Hand-push-free mover control method, device, equipment and medium

Abstract

The invention provides a hand-push-free mover control method and device, equipment and a medium, and relates to the technical field of automatic control, and the method comprises the steps: collecting the magnetic field intensity data through an electromagnetic assembly disposed in a composite drive module under the condition that a magnetic drive conveying line system is powered on; according to the magnetic field intensity data, determining whether the mover stays on an adaptive roller line body or not; if yes, determining the staying position of the rotor according to the magnetic field intensity data; a control signal sent by the controller is responded, a roller on the roller line body is controlled to rotate according to the stay position so as to control the rotor to be started, and the control signal is a signal fed back to the controller by the controller according to detection information after the composite driving module detects that the rotor stays on the roller line body. According to the technical scheme, the staying position of the rotor can be automatically recognized under the condition that the magnetic drive conveying line system is powered on, the workload during system power-on is reduced, and the use convenience of the system is improved.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a hands-free mover control method, device, equipment and medium. Background Art

[0002] While traditional roller conveyors offer advantages such as simple structure and low cost, they suffer from low conveying efficiency and poor positioning accuracy, severely restricting their widespread application in high-speed conveying. By combining the high-speed and high-precision characteristics of magnetic levitation conveyors with traditional roller conveyors and embedding a magnetic drive control module within the high-speed roller conveyor, the complementary advantages of the two technologies can be achieved, while simultaneously reducing product design complexity and manufacturing costs, creating favorable conditions for large-scale industrial application.

[0003] Existing magnetic drive conveyor line mover position sensors are mostly incremental. After the equipment is powered on, unless the movers are manually pushed, the sensors cannot confirm the actual position of each mover. This presents a serious control issue: there is no feedback on the mover position, and a closed control loop cannot be formed. The mover must be manually pushed at least a certain distance (depending on the line specifications) to obtain position information. This is acceptable for short lines, but for longer lines with a large number of movers, each mover must be manually pushed, which undoubtedly results in a complex and additional workload. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a hands-free mover control method, device, equipment and medium. By analyzing the magnetic field strength data, the stop position of the mover is determined, thereby driving the mover to start, solving the problem that the mover must be manually pushed at least a distance from a work station to obtain the position information of the mover when the system is powered on, reducing the workload when the system is powered on and improving the ease of use of the system.

[0005] In a first aspect, an embodiment of the present invention provides a hands-free mover control method, which is applied to a composite drive module in a magnetic drive conveyor line system. The system includes a controller, a mover, a plurality of composite drive modules, and a roller line body adapted to each composite drive module. The controller is connected to the composite drive module and can control the composite drive module to drive the adapted roller line body to work. The mover can move on the roller line body. The method includes: When the magnetic drive conveyor line system is powered on, magnetic field strength data is collected through the electromagnetic component provided in the composite drive module; determining, based on the magnetic field strength data, whether the mover is resting on the adapted roller line body; If so, determining the stopping position of the mover according to the magnetic field strength data; In response to the control signal sent by the controller, the roller on the roller line body is controlled to rotate according to the stop position to control the start of the mover, wherein the control signal is the detection information sent by the composite drive module to the controller after detecting that the mover stops on the roller line body, and the controller feeds back the signal to the controller based on the detection information.

[0006] In a preferred embodiment of the present invention, the composite drive module is provided with a plurality of electromagnetic components, each of which is evenly distributed on the left, middle, and right sides of the composite drive module to form three collection areas. The electromagnetic components are used to collect magnetic field strength data within the collection range. When the magnetic drive conveyor line system is powered on, collecting magnetic field strength data through the electromagnetic component provided in the composite drive module includes: When the magnetic drive conveyor line system is powered on, magnetic field strength data of each of the acquisition areas is acquired.

[0007] In a preferred embodiment of the present invention, determining whether the mover stays on the adapted roller line body according to the magnetic field strength data includes: Comparing the magnetic field intensity data of each acquisition area with the intensity threshold in sequence to obtain a comparison result; If the comparison result shows that the magnetic field intensity data is greater than the intensity threshold, it is determined that the mover is staying on the adapted roller line body; If the comparison result is that the magnetic field intensity data is less than or equal to the intensity threshold, it is determined that the mover does not stay on the adapted roller line body.

[0008] In a preferred embodiment of the present invention, determining the stopping position of the mover according to the magnetic field strength data includes: Comparing the magnetic field strength data of each acquisition area to determine the maximum magnetic field strength data; The acquisition area corresponding to the maximum magnetic field intensity data is determined as the stop position of the mover.

