possible embodiment, the magnetic suspension platform system further includes a first bypass device, the first bypass device is located on one side of the first magnetic suspension platform, and a fourth material picking and placing component is provided on the first bypass device; and the controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation includes:

[0106] Controlling the first magnetic suspension mover to move toward the first bypass device so that the distance between the fourth material picking and placing component on the first bypass device and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the fourth material picking and placing component on the first bypass device; and / or,

[0107] Controlling the transfer module to move toward the first bypass device so that the distance between the fourth material picking and placing component on the first bypass device and the transfer module is less than or equal to the maximum picking and placing range of the fourth material picking and placing component on the first bypass device;

[0108] Control the fourth material picking and placing component on the first bypass device to obtain the first material from the first magnetic suspension mover;

[0109] Control the fourth material picking and placing component on the first bypass device to place the first material in the transfer module to complete the first transfer operation.

[0110] Furthermore, the magnetic suspension platform system further includes a second bypass device, the second bypass device is located on one side of the second magnetic suspension platform, and a fifth material picking and placing component is provided on the second bypass device; the controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation includes:

[0111] Controlling the transfer module to move toward the second bypass device so that the distance between the fifth material pick-up and placement component on the second bypass device and the transfer module is less than or equal to the maximum pick-up and placement range of the fifth material pick-up and placement component on the second bypass device; and / or,

[0112] Controlling the second magnetic suspension mover to move toward the second bypass device so that the distance between the fifth material picking and placing component on the second bypass device and the second magnetic suspension mover is less than or equal to the maximum picking and placing range of the fifth material picking and placing component on the second bypass device;

[0113] Control the fifth material picking and placing component on the second bypass device to obtain the first material from the transfer module;

[0114] The fifth material picking and placing component on the second bypass device is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0115] It can be understood that the support platform can be a third magnetic suspension platform, the transfer module can be a third magnetic suspension mover, and the third magnetic suspension mover moves on the third magnetic suspension platform. The support platform can also be a guide rail module, and the transfer module moves on the guide rail module.

[0116] In a possible embodiment, the auxiliary interaction module includes a moving module and a material picking and placing module, the material picking and placing module is arranged on the moving module and moves with the moving module, and the controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation includes:

[0117] Controlling the mobile module to move to the first area, and / or controlling the first magnetic suspension mover to move toward the mobile module, so that the distance between the material picking and placing module and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the material picking and placing module;

[0118] The material picking and placing module is controlled to obtain the first material from the first magnetic suspension mover to complete the first transfer operation.

[0119] Furthermore, the controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation includes:

[0120] Control the moving module to move to the second area, and / or control the second magnetic suspension mover to move toward the moving module, so that the distance between the material picking and placing module and the second magnetic suspension mover is less than or equal to the maximum picking and placing range of the material picking and placing module;

[0121] The material picking and placing module is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0122] To facilitate understanding, the material interaction method in the embodiment of the present application is specifically described below with reference to specific examples and drawings.

[0123] Embodiment 1

[0124] Among them, the auxiliary interaction module may include a third magnetic levitation platform and a third magnetic levitation mover, the third magnetic levitation platform is located on the side of the first magnetic levitation platform and the second magnetic levitation platform and is perpendicular to the first magnetic levitation platform and the second magnetic levitation platform, the third magnetic levitation mover moves on the third magnetic levitation platform, the third magnetic levitation platform can be regarded as completely perpendicular to the first magnetic levitation platform and the second magnetic levitation platform, and can also be regarded as approximately perpendicular to the first magnetic levitation platform and the second magnetic levitation platform, and no specific limitation is made here.

[0125] In a possible embodiment, the third magnetic levitation mover may be provided with a material picking and placing component, which may be a component such as a forklift, a gripper, etc. that has the ability to pick and place objects. The material picking and placing component may be driven by a motor and may receive instructions from the central control system to perform corresponding gripping or placing operations, which will not be described in detail later. In terms of controlling the first magnetic levitation mover and the auxiliary interaction module to complete the first transfer operation:

[0126] First, the magnetic force of the first magnetic levitation platform and / or the magnetic force of the third magnetic levitation platform can be adjusted so that the distance between the first magnetic levitation mover and the material picking and placing assembly on the third magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing assembly on the third magnetic levitation mover. Specifically, the magnetic force of the first magnetic levitation platform and the magnetic force of the third magnetic levitation platform can be adjusted based on the current distance and current position of the first magnetic levitation mover and the third magnetic levitation mover. The adjustment can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0127] It can be understood that, when only controlling the first magnetic levitation mover to move on the first magnetic levitation platform can make the distance between the first magnetic levitation mover and the material picking and placing component on the third magnetic levitation mover less than or equal to the maximum picking and placing range of the material picking and placing component on the third magnetic levitation mover, only the first magnetic levitation mover can be controlled to move, and the third magnetic levitation mover can be controlled to be stationary or close to the first magnetic levitation mover; when only controlling the third magnetic levitation mover to move on the third magnetic levitation platform can make the distance between the first magnetic levitation mover and the material picking and placing component on the third magnetic levitation mover less than or equal to the maximum picking and placing range of the material picking and placing component on the third magnetic levitation mover, only the third magnetic levitation mover can be controlled to move, and the first magnetic levitation mover can be controlled to be stationary or close to the first magnetic levitation mover. Close to the third magnetic levitation mover; when it is necessary to control the first magnetic levitation mover and the third magnetic levitation mover to move simultaneously so that the distance between the first magnetic levitation mover and the material picking and placing component on the third magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing component on the third magnetic levitation mover, it is necessary to control the movement of the first magnetic levitation mover and the movement of the third magnetic levitation mover, and there is no specific limitation on the magnetic adjustment method of the first magnetic levitation platform and the magnetic adjustment method of the third magnetic levitation platform. It only needs to satisfy that the final result is that the distance between the first magnetic levitation mover and the material picking and placing component on the third magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing component on the third magnetic levitation mover, and no specific limitation is made here.

[0128] Then, the material picking and placing component on the third magnetic levitation mover can be controlled to obtain the first material from the first magnetic levitation mover to complete the first transfer operation.

[0129] It can be understood that the central control system can determine the position of the first material and control the material picking and placing component to obtain the first material, such as clamping, etc., which will not be elaborated here.

[0130] Next, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation:

[0131] First, the magnetic force of the third magnetic levitation platform can be adjusted, and / or the magnetic force of the second magnetic levitation platform can be adjusted so that the distance between the material pick-up and placement assembly on the third magnetic levitation mover and the second magnetic levitation mover is less than or equal to the maximum pick-up and placement range of the material pick-up and placement assembly on the third magnetic levitation mover. Specifically, the magnetic force of the second magnetic levitation platform and the magnetic force of the third magnetic levitation platform can be adjusted based on the current distance and current position of the second magnetic levitation mover and the third magnetic levitation mover. The adjustment can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0132] Similarly, there is no specific limitation on the magnetic adjustment method of the second magnetic levitation platform and the magnetic adjustment method of the third magnetic levitation platform. It only needs to satisfy that the final result is that the distance between the second magnetic levitation mover and the material picking and placing component on the third magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing component on the third magnetic levitation mover. No specific limitation is made here.

[0133] Finally, the material picking and placing assembly on the third magnetic levitation mover is controlled to place the first material on the second magnetic levitation mover to complete the second transfer operation.

