Method for controlling a mover of a magnetic drive conveying system and related device

Abstract

The present application proposes a mover control method and related equipment for a magnetic drive conveyor system. The magnetic drive conveyor system includes an arc-shaped track and movers. The method includes: first, acquiring the mover size information and the arc-shaped track information; then, based on the mover size information and the arc-shaped track information, determining the contact point of two adjacent movers on the arc-shaped track on the track coordinate axis; next, based on the contact point, calculating the coincidence radian angle when the two adjacent movers are in contact, and obtaining the arc-shaped safe operating distance based on the product of the coincidence radian angle and the track radius of the arc-shaped track; finally, when at least two movers are running on the arc-shaped track, controlling the operation of multiple movers based on the arc-shaped safe operating distance, so that the operating distance between two adjacent movers is not less than the arc-shaped safe operating distance, thereby improving the safety and stability of the mover operation in the magnetic drive conveyor system.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a mover control method and related equipment for a magnetic drive conveyor system. Background Technology

[0002] Maglev transport technology has wide applications in industrial automation, such as assembling and packaging goods on logistics lines, and SMT (Surface Mount Technology) of precision electronic components. These applications typically require the movers to run sequentially on a maglev transport track, performing processing operations on the workpieces on the movers during operation. To further improve the efficiency of the processing flow, appropriate operating parameters need to be pre-defined for each mover.

[0003] In existing technologies, before transporting multiple movers on a maglev transport track, suitable operating parameters are typically planned in advance for each mover based on the processing requirements of the workpiece carried by each mover and the mover's own operating parameters. These operating parameters are then used to control multiple movers to run together on the maglev transport track to automatically execute the workpiece processing flow. However, in maglev transport tracks with curved sections, due to the special shape of the curved track, unlike conventional straight tracks, the distance between movers running continuously on the curved track varies on different sides. When multiple movers enter the curved track from the straight track, if the original operating parameters are still used for mover operation control, safety issues may arise, such as collisions between adjacent movers due to insufficient clearance on one side. Summary of the Invention

[0004] This application provides a method and related equipment for controlling the mover in a magnetic drive conveyor system, which can improve the safety of the mover on an arc track in the magnetic drive conveyor system.

[0005] To achieve the above objectives, a first aspect of this application provides a method for controlling the mover of a magnetic drive conveyor system, the magnetic drive conveyor system including an arc-shaped track and a mover, the method comprising:

[0006] Obtain the mover size information and the arc track information of the arc track;

[0007] Based on the mover size information and the arc track information, the contact point of two adjacent movers on the arc track is determined on the track coordinate axis, which is constructed based on the arc track information;

[0008] Based on the contact point, the coincidence radian angle when two adjacent moving parts are in contact is calculated, and the arc-shaped safe operating distance is obtained based on the product of the coincidence radian angle and the track radius of the arc-shaped track.

[0009] When at least two movers are running on the arc-shaped track, the operation of multiple movers is controlled based on the arc-shaped safe operating distance, so that the operating distance between two adjacent movers is not less than the arc-shaped safe operating distance.

[0010] In some embodiments, determining the contact point of two adjacent movers on the arc track on the track coordinate axis based on the mover size information and the arc track information includes:

[0011] Based on the arc-shaped track information, a track coordinate axis is constructed with the center of the arc-shaped track as the center of the coordinate axis;

[0012] Based on the arc-shaped track information, determine the coordinates of two adjacent movers on the track coordinate axes;

[0013] The contact point is determined based on the moving part coordinates and the orbital coordinate axes.

[0014] In some embodiments, the contact point includes a preceding mover contact point and a following mover contact point, and determining the contact point based on the mover coordinates and the orbital coordinate axes includes:

[0015] Based on the mover size information and the mover center of the preceding mover, the coordinate axis of the preceding mover is constructed, wherein the preceding mover is the mover that comes first among two adjacent movers;

[0016] The coordinate axis of the subsequent mover is constructed based on the mover size information and the mover center of the subsequent mover, wherein the subsequent mover is the mover that comes later in two adjacent movers;

[0017] Based on the orbit coordinate axis and the preceding mover coordinate axis, the first position information of the rear vertex of the arc side of the preceding mover on the orbit coordinate axis is determined, and the first position information is used as the contact point of the preceding mover, wherein the arc side is the side closer to the center of the orbit.

[0018] Based on the orbital coordinate axis and the preceding mover coordinate axis, the second position information of the front vertex of the arc side of the following mover on the orbital coordinate axis is determined, and the second position information is used as the contact point of the following mover.

[0019] In some embodiments, calculating the coincidence angle in radians when two adjacent moving parts are in contact, based on the contact point, includes:

[0020] Based on the coincidence condition of the contact point of the preceding mover and the contact point of the following mover, a vertex coincidence equation is generated.

[0021] Solving the equation for vertex coincidence yields the coincidence angle in radians between two adjacent moving parts.

[0022] In some embodiments, the preceding mover contact point includes a first preceding position parameter and a second preceding position parameter, and the following mover contact point includes a first following position parameter and a second following position parameter. Generating the vertex coincidence equation based on the coincidence condition of the preceding and following mover contact points includes:

[0023] Based on the equivalence condition of the first preceding position parameter and the first following position parameter, a first coincident function is generated;

[0024] Based on the equivalence condition of the second preceding position parameter and the second following position parameter, a second coincident function is generated;

[0025] Based on the first coincidence function and the second coincidence function, the initial vertex coincidence equation is obtained;

[0026] The initial vertex coincidence equation is transformed into a linear equation to obtain the vertex coincidence equation.

[0027] In some embodiments, solving the vertex coincidence equation to obtain the coincidence radian angle between two adjacent moving parts includes:

[0028] Based on the vertex coincidence equation, the coefficient matrix determinant, the first substitution determinant, and the second substitution determinant are obtained.

[0029] Based on the ratio of the first substitution determinant to the determinant of the coefficient matrix, the cosine radian angle is obtained;

[0030] Based on the ratio of the second substitution determinant to the determinant of the coefficient matrix, the sinusoidal radian angle is obtained;

[0031] The coincident radian angle is obtained by calculation based on the sine radian angle and the cosine radian angle.

[0032] In some embodiments, the arc-shaped track is connected to a straight track, and when two adjacent moving parts move from the straight track to the arc-shaped track, the method further includes:

[0033] Obtain the safe linear running distance between two adjacent moving parts on the linear track;

[0034] The braking distance is calculated based on the maximum acceleration and real-time velocity of the subsequently described mover.

[0035] The adjustment distance is obtained by adding the difference between the arc-shaped safe operating distance and the straight-line safe operating distance to the braking distance;

[0036] The subsequent mover is stopped until the distance between two adjacent movers increases by the adjustment distance, and then the subsequent mover is controlled to continue running.

[0037] In some embodiments, when two adjacent moving parts depart from the arc-shaped track and enter the straight track, the method further includes:

[0038] The rearward moving part is accelerated until the distance between two adjacent moving parts reduces the adjustment distance;

[0039] The rear rotor is controlled to continue to decelerate until it matches the speed of the front rotor, and the distance between two adjacent rotors is maintained as the straight-line safe operating distance.