[0009] In a preferred embodiment of the present invention, the above-mentioned collecting magnetic field strength data by the electromagnetic component provided in the composite drive module includes: Acquiring a plurality of initial magnetic field strength data within a preset time period; A normal distribution calculation is performed on the initial magnetic field intensity data to obtain magnetic field intensity data.

[0010] In a preferred embodiment of the present invention, the above-mentioned control of the roller on the roller line body to rotate according to the stop position in response to the control signal sent by the controller to control the start of the mover includes: In response to a control signal sent by a controller, the roller drive assembly is controlled to start according to the stop position to drive the rollers on the roller line body, and the mover is controlled to start.

[0011] In a preferred embodiment of the present invention, after determining the stopping position of the mover, the method further includes: Detection information is generated according to the stop position of the mover and sent to the controller.

[0012] In a second aspect, an embodiment of the present invention further provides a hands-free mover control device, which is applied to a composite drive module in a magnetic drive conveyor line system. The system includes a controller, a mover, a plurality of composite drive modules, and a roller line body adapted to each composite drive module. The controller is connected to the composite drive module and can control the composite drive module to drive the adapted roller line body to work. The mover can move on the roller line body. The device includes: a data acquisition module, configured to collect magnetic field strength data through the electromagnetic components provided in the composite drive module when the magnetic drive conveyor line system is powered on; A data analysis module, configured to determine whether the mover is resting on the adapted roller line body according to the magnetic field strength data; A position determination module, configured to determine the stopping position of the mover according to the magnetic field strength data; A starting module is used to control the rotation of the roller on the roller line body according to the stop position in response to the control signal sent by the controller to control the start of the mover, wherein the control signal is the detection information sent by the composite drive module to the controller after detecting that the mover stops on the roller line body, and the controller feeds back a signal to the controller based on the detection information.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device comprising a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the hands-free push-to-move control method of the first aspect mentioned above.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the hands-free push-to-move control method of the first aspect mentioned above.

[0015] The embodiments of the present invention bring the following beneficial effects: An embodiment of the present invention provides a hands-free mover control method, which determines the stop position of the mover by analyzing the magnetic field strength data, thereby driving the mover to start. This solves the problem that the mover must be manually pushed at least a distance between workstations to obtain the position information of the mover when the system is powered on, reduces the workload when the system is powered on, and improves the ease of use of the system.

[0016] Other features and advantages of the present invention will be set forth in the following description, or some features and advantages may be inferred or unambiguously determined from the description, or may be learned by implementing the above-mentioned technology of the present invention.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 1 A schematic structural diagram of a hands-free push-operator control system provided by an embodiment of the present invention; Figure 2 A flowchart of a hands-free mover control method provided by an embodiment of the present invention; Figure 3 A flowchart of another hands-free mover control method provided by an embodiment of the present invention; Figure 4 A schematic structural diagram of a hands-free mover control device provided by an embodiment of the present invention; Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0020] icon: 301 - data acquisition module; 302 - data analysis module; 303 - position determination module; 304 - startup module; 400 - memory; 401 - processor; 402 - bus; 403 - communication interface. DETAILED DESCRIPTION

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0022] While traditional roller conveyor lines offer advantages such as simple structure and low cost, they also suffer from disadvantages such as low conveying efficiency and poor positioning accuracy, which significantly limit the promotion and application of high-speed conveyor lines. By integrating the high-speed and high-precision characteristics of magnetic levitation conveyor lines, a magnetic drive control module can be embedded in the high-speed roller line to create a magnetic drive conveyor line. This combines the advantages of both while reducing product design complexity and cost, facilitating large-scale product promotion.

[0023] To minimize costs, multiple workstations are installed along the magnetic drive conveyor line, each equipped with a matching mover position sensor. Existing mover position sensors on magnetic drive conveyor lines are mostly incremental. After the equipment is powered on, unless the movers are manually pushed, the mover position sensors cannot confirm the actual position of each mover. This presents a serious control issue: there is no feedback on the mover position, making a closed control loop impossible. The movers must be manually pushed at least a distance (dependent on the line specifications) to obtain position information. When the line is short (i.e., the line is small), the number of movers is small, and the manual effort required to push the movers is acceptable. However, when the line is long (i.e., the line is small), the number of movers is large, and each mover must be manually pushed, which undoubtedly creates additional and complex work.

[0024] Since the mover may be pushed to any position by the staff during the power outage of the equipment, the mover position before the power outage will not accurately describe the position information of the mover when the power is turned on. At this time, powering on may easily cause safety problems.

[0025] Based on this, an embodiment of the present invention provides a hands-free mover control method, which can determine the stop position of the mover by analyzing the magnetic field strength data, thereby driving the mover to start, solving the problem that the mover must be manually pushed at least a distance from a work station to obtain the position information of the mover when the system is powered on, reducing the workload when the system is powered on and improving the ease of use of the system.