[0134] In this embodiment, the first magnetic levitation mover and the second magnetic levitation mover may be provided with material carrying components, such as trays, etc., to carry materials. At this time, the material picking and placing component on the third magnetic levitation mover can pick up and place the first material on the above-mentioned material carrying component. The first magnetic levitation mover and the second magnetic levitation mover may be provided with material picking and placing components. At this time, the first material can be transferred between different magnetic levitation movers through corresponding material picking and placing components. The structures of the material picking and placing components corresponding to different magnetic levitation movers may be the same, similar or different, which is not limited here. Providing material picking and placing components on different magnetic levitation movers can increase the operating range and transportation flexibility of the magnetic levitation platform system and reduce the moving stroke of the magnetic levitation mover. In addition, one of the first magnetic levitation mover and the second magnetic levitation mover can be provided with a material picking and placing component, and the other can be provided with a material carrying component.

[0135] For easier understanding, see Figure 3a , Figure 3a This is a schematic diagram of the structure of a magnetic suspension platform system provided in an embodiment of the present application. The central control system can execute the material interaction method by controlling the magnetic suspension platform system. Figure 3a As shown, the third magnetic levitation mover is provided with a clamp, and the third magnetic levitation mover can move vertically on the third magnetic levitation platform to transfer the first material on the first magnetic levitation mover to the second magnetic levitation mover, thereby completing the material exchange between the first magnetic levitation platform and the second magnetic levitation platform, which will not be elaborated here.

[0136] It can be seen that by providing the third magnetic levitation platform and the third magnetic levitation mover with a material picking and placing component, material interaction between multiple layers of magnetic levitation platforms can be achieved, greatly improving the experimental space utilization and experimental efficiency.

[0137] In a possible embodiment, the first magnetic levitation mover is provided with a material pick-up and placement assembly, and the second magnetic levitation mover is also provided with a material pick-up and placement assembly, and the structures of the material pick-up and placement assemblies on the first magnetic levitation mover and the second magnetic levitation mover can be the same, similar or different. In controlling the first magnetic levitation mover and the auxiliary interaction module to complete the first transfer operation:

[0138] First, the magnetic force of the first magnetic levitation platform and / or the magnetic force of the third magnetic levitation platform can be adjusted so that the distance between the material pick-up and placement assembly on the first magnetic levitation mover and the third magnetic levitation mover is less than or equal to the maximum pick-up and placement range of the material pick-up and placement assembly on the first magnetic levitation mover. Specifically, the magnetic force of the first magnetic levitation platform and the magnetic force of the third magnetic levitation platform can be adjusted based on the current distance and current position of the first magnetic levitation mover and the third magnetic levitation mover. The adjustment can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0139] It can be understood that, when only controlling the first magnetic levitation mover to move on the first magnetic levitation platform can make the distance between the material picking and placing assembly on the first magnetic levitation mover and the third magnetic levitation mover less than or equal to the maximum picking and placing range of the material picking and placing assembly on the first magnetic levitation mover, only the first magnetic levitation mover can be controlled to move, and the third magnetic levitation mover can be controlled to be stationary or close to the first magnetic levitation mover; when only controlling the third magnetic levitation mover to move on the third magnetic levitation platform can make the distance between the material picking and placing assembly on the first magnetic levitation mover and the third magnetic levitation mover less than or equal to the maximum picking and placing range of the material picking and placing assembly on the first magnetic levitation mover, only the third magnetic levitation mover can be controlled to move, and the first magnetic levitation mover can be controlled to be stationary or close to the first magnetic levitation mover. Close to the third magnetic levitation mover; when it is necessary to control the simultaneous movement of the first magnetic levitation mover and the third magnetic levitation mover to make the distance between the material picking and placing assembly on the first magnetic levitation mover and the third magnetic levitation mover less than or equal to the maximum picking and placing range of the material picking and placing assembly on the first magnetic levitation mover, it is necessary to control the movement of the first magnetic levitation mover and the movement of the third magnetic levitation mover, and there is no specific limitation on the magnetic adjustment method of the first magnetic levitation platform and the magnetic adjustment method of the third magnetic levitation platform. It only needs to satisfy that the final result is that the distance between the material picking and placing assembly on the first magnetic levitation mover and the third magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing assembly on the first magnetic levitation mover, and no specific limitation is made here.

[0140] Then, the material picking and placing assembly on the first magnetic suspension mover is controlled to place the first material on the third magnetic suspension mover to complete the first transfer operation.

[0141] Next, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation:

[0142] First, the magnetic force of the third magnetic levitation platform can be adjusted, and / or the magnetic force of the second magnetic levitation platform can be adjusted so that the distance between the third magnetic levitation mover and the material picking and placing assembly on the second magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing assembly on the second magnetic levitation mover. Specifically, the magnetic force of the second magnetic levitation platform and the magnetic force of the third magnetic levitation platform can be adjusted based on the current distance and current position of the second magnetic levitation mover and the third magnetic levitation mover. The adjustment can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0143] Similarly, there is no specific limitation on the magnetic adjustment method of the second magnetic levitation platform and the magnetic adjustment method of the third magnetic levitation platform. It only needs to satisfy that the final result is that the distance between the material picking and placing assembly on the second magnetic levitation mover and the third magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing assembly on the second magnetic levitation mover. No specific limitation is made here.

[0144] Finally, the material picking and placing component on the second magnetic levitation mover is controlled to obtain the first material from the third magnetic levitation mover to complete the second transfer operation.

[0145] Optionally, a material carrying component may be provided on the third magnetic suspension mover, and the material carrying component may be a tray or the like for carrying materials.

[0146] For easier understanding, see Figure 3b , Figure 3b This is a schematic diagram of the structure of another magnetic suspension platform system provided in an embodiment of the present application. The central control system can execute the material interaction method by controlling the magnetic suspension platform system. Figure 3b As shown, a tray is provided on the third magnetic levitation mover, a clamp is provided on the first magnetic levitation mover, and a clamp is provided on the second magnetic levitation mover. The clamp on the first magnetic levitation mover can transfer the first material to the tray on the third magnetic levitation mover, and the third magnetic levitation mover can move vertically on the third magnetic levitation platform. The clamp on the second magnetic levitation mover can clamp the first material from the tray on the third magnetic levitation mover to the second magnetic levitation mover, thereby completing the material exchange between the first magnetic levitation platform and the second magnetic levitation platform, which will not be elaborated here.

[0147] It can be seen that by providing a third magnetic levitation platform and a third magnetic levitation mover with a tray and providing clamps on the first magnetic levitation mover and the second magnetic levitation mover, material interaction between multiple layers of magnetic levitation platforms can be achieved, greatly improving the experimental space utilization and experimental efficiency.

[0148] It is understandable that a material picking and placing assembly may be provided on the third magnetic levitation mover to replace the material carrying assembly, thereby increasing the operating range and transportation flexibility of the magnetic levitation platform system and shortening the moving stroke of the magnetic levitation mover.