[0040] To achieve the above objectives, a second aspect of this application provides a mover control device for a magnetic drive conveyor system, the magnetic drive conveyor system including an arc-shaped track and a mover, the device comprising:

[0041] The information acquisition module acquires the size information of the mover and the arc track information of the arc track;

[0042] The contact point calculation module is used to determine the contact points of two adjacent moving parts on the arc track on the track coordinate axis based on the moving part size information and the arc track information.

[0043] The arc-shaped safety distance calculation module is used to calculate the coincidence radian angle when two adjacent moving parts are in contact based on the contact point, and to obtain the arc-shaped safety running distance based on the product of the coincidence radian angle and the track radius of the arc-shaped track.

[0044] A safety control module is used to control the operation of multiple moving parts based on the arc-shaped safe operating distance when at least two moving parts are running on the arc-shaped track, so that the operating distance between two adjacent moving parts is not less than the arc-shaped safe operating distance.

[0045] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the mover control method of the magnetic drive conveyor system as described in the first aspect.

[0046] To achieve the above objectives, a fourth aspect of the present application provides a storage medium, which is a computer-readable storage medium storing a computer program that, when executed by a processor, implements the mover control method of the magnetic drive conveyor system described in the first aspect.

[0047] The present application proposes a method and related equipment for controlling the mover in a magnetic drive conveyor system. The magnetic drive conveyor system includes an arc-shaped track and movers. The method includes: first, acquiring the mover size information and the arc-shaped track information; then, based on the mover size information and the arc-shaped track information, determining the contact point of two adjacent movers on the arc-shaped track on the track coordinate axis; next, based on the contact point, calculating the coincidence radian angle when the two adjacent movers are in contact, and obtaining the arc-shaped safe operating distance based on the product of the coincidence radian angle and the track radius of the arc-shaped track; finally, when at least two movers are running on the arc-shaped track, controlling the operation of multiple movers based on the arc-shaped safe operating distance, so that the operating distance between two adjacent movers is not less than the arc-shaped safe operating distance. This application embodiment addresses a magnetic drive conveyor system with an arc-shaped track. By acquiring the size information of the mover and the arc-shaped track, and based on this information, it accurately calculates the arc-shaped safe operating distance between multiple movers when they run on the arc-shaped track, ensuring that the movers will not collide. This avoids the collision risk caused by insufficient reserved distance on one side when the original operating planning parameters are still used for control after entering the arc-shaped track. This improves the safety and stability of the mover operation in the magnetic drive conveyor system, and can maximize the mover operating efficiency while ensuring safety, thereby improving the working efficiency of the magnetic drive conveyor system.

[0048] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of a magnetic drive conveying system provided in one embodiment of this application.

[0050] Figure 2 This is a flowchart of a mover control method for a magnetic drive conveyor system provided in another embodiment of this application.

[0051] Figure 3 This is a schematic diagram of arc track information and mover size information provided in another embodiment of this application.

[0052] Figure 4 yes Figure 2 The flowchart for step 202.

[0053] Figure 5 This is a schematic diagram of coordinate axes on an arc-shaped track provided in another embodiment of this application.

[0054] Figure 6 yes Figure 4 The flowchart for step 403.

[0055] Figure 7 yes Figure 2 The flowchart for step 203.

[0056] Figure 8 yes Figure 7 The flowchart for step 701.

[0057] Figure 9 yes Figure 7 The flowchart for step 702.

[0058] Figure 10 This is a schematic diagram of a moving part moving from a straight track to an arc track, according to another embodiment of this application.

[0059] Figure 11 This is a control flowchart of a mover moving from a straight track to an arc track, provided in another embodiment of this application.

[0060] Figure 12 This is a schematic diagram of a moving part moving from an arc track to a straight track, according to another embodiment of this application.

[0061] Figure 13 This is a control flowchart of a moving part moving from an arc track to a straight track, provided in another embodiment of this application.

[0062] Figure 14 This is a schematic diagram of the structure of the mover control device of a magnetic drive conveyor system provided in an embodiment of this application.

[0063] Figure 15 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0065] It should be noted that although functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0067] Maglev transport technology has wide applications in industrial automation, such as assembling and packaging goods on logistics lines, and SMT (Surface Mount Technology) of precision electronic components. These applications typically require the movers to run sequentially on a maglev transport track, performing processing operations on the workpieces on the movers during operation. To further improve the efficiency of the processing flow, appropriate operating parameters need to be pre-defined for each mover.

[0068] In existing technologies, before transporting multiple movers on a maglev transport track, suitable operating parameters are typically planned in advance for each mover based on the processing requirements of the workpiece carried by each mover and the mover's own operating parameters. These operating parameters are then used to control multiple movers to run together on the maglev transport track to automatically execute the workpiece processing flow. However, in maglev transport tracks with curved sections, due to the special shape of the curved track, unlike conventional straight tracks, the distance between movers running continuously on the curved track varies on different sides. When multiple movers enter the curved track from the straight track, if the original operating parameters are still used for mover operation control, safety issues may arise, such as collisions between adjacent movers due to insufficient clearance on one side.

[0069] To improve the safety of the movers in a magnetic drive conveyor system on an arc-shaped track, this application embodiment targets a magnetic drive conveyor system with an arc-shaped track. By acquiring the mover size information and the arc-shaped track information, and based on this information, it accurately calculates the arc-shaped safe running distance that ensures the safe operation of multiple movers on the arc-shaped track without collisions. This avoids the collision risk caused by insufficient reserved distance on one side when the original running planning parameters are still used for control after entering the arc-shaped track. This improves the safety and stability of the mover operation in the magnetic drive conveyor system, and can maximize the mover operating efficiency while ensuring safety, thereby improving the working efficiency of the magnetic drive conveyor system.

[0070] To better illustrate the mover control method of the magnetic drive conveyor system provided in this application embodiment, this embodiment first describes a magnetic drive conveyor system applying the mover control method. (Refer to...) Figure 1 The diagram shown is a structural schematic of a magnetic drive conveying system provided in an embodiment of this application. Figure 1 As shown, the magnetic drive conveying system includes a magnetic levitation conveying track and multiple movers running sequentially on the track, wherein the magnetic levitation conveying track includes both straight and curved tracks. During operation, processing equipment performs processing operations on the workpieces carried by these movers.

[0071] Based on the above-described magnetic drive conveyor system, the mover control method of the magnetic drive conveyor system in the embodiments of this application will be described in detail below. (Refer to...) Figure 2 This is an optional flowchart of the mover control method for the magnetic drive conveyor system provided in the embodiments of this application. Figure 2 The method may include, but is not limited to, steps 201 to 204. It is also understood that this embodiment... Figure 2 The order of steps 201 to 204 is not specifically limited; the order of steps can be adjusted or certain steps can be added or removed according to actual needs. The mover control method of the magnetic drive conveyor system provided in this application embodiment can be applied to intelligent terminals, servers, computers, etc., connected to the magnetic levitation conveyor track.

[0072] Step 201: Obtain the mover size information and the arc track information.

[0073] Step 201 will be described in detail below.

[0074] In some embodiments, the control system of the magnetic drive conveyor system (e.g., a smart terminal, server, computer, i.e., the executing entity) first accesses its internal storage or a connected database. See also... Figure 3 This is a schematic diagram illustrating arc-shaped track information and mover size information provided in an embodiment of this application. For example... Figure 3 As shown, for mover size information, the control system reads pre-configured or set parameters, specifically the mover's length L (e.g., 200 mm) and width W (e.g., 100 mm). These values ​​typically correspond to a specific model of mover used on the magnetic drive conveyor system. For curved track information, the control system queries the corresponding track geometry parameters based on the track segment identifier (e.g., Segment ID 'ARC-01') that the current mover is about to enter or is currently running on. Crucially, it obtains the track radius R (e.g., 500 mm) of the curved track. The track radius refers to the straight-line distance from the center of the curved track to the center of the mover's movement within the curved track; that is, the straight-line distance from the track center to the mover center.