[0026] To facilitate understanding of this embodiment, a hands-free push-operator control system disclosed in an embodiment of the present invention is first introduced in detail.

[0027] Example 1 An embodiment of the present invention provides a hands-free mover control system. Figure 1This is a schematic diagram of a hands-free mover control system provided by an embodiment of the present invention. The system includes a controller, a mover, a plurality of composite drive modules, and a roller line body adapted to each composite drive module, wherein: Figure 1 Taking a composite drive module and a roller line body adapted to the composite drive module as an example, the controller is connected to the composite drive module and can control the composite drive module to drive the adapted roller line body to work, and the mover can move on the roller line body.

[0028] Specifically, a magnetically driven conveyor system includes multiple roller conveyors, which are connected sequentially according to actual needs to form the conveyor system required by the magnetically driven conveyor system. Each roller conveyor corresponds to a composite drive module, which can be centrally located below the roller conveyor. Multiple movers can be placed at different locations along the conveyor system, moving along the conveyor system. The composite drive module is equipped with an electromagnetic coil, a magnetic drive assembly, and a roller drive assembly. When the magnetically driven conveyor system is powered on, the electromagnetic coil is energized to form an electromagnet. During the movement of the mover, the mover cuts the magnetic flux lines generated by the electromagnetic field, causing interaction between the electromagnetic field and the magnetic field of the permanent magnet on the mover. The magnetic drive assembly changes the current flowing through the electromagnetic coil to change the magnetic field generated by the electromagnetic coil, thereby changing the interaction between the magnetic field of the electromagnet and the magnetic field generated by the permanent magnet on the mover, providing the mover with power in different movement directions. It is understood that the movement directions of the mover include forward, backward, and stopped. The magnetic drive assembly controls the speed of the mover by varying the magnitude of the current flowing through the electromagnetic coil. For example, a higher current results in a faster speed. The direction of the mover's movement is controlled by varying the direction of the current flowing through the electromagnetic coil. The correspondence between the current direction and the movement direction is pre-set based on actual conditions. Multiple rollers, or rollers, are mounted on the roller assembly. When each roller rotates in the same direction, friction propels the mover in the direction of the roller's rotation. Specifically, the direction of roller rotation is controlled by the roller drive assembly. When the system is powered on, the mover is stationary, so the magnetic drive assembly cannot cut through the magnetic flux lines, causing the interaction between the electromagnetic field and the permanent magnet on the mover to provide power to the mover. In this case, the roller drive assembly controls the roller's rotation, utilizing friction to move the mover. Once the mover begins moving, it cuts through the magnetic flux lines, causing the interaction between the electromagnetic field and the permanent magnet on the mover. The magnetic drive assembly then operates to provide power to the mover, while the roller drive assembly stops.

[0029] The controller may be equipped with a button that allows personnel to send control signals to the composite drive module by pressing it. The control signal includes a forward signal, which instructs the roller drive assembly in the composite drive module to rotate the rollers on the roller line to activate the mover. It is understood that the composite drive module is equipped with multiple electromagnetic components that collect magnetic field strength data within a collection range. When the magnetic drive conveyor system is powered on, the electromagnetic components in the composite drive module collect magnetic field strength data and, based on this data, determine whether the mover is resting on the corresponding roller line. If so, the magnetic field strength data determines the mover's resting position. The composite drive module transmits this resting position to the controller. The controller may display the received resting position. After receiving the resting position, personnel can press a button to send a control signal to the composite drive module, instructing it to rotate the rollers on the roller line to activate the mover. Furthermore, the controller may send control signals only to the composite drive module where the mover is resting.

[0030] The controller can have multiple buttons, each used to send different control signals. These control signals can include forward, reverse, and stop signals, which instruct the composite drive module to control the direction of movement of the mover. The forward signal controls the mover forward, the reverse signal controls the mover backward, and the stop signal controls the mover to a stop. When the system is powered on, the forward signal also controls the start of the mover.

[0031] The hands-free mover control system of the embodiment of the present invention can automatically detect the position of the mover after the system is powered on, and automatically start the mover according to the control instruction without human intervention, avoiding the operation link of manually pushing the mover, reducing dependence on on-site operators, reducing labor costs, greatly shortening the preparation time for starting the mover, reducing the waiting time in the production process, and improving the operating efficiency of the entire magnetic drive conveyor line system. It is particularly suitable for large-scale, continuous production scenarios and can significantly improve the production rhythm.