[0149] In a possible embodiment, the magnetic suspension platform system further includes a first bypass device and a second bypass device, the first bypass device is provided with a material picking and placing component, the second bypass device is provided with a material picking and placing component, and the structures of the material picking and placing components on the first bypass device and the second bypass device may be the same, similar or different; in controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation:

[0150] First, the magnetic force of the first magnetic levitation platform can be adjusted so that the distance between the first magnetic levitation mover and the material picking and placing assembly on the first bypass device is less than or equal to the maximum picking and placing range of the material picking and placing assembly on the first bypass device. Specifically, the first bypass device is generally fixed at a certain position. Preferably, the first bypass device is fixedly arranged on one side of the first magnetic levitation platform. The magnetic force of the first magnetic levitation platform can be adjusted based on the position of the first magnetic levitation mover. If the first magnetic levitation mover is within the maximum picking and placing range of the material picking and placing assembly on the first bypass device, the magnetic force can be adjusted to keep the first magnetic levitation mover stationary or move within the maximum picking and placing range. If the first magnetic levitation mover is not within the maximum picking and placing range of the material picking and placing assembly on the first bypass device, the magnetic force can be adjusted to move the first magnetic levitation mover into the maximum picking and placing range.

[0151] And / or, adjust the magnetic force of the third magnetic levitation platform so that the distance between the third magnetic levitation mover and the material pick-and-place assembly on the first bypass device is less than or equal to the maximum pick-and-place range of the material pick-and-place assembly on the first bypass device. Specifically, the magnetic force of the third magnetic levitation platform can be adjusted based on the position of the third magnetic levitation mover. If the third magnetic levitation mover is within the maximum pick-and-place range of the material pick-and-place assembly on the first bypass device, the magnetic force can be adjusted to keep the third magnetic levitation mover stationary or move within the maximum pick-and-place range. If the third magnetic levitation mover is not within the maximum pick-and-place range of the material pick-and-place assembly on the first bypass device, the magnetic force can be adjusted to move the third magnetic levitation mover into the maximum pick-and-place range.

[0152] It should be noted that the above adjustment can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc. There is no specific limitation on the magnetic force adjustment method of the first magnetic levitation platform and the magnetic force adjustment method of the third magnetic levitation platform. It only needs to satisfy the final result that the distance between the first magnetic levitation mover and the material picking and placing component on the first bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the first bypass device, and the distance between the third magnetic levitation mover and the material picking and placing component on the first bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the first bypass device. No specific limitation is made here.

[0153] Then, controlling the material picking and placing component on the first bypass device to obtain the first material from the first magnetic suspension mover;

[0154] Finally, the material picking and placing component on the first bypass device is controlled to place the first material on the third magnetic suspension mover to complete the first transfer operation.

[0155] Next, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation:

[0156] First, the magnetic force of the third magnetic suspension platform can be adjusted so that the distance between the third magnetic suspension mover and the material pick-up and placement assembly on the second bypass device is less than or equal to the maximum pick-up and placement range of the material pick-up and placement assembly on the second bypass device. Preferably, the second bypass device is fixedly arranged on one side of the second magnetic suspension platform.

[0157] And / or, adjusting the magnetic force of the second magnetic levitation platform so that the distance between the second magnetic levitation mover and the material picking and placing component on the second bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the second bypass device.

[0158] Specifically, the magnetic force of the third magnetic levitation platform can be adjusted based on the current position of the third magnetic levitation mover, and the magnetic force of the second magnetic levitation platform can be adjusted based on the current position of the second magnetic levitation mover. The adjustment can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0159] Similarly, there is no specific limitation on the magnetic adjustment method of the second magnetic levitation platform and the magnetic adjustment method of the third magnetic levitation platform. It only needs to satisfy that the final result is that the distance between the second magnetic levitation mover and the material picking and placing component on the second bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the second bypass device, and the distance between the third magnetic levitation mover and the material picking and placing component on the second bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the second bypass device. No specific limitation is made here.

[0160] Then, controlling the material picking and placing component on the second bypass device to obtain the first material from the third magnetic suspension mover;

[0161] Finally, the material picking and placing component on the second bypass device is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0162] Optionally, a material carrying component may be provided on the third magnetic suspension mover, and the material carrying component may be a tray or the like for carrying materials.

[0163] For easier understanding, see Figure 3c , Figure 3c This is a schematic diagram of the structure of another magnetic suspension platform system provided in an embodiment of the present application. The central control system can execute the material interaction method by controlling the magnetic suspension platform system. Figure 3c As shown, a tray is provided on the third magnetic levitation mover, and clamps are provided on the first bypass device and the second bypass device. The clamps on the first bypass device can transfer the first material to the tray on the third magnetic levitation mover, and the third magnetic levitation mover can move vertically on the third magnetic levitation platform. The clamps on the second bypass device can clamp the first material from the tray on the third magnetic levitation mover and place it on the second magnetic levitation mover, thereby completing the material exchange between the first magnetic levitation platform and the second magnetic levitation platform, which will not be elaborated here.

[0164] It can be seen that by setting up bypass equipment corresponding to each magnetic levitation platform, the third magnetic levitation platform and the third magnetic levitation mover with a tray, material interaction between multi-layer magnetic levitation platforms can be achieved, which greatly improves the experimental space utilization and experimental efficiency.

[0165] Preferably, the first bypass device and the second bypass device may both be mechanical arms with end grippers.

[0166] It is understandable that the third magnetic levitation mover may also be provided with a material pick-up and placement assembly to replace the material bearing assembly, thereby increasing the operating range and transportation flexibility of the magnetic levitation platform system and reducing the moving stroke of the magnetic levitation mover. The first magnetic levitation mover and the second magnetic levitation mover may both be provided with a material bearing assembly, or both may be provided with a material pick-up and placement assembly, or one mover may be provided with a material bearing assembly and the other mover may be provided with a material pick-up and placement assembly, which is not limited here.

[0167] Embodiment 2

[0168] Among them, the auxiliary interaction module includes a guide rail module and a transportation module (i.e., a transfer module). The guide rail module is located on the side of the first magnetic levitation platform and the second magnetic levitation platform and is perpendicular to the first magnetic levitation platform and the second magnetic levitation platform. The transportation module moves on the guide rail module. The transportation module can be driven by a motor and can receive instructions from the central control system to move. It will not be described in detail later. It should be noted that the guide rail module here can be completely perpendicular to the first magnetic levitation platform and the second magnetic levitation platform, or it can be approximately perpendicular to the first magnetic levitation platform and the second magnetic levitation platform, and no specific limitation is made here.

[0169] In a possible embodiment, the transport module is provided with a material pick-up and placement component, and in controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation:

[0170] First, the magnetic force of the first magnetic levitation platform can be adjusted, and / or the transport module can be controlled to move on the guide rail module so that the distance between the first magnetic levitation mover and the material pick-up and placement assembly on the transport module is less than the maximum pick-up and placement range of the material pick-up and placement assembly on the transport module. Specifically, the magnetic force of the first magnetic levitation platform can be adjusted and the transport module can be controlled to move on the guide rail module according to the current distance and current position between the first magnetic levitation mover and the transport module. The adjustment of the magnetic force can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0171] It can be understood that, when only controlling the first magnetic levitation mover to move on the first magnetic levitation platform can make the distance between the first magnetic levitation mover and the material picking and placing component on the transportation module less than or equal to the maximum picking and placing range of the material picking and placing component on the transportation module, only the first magnetic levitation mover can be controlled to move, and the transportation module can be controlled to be stationary or approach the first magnetic levitation mover along the guide rail module; when only controlling the transportation module to move on the guide rail module can make the distance between the first magnetic levitation mover and the material picking and placing component on the transportation module less than or equal to the maximum picking and placing range of the material picking and placing component on the transportation module, only the transportation module can be controlled to move along the guide rail module, and the first magnetic levitation mover can be controlled to be stationary. Stop or approach the transport module; when it is necessary to control the first magnetic levitation mover and the transport module to move simultaneously so that the distance between the first magnetic levitation mover and the material picking and placing component on the transport module is less than or equal to the maximum picking and placing range of the material picking and placing component on the transport module, it is necessary to control the movement of the first magnetic levitation mover and the transport module to move along the guide rail module, and there is no specific limitation on the magnetic force adjustment method of the first magnetic levitation platform and the movement control method of the transport module. It only needs to satisfy that the final result is that the distance between the first magnetic levitation mover and the material picking and placing component on the transport module is less than or equal to the maximum picking and placing range of the material picking and placing component on the transport module. No specific limitation is made here.