[0075] In addition, such as Figure 3 As shown in the figure, the center point of the arc track is taken as the center 0, and the angle between the line segments corresponding to the radii R of the two tracks is taken as θ.

[0076] This information is then passed to subsequent calculation modules as the basic input data for determining the contact point and calculating the safe operating distance in the arc.

[0077] Step 202: Based on the mover size information and the arc track information, determine the contact point of two adjacent movers on the arc track on the track coordinate axis.

[0078] Step 202 will be described in detail below.

[0079] In some embodiments, after determining the mover size information and the arc track information, the contact point of two adjacent movers on the arc track is further determined on the track coordinate axis constructed based on the arc track information. This facilitates the subsequent use of the contact point to provide basic data for subsequent calculation of the coincidence radian angle and assessment of the safe operating distance, ensuring that the risk of collision can be effectively avoided during the operation of the mover, thereby improving the safety and reliability of the entire magnetic drive conveyor system.

[0080] The following section will further describe how to construct the orbital coordinate axis and how to determine the contact point of two adjacent movers on the arc-shaped orbital axis.

[0081] Reference Figure 4 Based on the mover size information and the arc track information, the contact point of two adjacent movers on the arc track is determined on the track coordinate axis, including the following steps 401 to 403.

[0082] Step 401: Based on the information of the arc track, construct the track coordinate axis with the center of the arc track as the center of the coordinate axis.

[0083] Step 402: Based on the arc track information, determine the coordinates of two adjacent movers on the track coordinate axes.

[0084] Step 403: Determine the contact point based on the mover coordinates and the orbital coordinate axes.

[0085] Steps 401 to 403 are described in detail below.

[0086] Reference Figure 5 This is a schematic diagram of coordinate axes on an arc-shaped track provided in an embodiment of this application. Figure 5 As shown, after obtaining the information of the arc track (including the track radius R), the center of the arc track is used as the center of the coordinate axis, and the middle direction of the track is used as the x-axis to construct the track coordinate axis.

[0087] Next, based on the orbital radius R and included angle θ from the arc-shaped orbital information, the coordinates of two adjacent movers on the orbital coordinate axes are determined, i.e., as follows: Figure 5 The two adjacent movers shown in the figure have their mover centers located on the x-axis of the orbital coordinate system. Based on the angle θ between the mover centers of the two adjacent movers on the orbital coordinate system, the coordinates of the mover center of the latter mover A are determined to be A(R, 0), and the coordinates of the mover center of the former mover B are determined to be R(Rcosθ, Rsinθ).

[0088] Next, based on the motion coordinates of two adjacent motions and the orbital coordinate axis, the contact point between the two adjacent motions is further determined. The motion that comes first in the two adjacent motions is taken as the preceding motion, and the motion that comes last in the two adjacent motions is taken as the following motion. Then, the contact point between the preceding motion and the following motion (i.e., as shown in the figure) is determined. Figure 5 The lower left point of the preceding mover in the sequence is considered as the contact point of the preceding mover, and the contact point between the following mover and the preceding mover (i.e., as shown in the figure) is considered as the contact point of the following mover. Figure 5 The upper left point of the subsequent mover in the orbital coordinate system is considered as the contact point of the subsequent mover. The following will further describe how to determine the coordinates of these two contact points in the orbital coordinate system.

[0089] Reference Figure 6 The contact point is determined based on the moving part coordinates and the orbital coordinate axes, including the following steps 601 to 604.

[0090] Step 601: Construct the coordinate axis of the preceding mover based on the mover size information and the mover center of the preceding mover. The preceding mover is the mover that comes first among two adjacent movers.

[0091] Step 602: Construct the coordinate axis of the subsequent mover based on the mover size information and the mover center of the subsequent mover. The subsequent mover is the mover that comes last among two adjacent movers.

[0092] Step 603: Based on the orbital coordinate axis and the preceding mover coordinate axis, determine the first position information of the rear vertex of the arc side of the preceding mover on the orbital coordinate axis, and use the first position information as the contact point of the preceding mover.

[0093] Step 604: Based on the orbital coordinate axis and the preceding mover coordinate axis, determine the second position information of the front vertex of the arc side of the subsequent mover on the orbital coordinate axis, and use the second position information as the contact point of the subsequent mover.

[0094] Steps 601 to 604 are described in detail below.

[0095] In some embodiments, such as Figure 5 As shown, the center of the preceding mover (i.e., mover B) has been determined as (Rcosθ, Rsinθ) in the orbital coordinate axes O-XY. Now, based on the known mover dimensions (length L, width W), a local coordinate system, namely the "preceding mover coordinate axis," is constructed with the center point of the preceding mover B as the origin. This coordinate system is typically aligned with the physical direction of mover B: for example, the y-axis can be along the length direction of mover B (i.e., the tangent direction of the arc track), and the x-axis can be along the width direction of mover B (i.e., the normal direction of the track), with the arc side being the side closest to the center of the track. In this local coordinate system B, the coordinates of the four corner points of mover B can be conveniently represented using L / 2 and W / 2, thus determining the rear vertex of the arc side of the preceding mover (i.e., as shown in the image). Figure 5 The position information of the lower left point of the preceding mover shown in the figure is (-W / 2, -L / 2) on the coordinate axis of the preceding mover.

[0096] Next, coordinate system transformation is performed based on the relationship between the orbital coordinate axes and the preceding mover coordinate axes, as shown in the following formula (1).

[0097]

[0098] That is, in the orbital coordinate axis, the first position information corresponding to the contact point of the preceding mover is as shown in the following formula (2).

[0099]

[0100] Similarly, such as Figure 5 As shown, the center of the subsequent mover (i.e., mover A) has been determined as (R, 0) in the orbital coordinate axis O-XY. Now, based on the known mover size information (length L, width W), a local coordinate system, namely the "subsequent mover coordinate axis," is constructed with the center point of the subsequent mover A as the origin. This coordinate system is usually aligned with the physical direction of mover A: for example, the y-axis can be along the length direction of mover A (i.e., the tangent direction of the arc track), and the x-axis can be along the width direction of mover A (i.e., the normal direction of the track). In this local coordinate system A, the coordinates of the four corner points of mover A can be conveniently represented using L / 2 and W / 2, thus determining the front vertex of the arc side of the subsequent mover (i.e., as shown in the diagram). Figure 5 The position information of the upper left point of the following mover in the figure is (-W / 2, L / 2) on the coordinate axis of the following mover.

[0101] Next, based on the relationship between the orbital coordinate axis and the subsequent mover coordinate axis, a coordinate system transformation is performed, and the second position information of the contact point of the subsequent mover in the orbital coordinate axis can be determined as shown in the following formula (3).