[0032] Example 2 An embodiment of the present invention provides a hands-free mover control method. Figure 2 Flowchart of a hands-free mover control method provided by an embodiment of the present invention. Figure 2 As shown, the hands-free push mover control method may include the following steps: Step S101 : When the magnetic drive conveyor line system is powered on, magnetic field strength data is collected through the electromagnetic component provided in the composite drive module.

[0033] After the magnetic drive conveyor system is powered on, it enters an initialization state, at which point the electromagnetic components in the composite drive module begin operating. In the present invention, the number of electromagnetic components can be one or more, and the electromagnetic components can be high-precision magnetic field sensors, such as Hall effect sensors. The operating principle of a magnetic field sensor is based on the Hall effect. When a magnetic field acts on the sensor, an electrical signal proportional to the magnetic field strength is generated at the sensor's output. The sensor samples the surrounding magnetic field strength in real time at a certain sampling frequency (e.g., 1000 times per second). After converting the collected analog signal into a digital signal, it is stored in the composite drive module's microcontroller, generating a series of magnetic field strength data. During the collection process, to ensure data accuracy and stability, the collected data is filtered to remove noise interference, for example, using a sliding average filter or median filter algorithm.

[0034] Furthermore, the compound drive module is provided with a plurality of electromagnetic components, each of which is evenly distributed on the left side, middle and right side of the compound drive module to form three collection areas, and the electromagnetic components are used to collect magnetic field strength data within the collection range; when the magnetic drive conveyor line system is powered on, the magnetic field strength data is collected by the electromagnetic components provided in the compound drive module, including: when the magnetic drive conveyor line system is powered on, the magnetic field strength data of each of the collection areas is obtained.

[0035] The electromagnetic components on the composite drive module are evenly distributed in the left, middle, and right areas. The number of electromagnetic components in each area is configured according to the module size and precision requirements. For example, on a module with a length of 400mm, 5 high-precision Hall sensors are arranged on the left, middle, and right sides as electromagnetic components.

[0036] Electromagnetic components usually consist of multiple high-precision magnetic field sensors (such as Hall sensors), which are distributed at different positions of the composite drive module to form a magnetic field sensing array. After the magnetic drive conveyor system is powered on, the microcontroller sends synchronous acquisition instructions to the electromagnetic components in the three acquisition areas. All electromagnetic components begin operating simultaneously at a unified sampling frequency (e.g., 1000 Hz) to ensure the temporal consistency of the collected data. These sensors convert the collected analog signals into digital signals and store them in the microcontroller, generating magnetic field strength data for the left, middle, and right areas, respectively. During the acquisition process, to ensure data accuracy and stability, the collected data is filtered to remove noise, for example, using a sliding average filter or median filter.

[0037] By acquiring magnetic field strength data through electromagnetic components distributed in three areas, it is possible to further determine whether the mover is in the left area, the middle area or the right area based on the difference between the magnetic field strength data in different areas. Compared with single sensor acquisition, the positioning error can be improved.

[0038] Step S102: determining whether the mover is staying on the adapted roller line body according to the magnetic field strength data.

[0039] After the hybrid drive module acquires the magnetic field strength data, it analyzes and processes it. Under normal circumstances, when the mover is not on the roller, the magnetic field strength data collected by the electromagnetic component remains within a relatively stable background value range. However, when the mover remains on the roller, the mover's inherent magnetic components (permanent magnets) alter the surrounding magnetic field distribution, causing the magnetic field strength data collected by the electromagnetic component to change significantly.

[0040] Furthermore, based on the magnetic field strength data, determining whether the mover stays on the adapted roller line body includes: comparing the magnetic field strength data of each of the acquisition areas with the strength threshold in turn to obtain a comparison result; if the comparison result is that the magnetic field strength data is greater than the strength threshold, determining that the mover stays on the adapted roller line body; if the comparison result is that the magnetic field strength data is less than or equal to the strength threshold, determining that the mover does not stay on the adapted roller line body.

[0041] Specifically, a strength threshold can be pre-set. This threshold, determined through extensive experiments and data analysis, accurately distinguishes the difference in magnetic field strength between the presence and absence of a mover. The collected magnetic field strength data is compared with the set strength threshold. If the data exceeds the strength threshold, the mover is considered to be on the roller line; if the data does not exceed the strength threshold, the mover is considered to be off the roller line.

[0042] Step S103: If yes, determine the stop position of the mover according to the magnetic field strength data.

[0043] After determining that the mover is resting on the roller line, its specific resting position is further determined based on the magnetic field strength data. Specifically, the magnetic field strength data collected by multiple electromagnetic components on the composite drive module are compared, and the location of the electromagnetic component with the largest magnetic field strength data is determined as the resting position of the mover.