[0172] Then, the material picking and placing component on the transport module can be controlled to obtain the first material from the first magnetic suspension mover to complete the first transfer operation.

[0173] Next, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation:

[0174] First, the magnetic force of the second magnetic levitation platform can be adjusted, and / or the transport module can be controlled to move on the guide rail module so that the distance between the second magnetic levitation mover and the material pick-up and placement assembly on the transport module is less than or equal to the maximum pick-up and placement range of the material pick-up and placement assembly on the transport module. Specifically, the magnetic force of the second magnetic levitation platform can be adjusted and the transport module can be controlled to move on the guide rail module according to the current distance and current position between the second magnetic levitation mover and the transport module. The adjustment of the magnetic force can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0175] Similarly, there is no specific limitation on the magnetic adjustment method of the second magnetic levitation platform and the movement control method of the transport module. It only needs to satisfy that the final result is that the distance between the second magnetic levitation mover and the material picking and placing component on the transport module is less than or equal to the maximum picking and placing range of the material picking and placing component on the transport module. No specific limitation is made here.

[0176] Finally, the material picking and placing component on the transport module is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0177] In this embodiment, the first magnetic levitation mover and the second magnetic levitation mover may both be provided with material carrying components, such as a tray, etc., to carry materials, and the material pick-up and placement component on the transport module may pick up and place the first material on the material carrying component. The first magnetic levitation mover and the second magnetic levitation mover may both be provided with material pick-up and placement components, or the first magnetic levitation mover and the second magnetic levitation mover may be provided with a material pick-up and placement component on one and a material carrying component on the other, thereby increasing the operating range and transportation flexibility of the magnetic levitation platform system and shortening the moving stroke of the magnetic levitation mover and the transport module.

[0178] For easier understanding, see Figure 4a , Figure 4a This is a schematic diagram of the structure of another magnetic suspension platform system provided in an embodiment of the present application. The central control system can execute the material interaction method by controlling the magnetic suspension platform system. Figure 4aAs shown, the transport module is provided with a clamp, and the transport module can move vertically along the guide rail module. The transport module can transfer the first material on the first magnetic levitation mover to the second magnetic levitation mover, thereby completing the material exchange between the first magnetic levitation platform and the second magnetic levitation platform, which will not be elaborated here.

[0179] It can be seen that by setting up a guide rail module and a transport module with a material picking and placing component, material interaction between multi-layer magnetic levitation platforms can be achieved, greatly improving the experimental space utilization and experimental efficiency.

[0180] In a possible embodiment, the first magnetic levitation mover is provided with a material pick-up and placement assembly, and the second magnetic levitation mover is provided with a material pick-up and placement assembly, and the structures of the material pick-up and placement assemblies on the first magnetic levitation mover and the second magnetic levitation mover can be the same, similar or different. In controlling the first magnetic levitation mover and the auxiliary interaction module to complete the first transfer operation:

[0181] First, adjust the magnetic force of the first magnetic levitation platform, and / or control the transport module to move on the guide rail module, so that the distance between the material pick-up and placement assembly on the first magnetic levitation mover and the transport module is less than or equal to the maximum pick-up and placement range of the material pick-up and placement assembly on the first magnetic levitation mover. Specifically, the magnetic force of the first magnetic levitation platform and the control of the transport module movement can be adjusted based on the current distance and current position between the first magnetic levitation mover and the transport module. The adjustment of the magnetic force can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0182] It can be understood that, when only controlling the first magnetic levitation mover to move on the first magnetic levitation platform can make the distance between the material picking and placing component on the first magnetic levitation mover and the transportation module less than or equal to the maximum picking and placing range of the material picking and placing component on the first magnetic levitation mover, only the first magnetic levitation mover can be controlled to move, and the transportation module can be controlled to be stationary or approach the first magnetic levitation mover along the guide rail module; when only controlling the transportation module to move along the guide rail module can make the distance between the material picking and placing component on the first magnetic levitation mover and the transportation module less than or equal to the maximum picking and placing range of the material picking and placing component on the first magnetic levitation mover, only the transportation module can be controlled to move, and the first magnetic levitation mover can be controlled to be stationary or approach Near the transport module; when it is necessary to control the first magnetic levitation mover and the transport module to move simultaneously so that the distance between the material picking and placing component on the first magnetic levitation mover and the transport module is less than or equal to the maximum picking and placing range of the material picking and placing component on the first magnetic levitation mover, it is necessary to control the movement of the first magnetic levitation mover and the transport module to move along the guide rail module. There is no specific limitation on the magnetic force adjustment method of the first magnetic levitation platform and the movement control method of the transport module. It only needs to satisfy that the final result is that the distance between the material picking and placing component on the first magnetic levitation mover and the transport module is less than or equal to the maximum picking and placing range of the material picking and placing component on the first magnetic levitation mover. No specific limitation is made here.

[0183] Then, the material picking and placing component on the first magnetic suspension mover is controlled to place the first material on the transport module to complete the first transfer operation.

[0184] Next, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation:

[0185] First, the transport module can be controlled to move on the guide rail module, and / or the magnetic force of the second magnetic levitation platform can be adjusted so that the distance between the transport module and the material pick-up and placement assembly on the second magnetic levitation mover is less than or equal to the maximum pick-up and placement range of the material pick-up and placement assembly on the second magnetic levitation mover. Specifically, the magnetic force of the second magnetic levitation platform can be adjusted and the transport module can be controlled to move on the guide rail module based on the current distance and current position between the second magnetic levitation mover and the transport module. The adjustment of the magnetic force can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0186] Similarly, there is no specific limitation on the magnetic adjustment method of the second magnetic levitation platform and the movement control method of the transport module. It only needs to satisfy that the final result is that the distance between the material picking and placing component on the second magnetic levitation mover and the transport module is less than or equal to the maximum picking and placing range of the material picking and placing component on the second magnetic levitation mover. No further details are given here.

[0187] Finally, the material picking and placing component on the second magnetic suspension mover is controlled to obtain the first material from the transport module to complete the second transfer operation.

[0188] Optionally, a material carrying component may be provided on the transport module, and the material carrying component may be a tray or the like for carrying materials.

[0189] For easier understanding, see Figure 4b , Figure 4b This is a schematic diagram of the structure of another magnetic suspension platform system provided in an embodiment of the present application. The central control system can execute the material interaction method by controlling the magnetic suspension platform system. Figure 4b As shown, a pallet is provided on the transport module, a clamp is provided on the first magnetic levitation mover, and a clamp is provided on the second magnetic levitation mover. The clamp on the first magnetic levitation mover can transfer the first material to the pallet on the transport module, and the transport module can move vertically along the guide rail module. The clamp on the second magnetic levitation mover can clamp the first material from the pallet on the transport module to the second magnetic levitation mover, thereby completing the material exchange between the first magnetic levitation platform and the second magnetic levitation platform, which will not be elaborated here.