[0102]

[0103] Through steps 401 to 403 and steps 601 to 604 above, a unified global orbital coordinate system is established and the center of the mover is located. Then, by considering the local mover coordinate system based on the actual dimensions (L, W) of the mover, and rigorously identifying the specific vertices most likely to collide (the rear arc-side vertex of the preceding mover and the front arc-side vertex of the subsequent mover), the positions of these key vertices are precisely mapped to the global orbital coordinate system through coordinate transformation. This series of operations overcomes the fundamental defect of existing technologies that use point models or empirical values ​​while ignoring the specific geometric constraints of the actual shape and size of the mover in the arc-shaped track. This makes it no longer a fuzzy estimate, but a clear and quantitative identification and location of the key geometric points that may come into physical contact. This contact point determination method based on a real geometric model ensures that the safety distance calculated subsequently is for the most dangerous situation and has physical meaning and geometric accuracy, thereby greatly improving the reliability and safety of the mover collision avoidance control strategy on the arc-shaped track.

[0104] Step 203: Based on the contact point, calculate the coincidence radian angle when two adjacent moving parts are in contact, and obtain the arc safe operating distance based on the product of the coincidence radian angle and the track radius of the arc track.

[0105] Step 203 will be described in detail below.

[0106] In some embodiments, after determining the contact points of the preceding and subsequent movers, the coincidence angle θ between the centers of the movers on the track coordinate axis is further determined when these two points coincide on the track coordinate axis, i.e., when two adjacent movers come into contact. This allows for the subsequent calculation of the minimum distance between two adjacent movers on the arc track without collision, i.e., the arc track safe operating distance, using the product of this coincidence angle θ and the track radius R of the arc track. The calculation of this coincidence angle θ will be further described below.

[0107] Reference Figure 7 Based on the contact point, the coincidence radian angle when two adjacent moving parts are in contact is calculated, including the following steps 701 to 702.

[0108] Step 701: Generate the vertex coincidence equation based on the coincidence condition of the contact points of the preceding and following movers.

[0109] Step 701 will be described in detail below.

[0110] In some embodiments, based on the coincidence condition of the contact points of the preceding and subsequent movers on the orbital coordinate axes (i.e., the contact points of the preceding and subsequent movers are equivalent), the corresponding vertex coincidence equations are further generated, as described below.

[0111] Reference Figure 8 Based on the coincidence condition of the contact point of the preceding mover and the contact point of the following mover, the vertex coincidence equation is generated, including the following steps 801 to 804.

[0112] Step 801: Generate the first coincident function based on the equivalence condition of the first preceding position parameter and the first following position parameter.

[0113] Step 802: Generate the second coincident function based on the equivalence condition of the second preceding position parameter and the second following position parameter.

[0114] Step 803: Based on the first coincident function and the second coincident function, obtain the initial vertex coincident equation.

[0115] Step 804: Perform a linear equation transformation on the initial vertex coincidence equation to obtain the vertex coincidence equation.

[0116] Steps 801 to 804 are described in detail below.

[0117] In some embodiments, in the orbital coordinate axis, a first coincidence function is generated based on the equivalence condition of the first preceding position parameter of the preceding mover contact point and the first following position parameter of the following mover contact point, as shown in the following formula (4).

[0118]

[0119] Furthermore, based on the equivalence condition of the second preceding position parameter of the preceding mover contact point and the second following position parameter of the following mover contact point, a second coincident function is generated, as shown in the following formula (5).

[0120]

[0121] Next, by combining the first coincident function and the second coincident function, the initial vertex coincident equation is obtained as shown in the following formula (6).

[0122]

[0123] Then, the initial vertex coincidence equation is transformed into a linear equation to obtain the vertex coincidence equation, as shown in the following formula (7).

[0124]

[0125] Through steps 801 to 804 above, a coincidence function is constructed using the equivalent condition of the position parameters of the contact point. This function can accurately describe the geometric constraint relationship when adjacent movers come into contact. Furthermore, the nonlinear equations are linearized, simplifying the solution process and reducing computational complexity. This allows for the rapid and efficient calculation of the coincidence radian angle, avoiding the difficulty of directly solving complex nonlinear equations. This improves the stability and reliability of the calculation, providing a precise theoretical basis for subsequent safety distance calculations and mover operation control. Ultimately, this enhances the safety and efficiency of the magnetic drive conveyor system.

[0126] Step 702: Solve the equation for vertex coincidence to obtain the coincidence angle in radians between two adjacent moving parts.

[0127] Step 702 will be described in detail below.

[0128] In some embodiments, after obtaining the vertex coincidence equation (7), the equation can be solved using relevant linear algebraic methods to obtain the minimum distance between two adjacent movers on the arc track without collision, i.e., the safe running distance of the arc. It is understood that available linear algebraic methods include Gaussian elimination, Cramer's rule, etc. The following will further describe how to solve the vertex coincidence equation (7) using Cramer's rule.

[0129] Reference Figure 9 Solving the equation for vertex coincidence yields the coincidence radian angle between two adjacent moving parts, including the following steps 901 to 904.

[0130] Step 901: Based on the vertex coincidence equation, transform to obtain the coefficient matrix determinant, the first substitution determinant, and the second substitution determinant.

[0131] Step 902: Based on the ratio of the first substitution determinant to the coefficient matrix determinant, obtain the cosine radian angle.

[0132] Step 903: Based on the ratio of the second substitution determinant to the coefficient matrix determinant, obtain the sinusoidal radian angle.

[0133] Step 904: Calculate the coincident radian angle based on the sine and cosine radian angles.

[0134] Steps 901 to 904 are described in detail below.

[0135] In some embodiments, the vertex coincidence equation (7) is solved using Cramer's rule. First, based on the vertex coincidence equation (7), the coefficient matrix determinant, the first substitution determinant and the second substitution determinant are transformed as shown in the following formulas (8), (9) and (10), respectively.

[0136]

[0137]

[0138]

[0139] Next, based on the ratio of the first substitution determinant (9) and the coefficient matrix determinant (8), the cosine radian angle cosθ is obtained as shown in the following formula (11).

[0140]

[0141] Furthermore, based on the ratio of the second substitution determinant (10) and the coefficient matrix determinant (8), the cosine radian angle sinθ is obtained as shown in the following formula (12).

[0142]

[0143] Then, based on the ratio of sine radian angle (12) and cosine radian angle (11), the tangent radian angle tanθ is obtained as shown in the following formula (13).

[0144]

[0145] Finally, based on the arctangent of the tangent radian angle tanθ, the coincident radian angle is obtained as shown in the following formula (14).

[0146]

[0147] Through steps 901 to 904 above, Cramer's rule, as a mature method for solving linear equations, can ensure the stability and reliability of the solution process. By transforming the vertex coincidence equation into determinant calculation, it avoids complex iterative processes, reduces computational complexity, improves computational efficiency, and meets the needs of real-time control. Furthermore, by calculating the sine and cosine radian angles separately, it can more accurately determine the quadrant of the radian angle, avoiding errors introduced by the multivalued nature of the arctangent function. This ensures that the calculated coincidence radian angle has high accuracy, providing a reliable basis for subsequent safety distance calculation and mover operation control, and ultimately improving the safety and control accuracy of the magnetic drive conveyor system.

[0148] After obtaining the coincidence angle θ, the safe operating distance S of the arc track is obtained by further multiplying the coincidence angle θ and the track radius R of the arc track. safe As shown in the following formula (15).

[0149]

[0150] Step 204: When at least two movers are running on the arc track, the operation of multiple movers is controlled based on the arc safe operating distance so that the operating distance between two adjacent movers is not less than the arc safe operating distance.

