Method and device for controlling mover of magnetic drive system, electronic equipment and storage medium

Abstract

The mover control method and device of the magnetic drive system, the electronic equipment and the storage medium provided by the embodiments of the present application relate to the technical field of control, the magnetic drive system includes a plurality of movers, the method comprises: obtaining a workpiece parameter of a target workpiece; determining the number of combined movers corresponding to the target workpiece according to the workpiece parameter; controlling a corresponding number of movers to move to a preset combination area for combination according to the number of combined movers, to form a combined mover unit; obtaining the position information of the combined movers of the combined mover unit in real time; and controlling the combined mover unit to carry the target workpiece to a preset workpiece processing area for processing based on the position information of the combined movers. The present application can control the combination of movers for different specifications of workpieces, dynamically adjust the load capacity of the movers without the need for shutdown modification, and thus improve production efficiency.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to methods and apparatus for controlling the mover of a magnetic drive system, electronic equipment, and storage media. Background Technology

[0002] Magnetic drive conveyor technology, as a core driving solution in the field of industrial automation, achieves contactless precision control of the mover through electromagnetic action, and is widely used in material handling systems in fields such as electronic assembly and automobile manufacturing. The mover, as the core carrier, undertakes the crucial functions of carrying workpieces, precise positioning, and power transmission.

[0003] In related technologies, to adapt to workpieces of different sizes or weights, it is necessary to pre-manufacture various specifications of movers and frequently adjust the mechanical structure, resulting in time-consuming and inflexible production line changeovers. Especially when the same production line needs to handle mixed loads, the system cannot dynamically adjust the load-bearing capacity of the movers, and can only achieve load adaptation by stopping the machine to replace the movers or modifying mechanical parts, which seriously restricts production efficiency. Summary of the Invention

[0004] This application provides a method and apparatus for controlling the mover of a magnetic drive system, an electronic device, and a storage medium. It can perform combined control of the mover for workpieces of different specifications, and dynamically adjust the load capacity of the mover without downtime modification, thereby improving production efficiency.

[0005] To achieve the above objectives, a first aspect of this application provides a mover control method for a magnetic drive system, the magnetic drive system including a plurality of movers, the method comprising:

[0006] Obtain the workpiece parameters of the target transported workpiece;

[0007] The number of combined movers corresponding to the target transport workpiece is determined based on the workpiece parameters;

[0008] According to the number of combined movers, control the corresponding number of movers to move to the preset combination area for combination to form a combined mover unit;

[0009] Real-time acquisition of the combined actuator position information of the combined actuator unit;

[0010] Based on the combined mover position information, the combined mover unit is controlled to carry the target workpiece to a preset workpiece processing area for processing.

[0011] In some embodiments, after controlling the combined moving unit to transport the target workpiece to a preset workpiece processing area based on the combined moving unit position information, the method further includes:

[0012] Based on the combined mover position information, the combined mover unit is controlled to transport the processed target workpiece to a preset workpiece separation area for workpiece separation;

[0013] After the processed target transport workpiece is separated from the combined moving subunit, the multiple moving parts in the combined moving subunit are controlled to separate.

[0014] In some embodiments, the workpiece parameters include workpiece weight and workpiece dimensions, and determining the number of combined movers corresponding to the target transport workpiece based on the workpiece parameters includes:

[0015] The first combination quantity is calculated based on the weight of the workpiece and the preset rated load capacity of a single mover;

[0016] The second combination quantity is calculated based on the workpiece size and the preset effective bearing area of ​​a single moving part;

[0017] The larger of the first combination quantity and the second combination quantity is determined as the number of combination movers.

[0018] In some embodiments, controlling a corresponding number of movers to move to a preset combination area to combine and form a combined mover unit according to the number of combined movers includes:

[0019] Multiple movers to be combined are determined based on the number of combined movers;

[0020] Control the first of the plurality of movers to be combined to move to the combination region and remain stationary;

[0021] The other actuators to be combined are sequentially controlled to move toward the combination region. In response to the magnetic grating spacing between two adjacent actuators to be combined being less than a preset locking threshold, the physical coupling device between the two adjacent actuators to be combined is triggered to lock, thereby obtaining the combined actuator unit.