[0190] It can be seen that by providing a guide rail module and a transport module with a pallet and providing grippers on the first magnetic levitation mover and the second magnetic levitation mover, material interaction between multi-layer magnetic levitation platforms can be achieved, greatly improving the experimental space utilization and experimental efficiency.

[0191] It is understandable that a material picking and placing component may be provided on the transport module to replace the material carrying component, thereby increasing the operating range and transport flexibility of the magnetic levitation platform system and shortening the moving stroke of the magnetic levitation mover and the transport module.

[0192] In a possible embodiment, the magnetic suspension platform system further includes a first bypass device and a second bypass device, the first bypass device is provided with a material picking and placing component, the second bypass device is provided with a material picking and placing component, and the structures of the material picking and placing components on the first bypass device and the second bypass device may be the same, similar or different; in controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation:

[0193] First, the magnetic force of the first magnetic levitation platform can be adjusted so that the distance between the first magnetic levitation mover and the material picking and placing assembly on the first bypass device is less than or equal to the maximum picking and placing range of the material picking and placing assembly on the first bypass device. Specifically, the first bypass device is generally fixed at a certain position. Preferably, the first bypass device is fixedly arranged on one side of the first magnetic levitation platform. The magnetic force of the first magnetic levitation platform can be adjusted based on the position of the first magnetic levitation mover. If the first magnetic levitation mover is within the maximum picking and placing range of the material picking and placing assembly on the first bypass device, the magnetic force can be adjusted to keep the first magnetic levitation mover stationary or move within the maximum picking and placing range. If the first magnetic levitation mover is not within the maximum picking and placing range of the material picking and placing assembly on the first bypass device, the magnetic force can be adjusted to move the first magnetic levitation mover into the maximum picking and placing range.

[0194] And / or, controlling the transport module to move on the guide rail module so that the distance between the transport module and the material picking and placing component on the first bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the first bypass device; specifically, the transport module can be controlled to move based on the position of the transport module. If the transport module is within the maximum picking and placing range of the material picking and placing component on the first bypass device, the transport module can be controlled to be stationary or move along the guide rail module within the maximum picking and placing range. If the transport module is not within the maximum picking and placing range of the material picking and placing component on the first bypass device, the transport module can be controlled to move along the guide rail module into the maximum picking and placing range.

[0195] It should be noted that the above adjustment of magnetic force can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc. There is no specific limitation on the magnetic force adjustment method of the first magnetic levitation platform and the movement control method of the transport module. It only needs to satisfy the final result that the distance between the first magnetic levitation mover and the material pick-up and placement component on the first bypass device is less than or equal to the maximum pick-up and placement range of the material pick-up and placement component on the first bypass device, and the distance between the transport module and the material pick-up and placement component on the first bypass device is less than or equal to the maximum pick-up and placement range of the material pick-up and placement component on the first bypass device. No specific limitation is made here.

[0196] Then, controlling the material picking and placing component on the first bypass device to obtain the first material from the first magnetic suspension mover;

[0197] Finally, the material picking and placing component on the first bypass device is controlled to place the first material on the transport module to complete the first transfer operation.

[0198] Next, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation:

[0199] First, the transport module is controlled to move on the guide rail module so that the distance between the transport module and the material pick-up and placement assembly on the second bypass device is less than or equal to the maximum pick-up and placement range of the material pick-up and placement assembly on the second bypass device. Preferably, the second bypass device is fixedly arranged on one side of the second magnetic suspension platform.

[0200] And / or, adjusting the magnetic force of the second magnetic levitation platform so that the distance between the second magnetic levitation mover and the material picking and placing component on the second bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the second bypass device.

[0201] Specifically, the transport module can be controlled to move based on the current position of the transport module, and the magnetic force of the second magnetic levitation platform can be adjusted based on the current position of the second magnetic levitation mover. The adjustment of the magnetic force can be any combination of maintaining the magnetic force unchanged, changing the direction of the magnetic force, changing the magnitude of the magnetic force, etc.

[0202] Similarly, there is no specific limitation on the magnetic adjustment method of the second magnetic levitation platform and the movement control method of the transport module. It only needs to satisfy the final result that the distance between the second magnetic levitation mover and the material picking and placing component on the second bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the second bypass device, and the distance between the transport module and the material picking and placing component on the second bypass device is less than or equal to the maximum picking and placing range of the material picking and placing component on the second bypass device. No specific limitation is made here.

[0203] Then, controlling the material picking and placing component on the second bypass device to obtain the first material from the transport module;

[0204] Finally, the material picking and placing component on the second bypass device is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0205] Optionally, a material carrying component may be provided on the transport module, and the material carrying component may be a tray or the like for carrying materials.

[0206] For easier understanding, see Figure 4c , Figure 4c This is a schematic diagram of the structure of another magnetic suspension platform system provided in an embodiment of the present application. The central control system can execute the material interaction method by controlling the magnetic suspension platform system. Figure 4cAs shown, a pallet is provided on the transport module, and clamps are provided on the first bypass device and the second bypass device. The clamps on the first bypass device can transfer the first material to the pallet on the transport module, and the transport module can move vertically along the guide rail module. The clamps on the second bypass device can clamp the first material from the pallet on the transport module and place it on the second magnetic levitation mover, thereby completing the material exchange between the first magnetic levitation platform and the second magnetic levitation platform, which will not be elaborated here.

[0207] It can be seen that by setting up bypass equipment, guide rail modules and transport modules with pallets corresponding to each magnetic levitation platform, material interaction between multi-layer magnetic levitation platforms can be achieved, greatly improving the utilization rate of experimental space and experimental efficiency.

[0208] Preferably, the first bypass device and the second bypass device may both be mechanical arms with end grippers.

[0209] It is understandable that the third magnetic levitation mover may also be provided with a material pick-up and placement assembly to replace the material bearing assembly, thereby increasing the operating range and transportation flexibility of the magnetic levitation platform system and reducing the moving stroke of the magnetic levitation mover. The first magnetic levitation mover and the second magnetic levitation mover may both be provided with a material bearing assembly, or both may be provided with a material pick-up and placement assembly, or one mover may be provided with a material bearing assembly and the other mover may be provided with a material pick-up and placement assembly, which is not limited here.

[0210] Embodiment 3

[0211] The auxiliary interaction module includes a mobile module and a material pick-up and placement module, and the material pick-up and placement module can be arranged on the mobile module and move with the mobile module. In controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation:

[0212] First, the mobile module can be controlled to move to the first area, and / or the first magnetic levitation mover can be controlled to move toward the mobile module so that the distance between the material picking and placing module and the first magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing module. The first area can be determined based on the maximum picking and placing range of the material picking and placing module. If the first area does not exist no matter how the mobile module moves, the magnetic force of the first magnetic levitation platform can be adjusted to move the first magnetic levitation mover to a position where the first area can exist.

[0213] Then, the material picking and placing module may be controlled to obtain the first material from the first magnetic suspension mover to complete the first transfer operation.