[0044] Furthermore, determining the stop position of the mover based on the magnetic field strength data includes: comparing the magnetic field strength data of each acquisition area to determine the maximum magnetic field strength data; and determining the acquisition area corresponding to the maximum magnetic field strength data as the stop position of the mover.

[0045] Because the electromagnetic components are evenly distributed across each collection area, when the mover approaches a collection area, the magnetic field strength data collected by the electromagnetic components in that area will be relatively large. By comparing the magnitude of the sensor data collected in different sensing areas, the mover's resting position can be determined.

[0046] Specifically, each collection area contains at least one electromagnetic component. For each collection area, the average of the magnetic field strength data collected by each electromagnetic component within that collection area can be calculated to serve as the magnetic field strength data for that collection area. The magnetic field data from the left collection area, the middle collection area, and the right collection area are compared, and the largest magnetic field strength data is used as the maximum magnetic field strength data. The collection area corresponding to the largest magnetic field strength data is determined as the stationary position of the mover.

[0047] For example, the average magnetic field strength data in the left area is 18mT, the average magnetic field strength data in the middle area is 32mT, and the average magnetic field strength data in the right area is 15mT. By comparison, it is found that the magnetic field strength data in the middle area is the largest, so the stop position of the mover is the middle area.

[0048] Furthermore, when comparing the magnetic field strength data of each of the acquisition areas and determining the maximum magnetic field strength data, the magnetic field strength data of each acquisition area can be compared with the intensity threshold first, the magnetic field strength data less than the intensity threshold is eliminated, and the remaining magnetic field strength data is compared to determine the maximum magnetic field strength data.

[0049] By comparing the maximum magnetic field strength in three regions, the mover's location is determined. This method uses a low-complexity algorithm to quickly locate the mover's position, making it suitable for scenarios requiring real-time response. This method eliminates the need for complex sensor arrays or high-precision positioning components, boasts simple algorithm logic, and requires minimal microcontroller computing power, thus reducing system costs and making it suitable for large-scale industrial applications.

[0050] Step S104: In response to a control signal sent by a controller, the roller on the roller line body is controlled to rotate according to the stop position, so as to control the start of the mover.

[0051] The control signal is a signal generated by the controller based on the detection information sent by the composite drive module to the controller after detecting that the mover is resting on the roller line. It is understood that the controller only sends the control signal to the roller line on which the mover is detected to be resting.

[0052] After the composite drive module determines whether the mover is resting on the roller line body and its resting position, it sends relevant detection information to the controller. After receiving the detection information, the controller generates a corresponding control signal based on the preset control strategy and production task requirements. It is understandable that the detection information is used to describe the mover's resting position on the roller line body adapted by the composite drive module and its resting position. The composite drive module will only send detection information to the controller when a mover is resting on the roller line body adapted by the composite drive module. If no mover is resting on the roller line body adapted by the composite drive module, the composite drive module will not send detection information to the controller. When the composite drive module is connected to the controller, each composite drive module corresponds to an I / O interface of the controller. The controller determines the composite drive module on which the mover is resting and its resting position based on the I / O interface that receives the detection information. After receiving the detection information, the controller feeds back a control signal to the I / O interface that received the detection information, instructing the composite drive module to control the rotation of the roller on the roller line body to control the start of the mover.

[0053] The control signal includes control parameters for the rotation of the rollers on the roller line body, such as the direction of rotation, speed, etc. After the composite drive module receives the control signal sent by the controller, it controls the operation of the motor on the roller line body through the drive circuit, thereby driving the roller to rotate. Due to the friction between the mover and the roller line body, the rotation of the roller will push the mover to move along the roller line body, thereby starting the mover. During the startup process, different control strategies can be adopted according to the stop position and target position of the mover, such as accelerated start, smooth start, etc., to ensure that the mover can run to the specified position accurately and efficiently. During the startup process, the rotation of all rollers on the roller line body can be controlled according to the stop position of the mover to start the mover. The rotation of the rollers on the roller line body located at the stop position and in the direction of movement of the mover can also be controlled according to the stop position and the direction of movement of the mover to start the mover.

[0054] Generally speaking, the distance between two adjacent movers is greater than the length of the roller line, so it is impossible for two adjacent roller lines to have movers stay at the same time. However, before the magnetic drive conveyor line system is powered on, there may be a situation where the position of the mover changes due to misoperation by relevant staff. At this time, the mover may stay between two adjacent roller lines. At this time, after the magnetic drive conveyor line system is powered on, the composite drive module adapted to the two adjacent roller lines can collect magnetic field strength data to determine that there is a mover staying on the roller line, which is not allowed by the magnetic drive conveyor line system. At this time, the magnetic drive conveyor line system will report an error, and relevant staff will need to manually push the mover to any one of the two adjacent roller lines to ensure the normal operation of the magnetic drive conveyor line system.