[0022] In some embodiments, the magnetic drive system further includes a magnetic drive transport rail, under which a plurality of magnetic induction modules are disposed, and the real-time acquisition of the combined actuator position information of the combined actuator unit includes:

[0023] The position feedback data of each of the moving parts on the magnetic drive conveyor track is acquired in real time through multiple magnetic induction modules;

[0024] Movers whose spacing between adjacent movers is less than or equal to a preset intra-group spacing threshold are grouped into the same control logic group;

[0025] The foremost mover in the control logic group is identified as the head mover, and the position feedback data of the head mover is identified as the combined mover position information of the same control logic group.

[0026] In some embodiments, a plurality of stator modules are disposed below the magnetic drive conveyor track. The stator modules are used to drive the mover to move on the magnetic drive conveyor track after being energized. The step of controlling the combined mover unit to transport the target workpiece to a preset workpiece processing area for processing based on the combined mover position information includes:

[0027] A motion trajectory is generated based on the combined mover position information and the workpiece processing area;

[0028] Based on the combined mover position information and the motion trajectory, the drive current value of the stator module is calculated in real time;

[0029] The magnetic field coverage range of the combined mover unit is calculated based on the number of combined movers and the preset mover magnetic grating length.

[0030] The driving current value is synchronously sent to the stator module within the magnetic field coverage area, so that the combined moving subunit moves along the motion trajectory until it reaches the workpiece processing area.

[0031] In some embodiments, calculating the magnetic field coverage of the combined mover unit based on the number of combined movers and a preset mover magnetic grating length includes:

[0032] Based on the combined mover position information and the mover magnetic grating length, determine the position of the leading edge and trailing edge of the magnetic grating for each mover.

[0033] Map the position of the leading edge and the trailing edge of the magnetic grating of each mover to the physical coordinates of the magnetic drive transport track, and calculate the magnetic field coverage of the combined mover unit.

[0034] In some embodiments, each of the movers is configured with a unique mover identifier sequence number, and the step of controlling a corresponding number of movers to move to a preset combination area to combine and form a combined mover unit according to the number of combined movers includes:

[0035] Based on the number of combined movers, determine multiple movers to be combined from the multiple movers, and the mover identification sequence number corresponding to each mover to be combined;

[0036] Based on the actuator identifier sequence number determined by the first actuator to be combined, control the first actuator to be combined to move to the combination area and remain stationary;

[0037] Based on the respective corresponding mover identification sequence numbers determined by the other movers to be combined, the other movers to be combined are controlled to move towards the combination area. In response to the magnetic grating spacing between two adjacent movers to be combined, as identified by their respective mover identification sequence numbers, being less than a preset locking threshold, the physical coupling device between the two adjacent movers to be combined is locked until all selected movers to be combined are combined to obtain the combined mover unit; wherein, the identification sequence number of the combined mover unit is determined to be the mover identification sequence number of the first mover to be combined.

[0038] To achieve the above objectives, a second aspect of this application provides a mover control device for a magnetic drive system, the magnetic drive system including a plurality of movers, the device comprising:

[0039] The acquisition module is used to acquire the workpiece parameters of the target transported workpiece;

[0040] The determining module is used to determine the number of combined movers corresponding to the target transport workpiece based on the workpiece parameters;

[0041] The combination module is used to control a corresponding number of movers to move to a preset combination area for combination according to the number of combined movers, so as to form a combined mover unit;

[0042] The control module is used to acquire the combined mover position information of the combined mover unit in real time, and control the combined mover unit to carry the target workpiece to the preset workpiece processing area for processing based on the combined mover position information.

[0043] 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 actuator control method of the magnetic drive system as described in the first aspect.

[0044] 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 actuator control method of the magnetic drive system described in the first aspect.

[0045] This application proposes a mover control method for a magnetic drive system. The magnetic drive system includes multiple movers. The method includes: first, acquiring the workpiece parameters of the target workpiece; dynamically determining the required number of combined movers based on these parameters; then, controlling the corresponding movers to move to a preset combination area to complete the combination, forming a combined mover unit; and precisely controlling the transport of the target workpiece to the processing area by acquiring the position information of the combined mover unit in real time. This application embodiment flexibly adjusts the number of movers participating in the combination based on the weight, volume, and other parameter characteristics of workpieces of different specifications, so that the load-bearing capacity of the combined mover unit precisely corresponds to the workpiece requirements. Through dynamic combination control of the preset combination area, the disassembly and assembly of combined mover units can be completed in real time during production line operation, achieving load adjustment without interrupting the production process. Combined with real-time feedback of the combined mover position information, the motion synchronization and trajectory accuracy during multi-motor collaborative transport are ensured, guaranteeing the stability of the target workpiece transport. This method effectively solves the problem of equipment downtime adjustment caused by changes in workpiece specifications. It can perform combined control of movers for workpieces of different specifications, achieving dynamic adjustment of mover load capacity without downtime modification, thereby improving production efficiency.