[0214] Next, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation:

[0215] First, the mobile module can be controlled to move to the second area, and / or the second magnetic levitation mover can be controlled to move toward the mobile module so that the distance between the material picking and placing module and the second magnetic levitation mover is less than or equal to the maximum picking and placing range of the material picking and placing module. The second area can be determined based on the maximum picking and placing range of the material picking and placing module. If the second area does not exist no matter how the mobile module moves, the magnetic force of the second magnetic levitation platform can be adjusted to move the second magnetic levitation mover to a position where the second area can exist. Among them, the first area and the second area can be the same or different. If the two areas are the same, after the material picking and placing module obtains the first material, the mobile module can place the first material on the second magnetic levitation mover without moving, thereby improving the material transportation efficiency.

[0216] Finally, the material picking and placing module is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0217] Optionally, the mobile module may be a mobile robot, such as an AGV; the material picking and placing module may be a mechanical arm with an end gripper disposed on the mobile robot. Figure 5 , Figure 5 This is a schematic diagram of the structure of another magnetic suspension platform system provided in an embodiment of the present application. The central control system can execute the material interaction method by controlling the magnetic suspension platform system. Figure 5 As shown, the mobile robot is provided with a mechanical arm, at the end of which is a gripper. The mobile robot can move to the vicinity of the first magnetic levitation mover, and the telescopic mechanical arm enables the gripper to grab the first material on the first magnetic levitation mover. The mobile robot can move to the vicinity of the second magnetic levitation mover, and the telescopic mechanical arm enables the gripper to place the first material on the second magnetic levitation mover, thereby completing the material interaction between the first magnetic levitation platform and the second magnetic levitation platform, which will not be elaborated here.

[0218] It can be seen that by setting up a mobile robot with a robotic arm, material interaction between multi-layer magnetic levitation platforms can be achieved, greatly improving the utilization rate of the experimental space and the experimental efficiency.

[0219] It can be understood that the first magnetic levitation mover and the second magnetic levitation mover can both be provided with material bearing components, or can both be provided with material picking and placing components, or can one mover be provided with a material bearing component, and the other mover be provided with a material picking and placing component, which is not limited here. Optionally, when the first magnetic levitation mover and the second magnetic levitation mover are both provided with material picking and placing components, the material picking and placing module on the moving module can be a material bearing component, such as a tray.

[0220] Through the above-mentioned material interaction method, it is applied to the central control system, the central control system and the magnetic suspension platform system are connected in communication, the magnetic suspension platform system includes a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover and an auxiliary interaction module, the first magnetic suspension platform and the second magnetic suspension platform are spaced apart in the height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform; if it is necessary to transfer the first material carried by the first magnetic suspension mover to the second magnetic suspension mover, control the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation, the first transfer operation is used to transfer the first material from the first magnetic suspension mover to the auxiliary interaction module; control the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation, the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic suspension mover. It can be seen that the implementation of the above method can realize material interaction between multi-layer magnetic suspension platforms, greatly improving the experimental space utilization and experimental efficiency.

[0221] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that in order to realize the above functions, the central control system includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments provided in this document, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0222] The embodiment of the present application can divide the functional units of the central control system according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0223] In the case of using functionally divided units, the following is combined Figure 6A central control system 600 in an embodiment of the present application is described in detail. The central control system 600 is communicatively connected to a magnetic suspension platform system. The magnetic suspension platform system includes a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover, and an auxiliary interaction module. The first magnetic suspension platform and the second magnetic suspension platform are spaced apart in a height direction. The first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform. The central control system 600 includes:

[0224] A first transfer unit 610 is used to control the first magnetic suspension mover and the auxiliary interaction module to complete a first transfer operation if it is necessary to transfer the first material carried by the first magnetic suspension mover to the second magnetic suspension mover, wherein the first transfer operation is used to transfer the first material from the first magnetic suspension mover to the auxiliary interaction module;

[0225] The second transfer unit 620 is used to control the second magnetic levitation mover and the auxiliary interaction module to complete a second transfer operation, and the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover.

[0226] In a possible embodiment, the auxiliary interaction module includes a supporting platform and a transfer module, the supporting platform is located on the side of the first magnetic levitation platform and the second magnetic levitation platform and is perpendicular to the first magnetic levitation platform and the second magnetic levitation platform, and the transfer module is fixed on the supporting platform or the transfer module moves on the supporting platform.

[0227] In a possible embodiment, the transfer module is provided with a first material picking and placing component; in terms of controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation, the first transfer unit 610 is specifically used for:

[0228] Controlling the first magnetic suspension mover to move toward the support platform, and / or controlling the transfer module to move toward the first magnetic suspension platform, so that the distance between the first material picking and placing component on the transfer module and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the first material picking and placing component on the transfer module;

[0229] The first material picking and placing component on the transfer module is controlled to obtain the first material from the first magnetic suspension mover to complete the first transfer operation.

[0230] Further, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation, the second transfer unit 620 is specifically used for:

[0231] Control the transfer module to move toward the second magnetic suspension platform, and / or control the second magnetic suspension mover to move toward the support platform, so that the distance between the first material pick-up and placement component on the transfer module and the second magnetic suspension mover is less than or equal to the maximum pick-up and placement range of the first material pick-up and placement component on the transfer module;

[0232] The first material picking and placing component on the transfer module is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0233] In a possible embodiment, a second material picking and placing component is provided on the first magnetic suspension mover; in terms of controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation, the first transfer unit 610 is specifically used for:

[0234] Controlling the first magnetic suspension mover to move toward the support platform, and / or controlling the transfer module to move toward the first magnetic suspension platform, so that the distance between the second material pick-up and placement component on the first magnetic suspension mover and the transfer module is less than or equal to the maximum pick-up and placement range of the second material pick-up and placement component on the first magnetic suspension mover;

[0235] The second material picking and placing assembly on the first magnetic suspension mover is controlled to place the first material on the transfer module to complete the first transfer operation.

[0236] Furthermore, a third material picking and placing component is provided on the second magnetic suspension mover; in terms of controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation, the second transfer unit 620 is specifically used for:

[0237] Control the transfer module to move toward the second magnetic suspension platform, and / or control the second magnetic suspension mover to move toward the support platform, so that the distance between the third material pick-up and placement component on the second magnetic suspension mover and the transfer module is less than or equal to the maximum pick-up and placement range of the third material pick-up and placement component on the second magnetic suspension mover;

[0238] The third material picking and placing component on the second magnetic suspension mover is controlled to obtain the first material from the transfer module to complete the second transfer operation.

[0239] In a possible embodiment, the magnetic suspension platform system further includes a first bypass device, which is located on one side of the first magnetic suspension platform, and a fourth material picking and placing component is provided on the first bypass device; in terms of controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation, the first transfer unit 610 is specifically used for:

[0240] Controlling the first magnetic suspension mover to move toward the first bypass device so that the distance between the fourth material picking and placing component on the first bypass device and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the fourth material picking and placing component on the first bypass device; and / or,

[0241] Controlling the transfer module to move toward the first bypass device so that the distance between the fourth material picking and placing component on the first bypass device and the transfer module is less than or equal to the maximum picking and placing range of the fourth material picking and placing component on the first bypass device;

[0242] Control the fourth material picking and placing component on the first bypass device to obtain the first material from the first magnetic suspension mover;

[0243] Control the fourth material picking and placing component on the first bypass device to place the first material in the transfer module to complete the first transfer operation.