[0055] The embodiment of the present invention provides a method for controlling a mover without manual pushing. After the system is powered on, the electromagnetic component in the drive module collects magnetic field strength data and analyzes it to determine whether the mover is resting on the appropriate roller line body. This method automatically detects the mover position and automatically starts the mover according to the control instruction without manual intervention. This greatly shortens the preparation time for the mover start-up, reduces the waiting time in the production process, and improves the operating efficiency of the entire magnetic drive conveyor line system. It is particularly suitable for large-scale, continuous production scenarios and can significantly improve the production rhythm. At the same time, the start of the mover is controlled by the control instruction, avoiding the manual manual push operation link, reducing dependence on on-site operators, and reducing labor costs. The enterprise does not need to arrange operators specifically for the start of the mover, and it also reduces the errors and safety hazards that may be caused by manual operation, thereby improving the safety and stability of the production process. This method realizes a fully automated control process of the mover from detection to start-up, significantly improving the automation level of the magnetic drive conveyor line system.

[0056] Example 3 An embodiment of the present invention also provides another hands-free mover control method; this method is implemented on the basis of the method in the above embodiment; this method focuses on describing the specific implementation method of collecting magnetic field strength data through the electromagnetic component provided in the composite drive module.

[0057] Figure 3 A flowchart of another hands-free mover control method provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the hands-free push mover control method may include the following steps: Step S201 : when the magnetic drive conveyor line system is powered on, a plurality of initial magnetic field strength data are acquired within a preset time period.

[0058] The collection time period, that is, the preset time period, can be set in advance. After the magnetic drive conveyor line system is powered on, the electromagnetic component continuously collects magnetic field strength data within the preset time period and uses it as the initial magnetic field strength data.

[0059] Step S202 , performing normal distribution calculation on the initial magnetic field strength data to obtain magnetic field strength data.

[0060] The mean and standard deviation of the initial magnetic field strength data are calculated using the mean and standard deviation formulas. Based on the 3σ principle, data points that deviate from the mean by more than three standard deviations are removed. A normal distribution curve is fitted to the remaining initial magnetic field strength data, and the mean is used as the final magnetic field strength data. Furthermore, when there are multiple electromagnetic assemblies, a normal distribution calculation is performed on the initial magnetic field strength data collected by each electromagnetic assembly to obtain the magnetic field strength data.

[0061] Step S203: determining whether the mover stays on the adapted roller line body according to the magnetic field strength data.

[0062] Step S204: If yes, determine the stop position of the mover according to the magnetic field strength data.

[0063] Specifically, after determining the stop position of the mover, the method further includes: generating detection information according to the stop position of the mover, and sending the detection information to a controller.

[0064] It is understood that the microcontroller of the composite drive module includes an encoder, which can set bits according to the stop position of the mover and send the resulting code as detection information to the controller. It is understood that the encoder can be used to generate a 12-bit binary code, where bits 1 to 4 correspond to the left area, bits 5 to 8 correspond to the middle area, and bits 9 to 12 correspond to the right area. When the stop position is the left area, bits 1 to 4 are set, that is, bits 1 to 4 are set to 1, and other bits are set to 0. When the stop position is the middle area, bits 5 to 8 are set to 1, that is, bits 5 to 8 are set to 1, and other bits are set to 0. When the stop position is the right area, bits 9 to 12 are set, that is, bits 9 to 12 are set to 1, and other bits are set to 0.

[0065] By encoding the detection information through the encoder, a direct mapping between physical space and digital coding is achieved. The coding combination of each area is unique, avoiding position ambiguity and eliminating the need for complex calculations, thereby improving the efficiency and accuracy of detection information generation and transmission.

[0066] Step S205 , in response to a control signal sent by a controller, according to the stop position, controlling the roller drive assembly to start, so as to drive the rollers on the roller line body, and controlling the mover to start.

[0067] After receiving the control signal from the controller, the composite drive module controls the motor on the roller line through the drive circuit, thereby starting the roller drive assembly and driving the roller. Due to the friction between the mover and the roller line, the rotation of the roller pushes the mover along the roller line, thus starting the mover.

[0068] In the hands-free mover control method provided by an embodiment of the present invention, the mean of the normal distribution is an unbiased estimator of the sample. As the number of sampling times increases, the mean will be closer to the true magnetic field strength value. The magnetic field strength data is statistically processed through normal distribution calculation, which not only ensures the accuracy and stability of the data, but also provides a reliable basis for subsequent mover position judgment and control.