[0151] Step 204 will be described in detail below.

[0152] In some embodiments, when at least two movers are operating on an arc-shaped track, the control system monitors the position of each mover in real time and calculates the actual distance between adjacent movers. If the actual distance is less than the pre-calculated safe arc-shaped operating distance, the control system takes appropriate measures, such as reducing the speed of the rear mover or increasing the speed of the front mover, to ensure that the distance between adjacent movers is always greater than or equal to the safe arc-shaped operating distance. For example, as... Figure 5 As shown, mover A and mover B are adjacent, with mover A positioned behind mover B. If the distance between mover A and mover B is detected to be less than the arc-shaped safe operating distance, the control system will send a deceleration command to mover A, causing it to slow down until the distance between mover A and mover B reaches or exceeds the arc-shaped safe operating distance. Simultaneously, the control system will adjust the speed of mover B according to the actual situation to ensure the efficiency of the entire conveying system.

[0153] Reference Figure 10 This is a schematic diagram illustrating the movement of a moving part from a straight track to an arc track, provided in an embodiment of this application. Figure 10 As shown, when two adjacent moving parts move from a straight track to a curved track, additional safety controls are required to avoid the risk of collision due to changes in track geometry. This is described in detail below.

[0154] Reference Figure 11 When two adjacent movers move from a straight track to an arc track, the mover control method of the magnetic drive conveyor system further includes the following steps 1101 to 1104.

[0155] Step 1101: Obtain the safe running distance of two adjacent moving parts on a straight track.

[0156] Step 1102: Calculate the braking distance based on the maximum acceleration and real-time velocity of the rearward moving part.

[0157] Step 1103: Based on the difference between the arc-shaped safe operating distance and the straight-line safe operating distance, plus the braking distance, the adjustment distance is obtained.

[0158] Step 1104: Control the following mover to stop until the distance between two adjacent movers increases by the adjustment distance, then control the following mover to continue running.

[0159] Steps 1101 to 1104 are described in detail below.

[0160] In some embodiments, such as Figure 10 As shown, two adjacent movers (following mover A and preceding mover B) are running along the straight track below the main track and are about to enter the curved track on the right. The control system first obtains the required straight-line safe operating distance for the current straight track from its configuration parameters or operating rule base. It can be understood that the straight-line safe operating distance is usually set based on the mover length, the response at maximum speed (i.e., braking distance), and a certain safety margin.

[0161] As the moving part B approaches or is about to enter the curved track entrance, the control system reads the current real-time speed V of the moving part A. A and the maximum braking deceleration A defined in its performance parameters. max Based on the relevant operational physics formulas (such as S=v^2 / (2a)), the system calculates the motion of the mover A from its current velocity V. A The minimum distance required for a complete stop, i.e., the braking distance. This distance is to ensure that, during subsequent adjustments, the moving part A has enough space to safely decelerate to a stop.

[0162] Next, the control system calculates the difference between the safe operating distance on the curved track and the safe operating distance on the straight track, and adds the braking distance, which represents the basic distance that needs to be increased due to the change in track geometry. Then, the control system adds this basic difference to the braking distance to obtain the adjustment distance, thereby stopping the following mover until the distance between two adjacent movers increases by the adjustment distance, and then controls the following mover to continue running, so as to ensure the safe transition of the two adjacent movers to the curved track.

[0163] By obtaining the straight-line safe operating distance and calculating the braking distance of the subsequent mover through steps 1101 to 1104 above, and combining the arc-shaped safe operating distance to calculate the adjustment distance, this method can accurately control the stopping position and timing of the subsequent mover before entering the arc-shaped track. This avoids the problem of sudden braking or collision caused by insufficient reserved space before entering the arc-shaped track, ensuring that the mover smoothly and safely transitions from the straight track to the arc-shaped track. At the same time, it avoids unnecessary stopping and waiting time, and improves the operating efficiency of the system.

[0164] Reference Figure 12 This is a schematic diagram illustrating the movement of a moving part from an arc-shaped track to a straight track, provided in an embodiment of this application. Figure 12 As shown, when two adjacent moving parts move from an arc track to a straight track, additional safety controls are required to improve the operating efficiency of the magnetic drive conveyor system and avoid a decrease in operating efficiency due to changes in track geometry. This is described in detail below.

[0165] Reference Figure 13 When two adjacent movers leave the curved track and enter the straight track, the mover control method of the magnetic drive conveyor system further includes the following steps 1301 to 1302.

[0166] Step 1301: Control the rear mover to accelerate until the distance between two adjacent movers decreases to adjust the distance.

[0167] Step 1302: Control the rear mover to continue to decelerate until it matches the speed of the front mover, and maintain the distance between two adjacent movers as a straight safe operating distance.

[0168] Steps 1301 to 1302 are described in detail below.

[0169] In some embodiments, when the adjacent preceding mover B first departs from the curved track and enters the straight track, and the following mover A is about to or has just departed from the curved track, the control system initiates transition control. In the original curved track operation state, movers A and B maintain a large safe operating distance on the curved track. However, upon entering the straight track, the required safe distance decreases to the straight safe operating distance. At this point, the control system issues an acceleration command to the following mover A, temporarily exceeding the speed of the preceding mover B, and continuously monitors the distance between them until it decreases to the adjustment distance. Then, the command to mover A is adjusted to cause it to decelerate, with the goal of smoothly reducing its speed to match the current speed of the preceding mover B. After the speeds of the two adjacent movers are synchronized, the control system continues to actively maintain the distance between movers A and B at a preset straight safe operating distance, according to the control logic of the straight track, thereby completing a smooth, efficient, and safe transition from the curved track to the straight track.

[0170] Through steps 1301 to 1302 above, by controlling the subsequent mover to accelerate and then decelerate, and precisely controlling the change in the distance between the two vehicles, this method achieves a smooth transition of the mover from the curved track to the straight track. The acceleration process shortens the distance between the movers, making up for the large distance maintained for safety on the curved track and improving space utilization. The deceleration process matches the speed of the subsequent mover with that of the preceding mover and ultimately maintains a safe straight running distance, ensuring the safety and stable operation of the mover after entering the straight track, and achieving efficient and safe track switching.