[0244] Furthermore, the magnetic suspension platform system further includes a second bypass device, which is located on one side of the second magnetic suspension platform, and a fifth material picking and placing component is provided on the second bypass device; in terms of controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation, the second transfer unit 620 is specifically used for:

[0245] Controlling the transfer module to move toward the second bypass device so that the distance between the fifth material pick-up and placement component on the second bypass device and the transfer module is less than or equal to the maximum pick-up and placement range of the fifth material pick-up and placement component on the second bypass device; and / or,

[0246] Controlling the second magnetic suspension mover to move toward the second bypass device so that the distance between the fifth material picking and placing component on the second bypass device and the second magnetic suspension mover is less than or equal to the maximum picking and placing range of the fifth material picking and placing component on the second bypass device;

[0247] Control the fifth material picking and placing component on the second bypass device to obtain the first material from the transfer module;

[0248] The fifth material picking and placing component on the second bypass device is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0249] In a possible embodiment, the supporting platform includes a third magnetic suspension platform, the transfer module includes a third magnetic suspension mover, and the third magnetic suspension mover moves on the third magnetic suspension platform.

[0250] In a possible embodiment, the supporting platform includes a guide rail module, and the transfer module moves on the guide rail module.

[0251] In a possible embodiment, the auxiliary interaction module includes a moving module and a material picking and placing module, the material picking and placing module is arranged on the moving module and moves with the moving module, and in terms of controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation, the first transfer unit 610 is specifically used for:

[0252] Controlling the mobile module to move to the first area, and / or controlling the first magnetic suspension mover to move toward the mobile module, so that the distance between the material picking and placing module and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the material picking and placing module;

[0253] The material picking and placing module is controlled to obtain the first material from the first magnetic suspension mover to complete the first transfer operation.

[0254] Further, in controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation, the second transfer unit 620 is specifically used for:

[0255] Control the moving module to move to the second area, and / or control the second magnetic suspension mover to move toward the moving module, so that the distance between the material picking and placing module and the second magnetic suspension mover is less than or equal to the maximum picking and placing range of the material picking and placing module;

[0256] The material picking and placing module is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

[0257] Through the above-mentioned central control system, when it is necessary to transfer the first material carried by the first magnetic levitation mover to the second magnetic levitation mover, the first magnetic levitation mover and the auxiliary interaction module are controlled to complete the first transfer operation, and the first transfer operation is used to transfer the first material from the first magnetic levitation mover to the auxiliary interaction module; and the second magnetic levitation mover and the auxiliary interaction module are controlled to complete the second transfer operation, and the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover. It can be seen that the above-mentioned central control system can realize material interaction between multi-layer magnetic levitation platforms, greatly improving the utilization rate of experimental space and experimental efficiency.

[0258] In the case of an integrated unit, the following combination Figure 7 A central control system 700 in an embodiment of the present application is described in detail. The central control system 700 is communicatively connected to a magnetic suspension platform system. The magnetic suspension platform system includes a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover, and an auxiliary interaction module. The first magnetic suspension platform and the second magnetic suspension platform are spaced apart in a height direction. The first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform.

[0259] The central control system 700 includes one or more processors 710, a memory 720, a communication module 730 and one or more programs 721. The processor 710 is connected to the memory 720 and the communication module 730 through an internal communication bus.

[0260] The one or more programs 721 are stored in the memory 720 and are configured to be executed by the processor 710. The one or more programs 721 include instructions for executing any step in the method embodiment.

[0261] Among them, the processor 710 can be, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of this application. The processor 710 can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit can be a communication module 730, a transceiver, a transceiver circuit, etc., and the storage unit can be a memory 720.

[0262] The memory 720 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0263] It is understandable that the central control system 700 may include more or fewer structural elements than those in the above structural block diagram, for example, including a power module, physical buttons, a Wi-Fi module, a speaker, a Bluetooth module, a sensor, a display module, etc., which are not limited here.

[0264] The processor 710 executes the program stored in the memory 720 and calls other devices, which can be used to implement part or all of the steps of any material interaction method provided in the above embodiments of the present application.

[0265] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments, and the above computer includes a central control system.

[0266] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an electronic device.

[0267] It should be noted that, for the above-mentioned various embodiments, for the sake of simple description, they are all expressed as a series of action combinations. Those skilled in the art should be aware that the present application is not limited by the described order of actions, because some steps in the embodiments of the present application can be performed in other orders or simultaneously. In addition, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions, steps, modules or units involved are not necessarily required by the embodiments of the present application.

[0268] In the above embodiments, the embodiments of the present application have different focuses on the description of each embodiment. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0269] The steps of the method or algorithm described in the embodiments of the present application can be implemented in hardware or by executing software instructions by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in RAM, flash memory, ROM, EPROM, electrically erasable programmable read-only memory (electrically EPROM, EEPROM), registers, hard disks, mobile hard disks, read-only compact disks (CD-ROMs) or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a terminal device or a management device. Of course, the processor and the storage medium can also be present in a terminal device or a management device as discrete components.

[0270] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiments of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0271] The modules / units included in the devices and products described in the above embodiments may be software modules / units or hardware modules / units, or may be partially software modules / units and partially hardware modules / units. For example, for the devices and products applied to or integrated in the chip, the modules / units included therein may all be implemented in the form of hardware such as circuits, or at least some of the modules / units may be implemented in the form of software programs, which run on the processor integrated inside the chip, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits; for the devices and products applied to or integrated in the chip module, the modules / units included therein may all be implemented in the form of hardware such as circuits, and different modules / units may be located in the same component (such as a chip, circuit module, etc.) or in different components of the chip module, or at least some of the modules / units may be implemented in the form of software programs. The software programs run on the processor integrated inside the chip, and the remaining (if any) modules / units may be implemented in the form of hardware such as circuits. It is implemented in the form of a software program, which runs on a processor integrated inside the chip module, and the remaining (if any) modules / units can be implemented in hardware such as circuits; for various devices and products applied to or integrated in the terminal equipment, the various modules / units contained therein can be implemented in hardware such as circuits, and different modules / units can be located in the same component (for example, chip, circuit module, etc.) or in different components in the terminal equipment, or, at least some modules / units can be implemented in the form of a software program, which runs on a processor integrated inside the terminal equipment, and the remaining (if any) modules / units can be implemented in hardware such as circuits.

[0272] The specific implementation methods described above further illustrate the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above description is only the specific implementation method of the embodiments of the present application and is not intended to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A material interaction method, characterized in that: Applied to a central control system, the central control system is communicatively connected with a magnetic suspension platform system, the magnetic suspension platform system comprises a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover and an auxiliary interaction module, the first magnetic suspension platform and the second magnetic suspension platform are spaced apart in a height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform; the method comprises: If it is necessary to transfer the first material carried by the first magnetic levitation mover to the second magnetic levitation mover, control the first magnetic levitation mover and the auxiliary interaction module to complete a first transfer operation, wherein the first transfer operation is used to transfer the first material from the first magnetic levitation mover to the auxiliary interaction module; The second magnetic levitation mover and the auxiliary interaction module are controlled to complete a second transfer operation, where the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover.

2. The method according to claim 1, characterized in that The auxiliary interaction module includes a supporting platform and a transfer module. The supporting platform is located on the side of the first magnetic levitation platform and the second magnetic levitation platform and is perpendicular to the first magnetic levitation platform and the second magnetic levitation platform. The transfer module is fixed on the supporting platform or the transfer module moves on the supporting platform.