[0069] Example 4 Corresponding to the above-mentioned method embodiment, an embodiment of the present invention provides a hands-free mover control device, which is applied to a compound drive module in a magnetic drive conveyor line system. The system includes a controller, a mover, multiple compound drive modules and roller line bodies adapted to each compound drive module. The controller is connected to the compound drive module and can control the compound drive module to drive the adapted roller line body to work, and the mover can move on the roller line body. Figure 4 A schematic structural diagram of a hands-free mover control device provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the hands-free push-operated actuator control device may include: The data acquisition module 301 is used to collect magnetic field strength data through the electromagnetic components provided in the composite drive module when the magnetic drive conveyor line system is powered on; A data analysis module 302 is configured to determine whether the mover is positioned on the adapted roller line according to the magnetic field strength data; A position determination module 303 is configured to determine the stationary position of the mover according to the magnetic field strength data. The starting module 304 is used to control the rotation of the roller on the roller line body according to the stop position in response to the control signal sent by the controller to control the start of the mover, wherein the control signal is the detection information sent by the composite drive module to the controller after detecting that the mover stops on the roller line body, and the controller feeds back the signal to the controller based on the detection information.

[0070] The hands-free mover control device provided by the embodiment of the present invention collects magnetic field strength data through the electromagnetic component in the drive module after the system is powered on, and analyzes it to determine whether the mover is resting on the adapted roller line body, thereby realizing automatic detection of the mover position and automatically starting the mover according to the control instruction without the need for manual intervention, greatly shortening the preparation time for the mover start-up, reducing the waiting time in the production process, and improving the operating efficiency of the entire magnetic drive conveyor line system. It is particularly suitable for large-scale, continuous production scenarios and can significantly improve the production rhythm. At the same time, the mover start is controlled by the control instruction, avoiding the manual manual push operation link, reducing the dependence on on-site operators, and reducing labor costs. The enterprise does not need to arrange operators specifically for the mover start-up, and at the same time reduces the errors and safety hazards that may be caused by manual operation, thereby improving the safety and stability of the production process. This method realizes the fully automated control process of the mover from detection to start-up, which significantly improves the automation level of the magnetic drive conveyor line system.

[0071] In some embodiments, the composite drive module is provided with a plurality of electromagnetic components, each of which is evenly distributed on the left, middle, and right sides of the composite drive module to form three collection areas. The electromagnetic components are used to collect magnetic field strength data within the collection range. The data collection module 301 is further used to: When the magnetic drive conveyor line system is powered on, magnetic field strength data of each of the acquisition areas is acquired.

[0072] In some embodiments, the data analysis module 302 is further configured to: Comparing the magnetic field intensity data of each acquisition area with the intensity threshold in sequence to obtain a comparison result; If the comparison result shows that the magnetic field intensity data is greater than the intensity threshold, it is determined that the mover is staying on the adapted roller line body; If the comparison result is that the magnetic field intensity data is less than or equal to the intensity threshold, it is determined that the mover does not stay on the adapted roller line body.

[0073] In some embodiments, the location determination module 303 is further configured to: Comparing the magnetic field strength data of each acquisition area to determine the maximum magnetic field strength data; The acquisition area corresponding to the maximum magnetic field intensity data is determined as the stop position of the mover.

[0074] In some embodiments, the data acquisition module 301 is further configured to: Acquiring a plurality of initial magnetic field strength data within a preset time period; A normal distribution calculation is performed on the initial magnetic field intensity data to obtain magnetic field intensity data.

[0075] In some embodiments, the startup module 304 is further configured to: In response to a control signal sent by a controller, the roller drive assembly is controlled to start according to the stop position to drive the rollers on the roller line body, and the mover is controlled to start.

[0076] In some embodiments, the apparatus further comprises: The information sending module is used to generate detection information according to the stop position of the mover and send it to the controller.

[0077] The device provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference can be made to the corresponding content in the aforementioned method embodiment.

[0078] Example 5 The embodiment of the present invention further provides an electronic device for executing the above-mentioned hands-free push mover control method; see Figure 5 Schematic diagram of the structure of an electronic device shown, the electronic device includes a memory 400 and a processor 401, wherein the memory 400 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 401 to implement the above-mentioned hands-free push-to-move control method.

[0079] Further, Figure 5 The electronic device shown further includes a bus 402 and a communication interface 403 , and the processor 401 , the communication interface 403 and the memory 400 are connected via the bus 402 .

[0080] The memory 400 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is achieved through at least one communication interface 403 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 402 may be an ISA bus, a PCI bus, or an EISA bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0081] The processor 401 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor 401 or by software instructions. The above processor 401 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in memory 400, and processor 401 reads the information in memory 400 and, in conjunction with its hardware, completes the steps of the method of the aforementioned embodiment.