[0171] The present application proposes a mover control method and related equipment for a magnetic drive conveyor system. The magnetic drive conveyor system includes an arc-shaped track and a mover. The method includes: first, acquiring the mover size information and the arc-shaped track information; then, based on the arc-shaped track information, constructing a track coordinate axis with the track center as the coordinate axis center; determining the mover coordinates of two adjacent movers on the track coordinate axis based on the arc-shaped track information; constructing a preceding mover coordinate axis based on the mover size information and the mover center of the preceding mover (the preceding mover is the mover that comes first among two adjacent movers); constructing a subsequent mover coordinate axis based on the mover size information and the mover center of the subsequent mover (the subsequent mover is the mover that comes last among two adjacent movers); and constructing a subsequent mover coordinate axis based on the mover size information and the mover center of the subsequent mover (the subsequent mover is the mover that comes last among two adjacent movers). The first position information of the rear vertex of the arc side of the preceding mover on the orbital coordinate axis is determined based on the mover coordinate axis, and this first position information is used as the contact point of the preceding mover. The arc side is the side closest to the center of the orbit. Based on the orbital coordinate axis and the preceding mover coordinate axis, the second position information of the front vertex of the arc side of the following mover on the orbital coordinate axis is determined, and this second position information is used as the contact point of the following mover. Next, based on the equivalence condition of the first preceding position parameter and the first following position parameter, a first coincidence function is generated. Based on the equivalence condition of the second preceding position parameter and the second following position parameter, a second coincidence function is generated. Based on the first coincidence function and the second coincidence function, the initial vertex coincidence equation is obtained. The initial vertex coincidence equation is transformed into a linear equation to obtain the vertex coincidence equation. The equations are combined, and based on the vertex coincidence equation, the coefficient matrix determinant, the first substitution determinant, and the second substitution determinant are obtained. The cosine radian angle is obtained based on the ratio of the first substitution determinant to the coefficient matrix determinant, and the sine radian angle is obtained based on the ratio of the second substitution determinant to the coefficient matrix determinant. The coincidence radian angle is calculated based on the sine and cosine radian angles, and the arc-shaped safe operating distance is obtained based on the product of the coincidence radian angle and the radius of the arc-shaped track. Finally, when at least two movers are running on the arc-shaped track, the operation of multiple movers is controlled based on the arc-shaped safe operating distance to ensure that the operating distance between two adjacent movers is not less than the arc-shaped safe operating distance. Afterwards, when two adjacent movers move from the straight track to... When running on the curved track, the safe running distance between two adjacent moving parts on the straight track is obtained. The braking distance is calculated based on the maximum acceleration and real-time speed of the following moving part. The adjustment distance is obtained by adding the braking distance to the difference between the curved safe running distance and the straight safe running distance. The following moving part is then stopped until the distance between the two adjacent moving parts increases by the adjustment distance, and then the following moving part continues to run. When two adjacent moving parts leave the curved track and enter the straight track, the following moving part is accelerated until the distance between the two adjacent moving parts decreases by the adjustment distance. The following moving part continues to decelerate until it matches the speed of the moving part in front, and the distance between the two adjacent moving parts is maintained at the safe running distance.

[0172] This application addresses a magnetic drive conveyor system with an arc-shaped track. By acquiring the size information of the mover and the arc-shaped track, and based on this information, it accurately calculates the safe arc-shaped running distance between multiple movers while they are running on the arc-shaped track, ensuring that the movers will not collide. This avoids the collision risk caused by insufficient clearance on one side when the original running planning parameters are still used for control after entering the arc-shaped track. This improves the safety and stability of the mover operation in the magnetic drive conveyor system, and maximizes the mover operating efficiency while ensuring safety, thereby improving the working efficiency of the magnetic drive conveyor system. Furthermore, by establishing a unified global track coordinate axis and positioning the movers... At the center, and by considering the local mover coordinate axes based on the actual dimensions (L, W) of the mover, and rigorously identifying the specific vertices most likely to collide (the rear arc-side vertex of the preceding mover and the front arc-side vertex of the subsequent mover), the positions of these key vertices are precisely mapped to the global orbit coordinate system through coordinate transformation. This series of operations overcomes the fundamental flaw of existing technologies that use point models or empirical values ​​while ignoring the specific geometric constraints of the actual shape and size of the mover in the arc-shaped orbit. It makes it no longer a fuzzy estimate, but a clear and quantitative identification and location of the key geometric points where physical contact may occur. This contact point determination method based on a real geometric model ensures the accuracy of subsequent calculations. The safety distance, designed for the most dangerous scenarios, possesses both physical significance and geometric accuracy, thus significantly improving the reliability and safety of the anti-collision control strategy for movers on curved tracks. Furthermore, by constructing a coincidence function using the equivalent conditions of the contact point's position parameters, the geometric constraint relationship when adjacent movers come into contact can be accurately described. Linearizing the nonlinear equations simplifies the solution process, reduces computational complexity, and enables rapid and efficient calculation of the coincidence radian angle, avoiding the difficulties of directly solving complex nonlinear equations. This improves the stability and reliability of the calculations, providing a precise theoretical basis for subsequent safety distance calculations and mover operation control, ultimately enhancing the performance of the magnetic drive conveyor system. The system's safety and efficiency are enhanced; and Cramer's rule, as a mature method for solving linear equations, ensures the stability and reliability of the solution process. By transforming the vertex coincidence equation into determinant calculation, it avoids complex iterative processes, reduces computational complexity, and improves computational efficiency, meeting the needs of real-time control. Furthermore, by calculating the sine and cosine radian angles separately, it can more accurately determine the quadrant of the radian angle, avoiding errors introduced by the multivalued nature of the arctangent function. This ensures that the calculated coincidence radian angle has high accuracy, providing a reliable basis for subsequent safety distance calculations and mover operation control, ultimately improving the safety and control accuracy of the magnetic drive conveyor system.Furthermore, by acquiring the straight-line safe operating distance and calculating the braking distance of the subsequent mover, and combining this with the arc-shaped safe operating distance to calculate the adjustment distance, this method can precisely control the stopping position and timing of the subsequent mover before entering the arc-shaped track. This avoids sudden braking or collisions caused by insufficient space before entering the arc-shaped track, ensuring a smooth and safe transition of the mover from the straight track to the arc-shaped track, while avoiding unnecessary stopping time and improving system operating efficiency. Additionally, by controlling the subsequent mover to accelerate first and then decelerate, and precisely controlling the change in the distance between the two vehicles, this method achieves a smooth transition of the mover from the arc-shaped track to the straight track. The acceleration process shortens the distance between the movers, compensating for the larger distance maintained for safety on the arc-shaped track, and improving space utilization. The deceleration process matches the speed of the subsequent mover with that of the preceding mover, ultimately maintaining the straight-line safe operating distance, ensuring the safety and stable operation of the mover after entering the straight track, and achieving efficient and safe track switching.

[0173] This application also provides a mover control device for a magnetic drive conveyor system, which can implement the mover control method of the above-mentioned magnetic drive conveyor system, see reference. Figure 14 The device 1400 includes:

[0174] The information acquisition module 1410 acquires the mover size information and the arc track information of the arc track;

[0175] The contact point calculation module 1420 is used to determine the contact point of two adjacent movers on the arc track on the track coordinate axis based on the mover size information and the arc track information.

[0176] The arc-shaped safety distance calculation module 1430 is used to calculate the coincidence radian angle when two adjacent moving parts are in contact based on the contact point, and to obtain the arc-shaped safety operating distance based on the product of the coincidence radian angle and the radius of the arc-shaped track.

[0177] The safety control module 1440 is used to control the operation of multiple movers based on the arc-shaped safe operating distance when at least two movers are running on the arc-shaped track, so that the operating distance between two adjacent movers is not less than the arc-shaped safe operating distance.

[0178] In some embodiments, the contact point calculation module 1420 is further configured to:

[0179] Based on the information of the arc-shaped track, the track coordinate axis is constructed with the center of the arc-shaped track as the center of the coordinate axis;

[0180] Based on the information of the arc track, determine the coordinates of two adjacent movers on the track coordinate axis;

[0181] The contact point is determined based on the coordinates of the moving part and the orbital coordinate axes.

[0182] In some embodiments, the contact point calculation module 1420 is further configured to:

[0183] The coordinate axis of the preceding mover is constructed based on the mover size information and the mover center of the preceding mover. The preceding mover is the mover that comes first among two adjacent movers.