3. The method according to claim 2, characterized in that The transfer module is provided with a first material pick-up and placement component; the control of the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation includes: Controlling the first magnetic suspension mover to move toward the support platform, and / or controlling the transfer module to move toward the first magnetic suspension platform, so that the distance between the first material picking and placing component on the transfer module and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the first material picking and placing component on the transfer module; The first material picking and placing component on the transfer module is controlled to obtain the first material from the first magnetic suspension mover to complete the first transfer operation.

4. The method according to claim 3, characterized in that The controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation includes: Control the transfer module to move toward the second magnetic suspension platform, and / or control the second magnetic suspension mover to move toward the support platform, so that the distance between the first material pick-up and placement component on the transfer module and the second magnetic suspension mover is less than or equal to the maximum pick-up and placement range of the first material pick-up and placement component on the transfer module; The first material picking and placing component on the transfer module is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

5. The method according to claim 2, characterized in that: The first magnetic suspension mover is provided with a second material picking and placing component; the controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation includes: Controlling the first magnetic suspension mover to move toward the support platform, and / or controlling the transfer module to move toward the first magnetic suspension platform, so that the distance between the second material pick-up and placement component on the first magnetic suspension mover and the transfer module is less than or equal to the maximum pick-up and placement range of the second material pick-up and placement component on the first magnetic suspension mover; The second material picking and placing assembly on the first magnetic suspension mover is controlled to place the first material on the transfer module to complete the first transfer operation.

6. The method according to claim 5, characterized in that The second magnetic suspension mover is provided with a third material picking and placing component; the controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation includes: Control the transfer module to move toward the second magnetic suspension platform, and / or control the second magnetic suspension mover to move toward the support platform, so that the distance between the third material pick-up and placement component on the second magnetic suspension mover and the transfer module is less than or equal to the maximum pick-up and placement range of the third material pick-up and placement component on the second magnetic suspension mover; The third material picking and placing component on the second magnetic suspension mover is controlled to obtain the first material from the transfer module to complete the second transfer operation.

7. The method according to claim 2, characterized in that The magnetic suspension platform system further includes a first bypass device, which is located on one side of the first magnetic suspension platform, and a fourth material picking and placing component is provided on the first bypass device; the controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation includes: Controlling the first magnetic suspension mover to move toward the first bypass device so that the distance between the fourth material picking and placing component on the first bypass device and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the fourth material picking and placing component on the first bypass device; and / or, Controlling the transfer module to move toward the first bypass device so that the distance between the fourth material picking and placing component on the first bypass device and the transfer module is less than or equal to the maximum picking and placing range of the fourth material picking and placing component on the first bypass device; Control the fourth material picking and placing component on the first bypass device to obtain the first material from the first magnetic suspension mover; Control the fourth material picking and placing component on the first bypass device to place the first material in the transfer module to complete the first transfer operation.

8. The method according to claim 7, characterized in that The magnetic suspension platform system further includes a second bypass device, which is located on one side of the second magnetic suspension platform, and a fifth material picking and placing component is provided on the second bypass device; the controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transfer operation includes: Controlling the transfer module to move toward the second bypass device so that the distance between the fifth material pick-up and placement component on the second bypass device and the transfer module is less than or equal to the maximum pick-up and placement range of the fifth material pick-up and placement component on the second bypass device; and / or, Controlling the second magnetic suspension mover to move toward the second bypass device so that the distance between the fifth material picking and placing component on the second bypass device and the second magnetic suspension mover is less than or equal to the maximum picking and placing range of the fifth material picking and placing component on the second bypass device; Control the fifth material picking and placing component on the second bypass device to obtain the first material from the transfer module; The fifth material picking and placing component on the second bypass device is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

9. The method according to any one of claims 2 to 8, characterized in that: The supporting platform comprises a third magnetic suspension platform, the transfer module comprises a third magnetic suspension mover, and the third magnetic suspension mover moves on the third magnetic suspension platform.

10. The method according to any one of claims 2 to 8, characterized in that: The supporting platform includes a guide rail module, and the transfer module moves on the guide rail module.

11. The method according to claim 1, characterized in that: The auxiliary interaction module includes a moving module and a material picking and placing module, and the material picking and placing module is arranged on the moving module and moves with the moving module; the controlling the first magnetic suspension mover and the auxiliary interaction module to complete the first transfer operation includes: Controlling the mobile module to move to the first area, and / or controlling the first magnetic suspension mover to move toward the mobile module, so that the distance between the material picking and placing module and the first magnetic suspension mover is less than or equal to the maximum picking and placing range of the material picking and placing module; The material picking and placing module is controlled to obtain the first material from the first magnetic suspension mover to complete the first transfer operation.

12. The method according to claim 11, characterized in that The controlling the second magnetic suspension mover and the auxiliary interaction module to complete the second transport operation includes: Control the moving module to move to the second area, and / or control the second magnetic suspension mover to move toward the moving module, so that the distance between the material picking and placing module and the second magnetic suspension mover is less than or equal to the maximum picking and placing range of the material picking and placing module; The material picking and placing module is controlled to place the first material on the second magnetic suspension mover to complete the second transfer operation.

13. A central control system, characterized in that: The central control system is in communication connection with the magnetic suspension platform system, the magnetic suspension platform system comprises a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover and an auxiliary interaction module, the first magnetic suspension platform and the second magnetic suspension platform are arranged at intervals in the height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform; the central control system comprises: A first transfer unit is used for controlling the first magnetic levitation mover and the auxiliary interaction module to complete a first transfer operation if it is necessary to transfer the first material carried by the first magnetic levitation mover to the second magnetic levitation mover, wherein the first transfer operation is used to transfer the first material from the first magnetic levitation mover to the auxiliary interaction module; The second transfer unit is used to control the second magnetic levitation mover and the auxiliary interaction module to complete a second transfer operation, and the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover.

14. A central control system, characterized in that: include: a processor, a memory, and one or more programs; The one or more programs are stored in the memory and configured to be executed by the processor, the programs comprising instructions for executing the steps in the method according to any one of claims 1 to 12.

15. A computer storage medium, characterized in that: The computer storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor is caused to perform the method according to any one of claims 1 to 12.

16. A material interaction system, characterized in that: include: A central control system and a magnetic suspension platform system, wherein the central control system and the magnetic suspension platform system are in communication connection; the magnetic suspension platform system comprises a first magnetic suspension platform, a second magnetic suspension platform, a first magnetic suspension mover, a second magnetic suspension mover and an auxiliary interaction module, wherein the first magnetic suspension platform and the second magnetic suspension platform are spaced apart in the height direction, the first magnetic suspension mover moves on the first magnetic suspension platform, and the second magnetic suspension mover moves on the second magnetic suspension platform; If it is necessary to transfer the first material carried by the first magnetic levitation mover to the second magnetic levitation mover, the central control system is used to control the first magnetic levitation mover and the auxiliary interaction module to complete a first transfer operation, and the first transfer operation is used to transfer the first material from the first magnetic levitation mover to the auxiliary interaction module; The central control system is also used to control the second magnetic levitation mover and the auxiliary interaction module to complete a second transfer operation, and the second transfer operation is used to transfer the first material from the auxiliary interaction module to the second magnetic levitation mover.

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