[0082] An embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the above-mentioned hands-free push-to-move control method. The specific implementation can be found in the method embodiment, which will not be repeated here.

[0083] The computer program product for the hands-free push-operator control method provided in an embodiment of the present invention includes a computer-readable storage medium storing non-volatile program code executable by a processor. The instructions included in the program code can be used to execute the method described in the previous method embodiment. The specific implementation can be found in the method embodiment and will not be repeated here.

[0084] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0085] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0086] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0087] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0088] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion 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 instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0089] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the above-described embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-described embodiments within the technical scope disclosed by the present invention, or replace some of the technical features therein with equivalents. Such modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A hands-free mover control method, characterized in that: A composite drive module used in a magnetic drive conveyor line system includes a controller, a mover, a plurality of composite drive modules, and roller line bodies adapted to each composite drive module. The controller is connected to the composite drive module and can control the composite drive module to drive the adapted roller line body to work. The mover can move on the roller line body. The method includes: When the magnetic drive conveyor line system is powered on, magnetic field strength data is collected through the electromagnetic component provided in the composite drive module; determining, based on the magnetic field strength data, whether the mover is resting on the adapted roller line body; If so, determining the stopping position of the mover according to the magnetic field strength data; In response to the control signal sent by the controller, the roller on the roller line body is controlled to rotate according to the stop position to control the start of the mover, wherein the control signal is the detection information sent by the composite drive module to the controller after detecting that the mover stops on the roller line body, and the controller feeds back the signal to the controller based on the detection information.

2. The method according to claim 1, characterized in that The composite drive module is provided with a plurality of electromagnetic components, each of which is evenly distributed on the left, middle and right sides of the composite drive module to form three collection areas. The electromagnetic components are used to collect magnetic field strength data within the collection range; When the magnetic drive conveyor line system is powered on, collecting magnetic field strength data through the electromagnetic component provided in the composite drive module includes: When the magnetic drive conveyor line system is powered on, magnetic field strength data of each of the acquisition areas is acquired.

3. The method according to claim 2, characterized in that Determining whether the mover stays on the adapted roller line body according to the magnetic field strength data includes: Compare the magnetic field intensity data of each collected area with the intensity threshold in turn to obtain a comparison result; If the comparison result shows that the magnetic field intensity data is greater than the intensity threshold, it is determined that the mover is staying on the adapted roller line body; If the comparison result is that the magnetic field intensity data is less than or equal to the intensity threshold, it is determined that the mover does not stay on the adapted roller line body.

4. The method according to claim 3, characterized in that Determining the stopping position of the mover according to the magnetic field strength data includes: Compare the magnetic field intensity data of each acquisition area to determine the maximum magnetic field intensity data; The acquisition area corresponding to the maximum magnetic field intensity data is determined as the stop position of the mover.

5. The method according to claim 1, wherein The collecting magnetic field strength data by the electromagnetic component provided in the composite drive module includes: Acquiring a plurality of initial magnetic field strength data within a preset time period; A normal distribution calculation is performed on the initial magnetic field intensity data to obtain magnetic field intensity data.

6. The method according to claim 1, characterized in that The step of controlling the roller on the roller line body to rotate in response to a control signal sent by the controller according to the stop position to control the start of the mover includes: In response to a control signal sent by a controller, the roller drive assembly is controlled to start according to the stop position to drive the rollers on the roller line body, and the mover is controlled to start.

7. The method according to claim 1, characterized in that After determining the stopping position of the mover, the method further includes: Detection information is generated according to the stop position of the mover and sent to the controller.

8. A hands-free mover control device, characterized in that: A composite drive module used in a magnetic drive conveyor line system includes a controller, a mover, multiple composite drive modules, and roller line bodies adapted to each composite drive module. The controller is connected to the composite drive module and can control the composite drive module to drive the adapted roller line body to work. The mover can move on the roller line body. The device includes: a data acquisition module, configured to collect magnetic field strength data through the electromagnetic components provided in the composite drive module when the magnetic drive conveyor line system is powered on; A data analysis module, configured to determine whether the mover is resting on the adapted roller line body according to the magnetic field strength data; A position determination module, configured to determine the stopping position of the mover according to the magnetic field strength data; A starting module is used to control the rotation of the roller on the roller line body according to the stop position in response to the control signal sent by the controller to control the start of the mover, wherein the control signal is the detection information sent by the composite drive module to the controller after detecting that the mover stops on the roller line body, and the controller feeds back a signal to the controller based on the detection information.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the hands-free push mover control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the hands-free push mover control method according to any one of claims 1 to 7.

Images