[0184] The coordinate axis of the subsequent mover is constructed based on the mover size information and the mover center of the subsequent mover. The subsequent mover is the mover that comes later in two adjacent movers.

[0185] Based on the orbital coordinate axis and the preceding mover coordinate axis, the first position information of the rear vertex of the arc side of the preceding mover on the orbital coordinate axis is determined, and the first position information is used as the contact point of the preceding mover. The arc side is the side closer to the center of the orbit.

[0186] Based on the orbital coordinate axis and the coordinate axis of the preceding mover, the second position information of the front vertex of the arc side of the subsequent mover on the orbital coordinate axis is determined, and the second position information is used as the contact point of the subsequent mover.

[0187] In some embodiments, the arc-shaped safety distance calculation module 1430 is further used for:

[0188] Based on the coincidence condition of the contact points of the preceding and following movers, the vertex coincidence equation is generated.

[0189] Solving the equation for vertex coincidence yields the coincidence angle in radians between two adjacent moving parts.

[0190] In some embodiments, the arc-shaped safety distance calculation module 1430 is further used for:

[0191] Based on the equivalence condition of the first preorder position parameter and the first postorder position parameter, a first coincident function is generated;

[0192] Based on the equivalence condition of the second preorder position parameter and the second postorder position parameter, a second coincident function is generated;

[0193] Based on the first and second coincidence functions, the initial vertex coincidence equation is obtained;

[0194] The initial vertex coincidence equation is transformed into a linear equation to obtain the vertex coincidence equation.

[0195] In some embodiments, the arc-shaped safety distance calculation module 1430 is further used for:

[0196] Based on the vertex coincidence equation, the coefficient matrix determinant, the first substitution determinant, and the second substitution determinant are obtained.

[0197] The cosine radian angle is obtained based on the ratio of the first substitution determinant to the coefficient matrix determinant;

[0198] The sinusoidal radian angle is obtained based on the ratio of the second substitution determinant to the determinant of the coefficient matrix;

[0199] The coincident radian angle is obtained by calculating based on the sine and cosine radian angles.

[0200] In some embodiments, the security control module 1440 is further configured to:

[0201] Obtain the safe linear running distance between two adjacent moving parts on a straight track;

[0202] The braking distance is calculated based on the maximum acceleration and real-time velocity of the rearward moving part.

[0203] The adjustment distance is obtained by adding the braking distance to the difference between the arc-shaped safe operating distance and the straight-line safe operating distance;

[0204] The rearmost mover is stopped until the distance between two adjacent movers is increased by the adjustment distance, then the rearmost mover is controlled to continue running.

[0205] In some embodiments, the security control module 1440 is further configured to:

[0206] The rearmost mover accelerates until the distance between two adjacent movers decreases, thus reducing the adjustment distance.

[0207] The rearward mover is controlled to continue to decelerate until it matches the speed of the forward mover, and the distance between two adjacent movers is maintained as a straight-line safe operating distance.

[0208] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, the specific implementation of the mover control device of the magnetic drive conveyor system is basically the same as the specific implementation of the mover control method of the magnetic drive conveyor system, and will not be repeated here.

[0209] In this embodiment, the mover control device for a magnetic drive conveyor system is designed for magnetic drive conveyor systems with arc-shaped tracks. By acquiring mover size information and arc-shaped track information, and based on this information, it accurately calculates the safe arc-shaped running distance between multiple movers running on the arc-shaped track, ensuring that the movers do not collide. This avoids the collision risk caused by insufficient clearance on one side when using the original running plan parameters for control after entering the arc-shaped track. This improves the safety and stability of mover operation in the magnetic drive conveyor system and maximizes mover operating efficiency while ensuring safety, thereby improving the overall efficiency of the magnetic drive conveyor system. Furthermore, by establishing a unified... The system uses a global orbital coordinate system to locate the center of the mover. Then, by considering the actual dimensions (L, W) of the mover in the local mover coordinate system, it rigorously identifies the specific vertices most likely to collide (the rear arc-side vertex of the preceding mover and the front arc-side vertex of the subsequent mover). Finally, through coordinate transformation, the positions of these key vertices are precisely mapped to the global orbital coordinate system. This series of operations overcomes the fundamental flaw of existing technologies that use point models or empirical values ​​while ignoring the specific geometric constraints of the mover's actual shape and size in an arc-shaped orbit. This makes it no longer a fuzzy estimate, but a clear and quantitative identification and location of key geometric points where physical contact may occur. This contact point determination method based on a real geometric model... This ensures that the safety distance calculated subsequently is based on the most dangerous scenario and has physical meaning and geometric accuracy, thus greatly improving the reliability and safety of the mover collision avoidance control strategy on the curved track. Furthermore, by constructing a coincidence function using the equivalent conditions of the contact point position parameters, the geometric constraint relationship when adjacent movers come into contact can be accurately described. Linearizing the nonlinear equations simplifies the solution process, reduces computational complexity, and enables rapid and efficient calculation of the coincidence radian angle, avoiding the difficulty of directly solving complex nonlinear equations. This improves the stability and reliability of the calculations, providing a precise theoretical basis for subsequent safety distance calculations and mover operation control, ultimately enhancing the magnetic field performance. The safety and efficiency of the drive and conveyor system are improved; and Cramer's rule, as a mature method for solving linear equations, can ensure the stability and reliability of the solution process. By transforming the vertex coincidence equation into determinant calculation, it avoids complex iterative processes, reduces computational complexity, improves computational efficiency, and meets the needs of real-time control. Furthermore, by calculating the sine and cosine radian angles separately, the quadrant of the radian angle can be determined more accurately, avoiding errors introduced by the multivalued nature of the arctangent function. This ensures that the calculated coincidence radian angle has high accuracy, providing a reliable basis for subsequent safety distance calculation and mover operation control, ultimately improving the safety and control accuracy of the magnetic drive and conveyor system.Furthermore, by acquiring the straight-line safe operating distance and calculating the braking distance of the subsequent mover, and combining this with the arc-shaped safe operating distance to calculate the adjustment distance, this method can precisely control the stopping position and timing of the subsequent mover before entering the arc-shaped track. This avoids sudden braking or collisions caused by insufficient space before entering the arc-shaped track, ensuring a smooth and safe transition of the mover from the straight track to the arc-shaped track, while avoiding unnecessary stopping time and improving system operating efficiency. Additionally, by controlling the subsequent mover to accelerate first and then decelerate, and precisely controlling the change in the distance between the two vehicles, this method achieves a smooth transition of the mover from the arc-shaped track to the straight track. The acceleration process shortens the distance between the movers, compensating for the larger distance maintained for safety on the arc-shaped track, and improving space utilization. The deceleration process matches the speed of the subsequent mover with that of the preceding mover, ultimately maintaining the straight-line safe operating distance, ensuring the safety and stable operation of the mover after entering the straight track, and achieving efficient and safe track switching.

[0210] This application also provides an electronic device, including:

[0211] At least one memory;

[0212] At least one processor;

[0213] At least one program;

[0214] The program is stored in a memory, and the processor executes the at least one program to implement the mover control method of the magnetic drive conveyor system described above in this application. The electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), in-vehicle computers, etc.

[0215] Please see Figure 15 , Figure 15 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0216] The processor 1501 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0217] The memory 1502 can be implemented in the form of ROM (Read-Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1502 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1502 and is called and executed by the processor 1501 to execute the mover control method of the magnetic drive conveyor system of the embodiments of this application.

[0218] The input / output interface 1503 is used to implement information input and output;

[0219] The communication interface 1504 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0220] Bus 1505 transmits information between various components of the device (e.g., processor 1501, memory 1502, input / output interface 1503, and communication interface 1504);

[0221] The processor 1501, memory 1502, input / output interface 1503 and communication interface 1504 are connected to each other within the device via bus 1505.

[0222] This application embodiment also provides a storage medium, which is a computer-readable storage medium, storing a computer program that, when executed by a processor, implements the aforementioned mover control method for the magnetic drive conveyor system.

[0223] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0224] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0225] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0226] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0227] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0228] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0229] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0230] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, or indirect coupling or communication connection between the apparatus or units, and may be electrical, mechanical, or other forms.

[0231] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0232] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0233] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0234] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A mover control method for a magnetically driven conveyor system, characterized in that, The magnetic drive conveying system includes an arc-shaped track and a mover, and the method includes: Obtain the mover size information and the arc track information of the arc track; Based on the mover size information and the arc track information, the contact point of two adjacent movers on the arc track is determined on the track coordinate axis, which is constructed based on the arc track information; Based on the contact point, the coincidence radian angle when two adjacent moving parts are in contact is calculated, and the arc-shaped safe operating distance is obtained based on the product of the coincidence radian angle and the track radius of the arc-shaped track. When at least two movers are running on the arc-shaped track, the operation of multiple movers is controlled based on the arc-shaped safe operating distance, so that the operating distance between two adjacent movers is not less than the arc-shaped safe operating distance; The calculation of the coincidence radian angle when two adjacent moving parts are in contact, based on the contact point, includes: Based on the coincidence condition of the contact point of the preceding mover and the contact point of the following mover, a vertex coincidence equation is generated. The coincidence condition is that the contact point of the preceding mover is the same as the contact point of the following mover. The preceding mover is the mover that comes first among two adjacent movers, and the following mover is the mover that comes last among two adjacent movers. Solving the equation for vertex coincidence yields the coincidence angle in radians between two adjacent moving parts.

2. The mover control method for the magnetic drive conveyor system according to claim 1, characterized in that, The step of determining the contact point of two adjacent movers on the arc track based on the mover size information and the arc track information includes: Based on the arc-shaped track information, a track coordinate axis is constructed with the center of the arc-shaped track as the center of the coordinate axis; Based on the arc-shaped track information, determine the coordinates of two adjacent movers on the track coordinate axes; The contact point is determined based on the moving part coordinates and the orbital coordinate axes.

3. The mover control method for the magnetic drive conveyor system according to claim 2, characterized in that, The contact point includes a preceding mover contact point and a following mover contact point. Determining the contact point based on the mover coordinates and the orbital coordinate axes includes: Construct the coordinate axes of the preceding mover based on the mover size information and the mover center of the preceding mover; Construct the coordinate axes of the subsequent mover based on the mover size information and the mover center of the subsequent mover; Based on the orbit coordinate axis and the preceding mover coordinate axis, the first position information of the rear vertex of the arc side of the preceding mover on the orbit coordinate axis is determined, and the first position information is used as the contact point of the preceding mover, wherein the arc side is the side closer to the center of the orbit. Based on the orbital coordinate axis and the preceding mover coordinate axis, the second position information of the front vertex of the arc side of the following mover on the orbital coordinate axis is determined, and the second position information is used as the contact point of the following mover.

4. The mover control method for the magnetic drive conveyor system according to claim 1, characterized in that, The preceding mover contact point includes a first preceding position parameter and a second preceding position parameter, and the following mover contact point includes a first following position parameter and a second following position parameter. The step of generating a vertex coincidence equation based on the coincidence condition of the preceding and following mover contact points includes: Based on the equivalence condition of the first preceding position parameter and the first following position parameter, a first coincident function is generated; Based on the equivalence condition of the second preceding position parameter and the second following position parameter, a second coincident function is generated; Based on the first coincidence function and the second coincidence function, the initial vertex coincidence equation is obtained; The initial vertex coincidence equation is transformed into a linear equation to obtain the vertex coincidence equation.

5. The mover control method for the magnetic drive conveyor system according to claim 1, characterized in that, Solving the equation for vertex coincidence to obtain the coincidence radian angle between two adjacent moving parts includes: Based on the vertex coincidence equation, the coefficient matrix determinant, the first substitution determinant, and the second substitution determinant are obtained. Based on the ratio of the first substitution determinant to the determinant of the coefficient matrix, the cosine radian angle is obtained; Based on the ratio of the second substitution determinant to the determinant of the coefficient matrix, the sinusoidal radian angle is obtained; The coincident radian angle is obtained by calculation based on the sine radian angle and the cosine radian angle.

6. The mover control method for the magnetic drive conveyor system according to claim 1, characterized in that, The arc-shaped track is connected to a straight track. When two adjacent moving parts move from the straight track to the arc-shaped track, the method further includes: Obtain the safe linear running distance between two adjacent moving parts on the linear track; The braking distance is calculated based on the maximum acceleration and real-time velocity of the subsequently described mover. The adjustment distance is obtained by adding the difference between the arc-shaped safe operating distance and the straight-line safe operating distance to the braking distance; The subsequent mover is stopped until the distance between two adjacent movers increases by the adjustment distance, and then the subsequent mover is controlled to continue running.

7. The mover control method for the magnetic drive conveyor system according to claim 6, characterized in that, When two adjacent moving parts depart from the curved track and enter the straight track, the method further includes: The rearward moving part is accelerated until the distance between two adjacent moving parts reduces the adjustment distance; The rear rotor is controlled to continue to decelerate until it matches the speed of the front rotor, and the distance between two adjacent rotors is maintained as the straight-line safe operating distance.

8. A mover control device for a magnetic drive conveyor system, characterized in that, The magnetic drive conveyor system includes an arc-shaped track and a mover, and the device includes: The information acquisition module acquires the size information of the mover and the arc track information of the arc track; The contact point calculation module is used to determine the contact points of two adjacent moving parts on the arc track on the track coordinate axis based on the moving part size information and the arc track information. The arc-shaped safety distance calculation module is used to calculate the coincidence radian angle when two adjacent moving parts are in contact based on the contact point, and to obtain the arc-shaped safety running distance based on the product of the coincidence radian angle and the track radius of the arc-shaped track. A safety control module is used to control the operation of multiple moving parts based on the arc-shaped safe operating distance when at least two moving parts are running on the arc-shaped track, so that the operating distance between two adjacent moving parts is not less than the arc-shaped safe operating distance; The calculation of the coincidence radian angle when two adjacent moving parts are in contact, based on the contact point, includes: Based on the coincidence condition of the contact point of the preceding mover and the contact point of the following mover, a vertex coincidence equation is generated. The coincidence condition is that the contact point of the preceding mover is the same as the contact point of the following mover. The preceding mover is the mover that comes first among two adjacent movers, and the following mover is the mover that comes last among two adjacent movers. Solving the equation for vertex coincidence yields the coincidence angle in radians between two adjacent moving parts.

9. An electronic device, characterized in that, The system includes a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the mover control method of the magnetic drive conveyor system according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the mover control method of the magnetic drive conveyor system as described in any one of claims 1 to 7.

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