[0046] Other features and advantages of this application will be set forth in the following description 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

[0047] Figure 1 This is a schematic diagram of the structure of a magnetic drive system provided in an embodiment of this application.

[0048] Figure 2 This is a flowchart of a mover control method for a magnetic drive system provided in an embodiment of this application.

[0049] Figure 3 This is a flowchart of a mover control method for a magnetic drive system provided in another embodiment of this application.

[0050] Figure 4 This is a flowchart of a mover control method for a magnetic drive system provided in another embodiment of this application.

[0051] Figure 5 This is a flowchart of a mover control method for a magnetic drive system provided in another embodiment of this application.

[0052] Figure 6 This is a flowchart of a mover control method for a magnetic drive system provided in another embodiment of this application.

[0053] Figure 7This is a flowchart of a mover control method for a magnetic drive system provided in another embodiment of this application.

[0054] Figure 8 This is a schematic diagram of the structure of the mover and its internal magnetic grating provided in an embodiment of this application.

[0055] Figure 9 This is a flowchart of a mover control method for a magnetic drive system provided in another embodiment of this application.

[0056] Figure 10 This is a schematic diagram of the structure of the mover control device of a magnetic drive system provided in an embodiment of this application.

[0057] Figure 11 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0058] 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.

[0059] 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.

[0060] 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.

[0061] Magnetic drive conveyor technology, as a core driving solution in the field of industrial automation, achieves contactless precision control of the mover through electromagnetic action, and is widely used in material handling systems in fields such as electronic assembly and automobile manufacturing. The mover, as the core carrier, undertakes the crucial functions of carrying workpieces, precise positioning, and power transmission.

[0062] In related technologies, to adapt to workpieces of different sizes or weights, it is necessary to pre-manufacture various specifications of movers and frequently adjust the mechanical structure, resulting in time-consuming and inflexible production line changeovers. Especially when the same production line needs to handle mixed loads, the system cannot dynamically adjust the load-bearing capacity of the movers, and can only achieve load adaptation by stopping the machine to replace the movers or modifying mechanical parts, which seriously restricts production efficiency.

[0063] To improve the production efficiency of magnetic drive systems, this application embodiment flexibly adjusts the number of movers involved in the combination based on the weight, volume, and other parameters of workpieces of different specifications, ensuring that the load-bearing capacity of the combined mover unit precisely matches the workpiece requirements. Through dynamic combination control of preset combination areas, the disassembly and assembly of combined mover units can be completed in real time during production line operation, achieving load adjustment without interrupting the production process. Combined with real-time feedback of the combined mover position information, the motion synchronization and trajectory accuracy during multi-motor collaborative transport are ensured, guaranteeing the stability of the target workpiece transportation. This method effectively solves the problem of equipment downtime for adjustment due to changes in workpiece specifications. It enables combined control of movers for workpieces of different specifications, achieving dynamic adjustment of mover load capacity without downtime modifications, thereby improving production efficiency.

[0064] The following will further describe the mover control method and apparatus, electronic device and storage medium of the magnetic drive system provided in the embodiments of this application. The mover control method of the magnetic drive system provided in the embodiments of this application can be applied to smart terminals, servers, computers, etc. connected to the magnetic drive system.

[0065] To better illustrate the mover control method for the magnetic drive system provided in this application, this embodiment first describes a magnetic drive system applying the mover control method. (Refer to...) Figure 1 The diagram shown is a structural schematic of a magnetic drive system provided in an embodiment of this application. The magnetic drive system includes a magnetic drive transport track, on which a mover carrying a workpiece runs. Multiple stators are arranged below the magnetic drive track, which provide magnetic levitation force for the mover running on the magnetic drive track. In addition, when the mover runs on the magnetic drive track, the workpiece it carries needs to be processed by a specific processing area.

[0066] Based on the above-described magnetic drive detection system, the mover control method of the magnetic drive 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 system provided in the embodiments of this application. Figure 2 The method may include, but is not limited to, steps 201 to 205. It is also understood that this embodiment... Figure 2 The order of steps 201 to 205 is not specifically limited. The order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0067] Step 201: Obtain the workpiece parameters of the target transport workpiece.

[0068] Step 202: Determine the number of combined movers corresponding to the target transport workpiece based on the workpiece parameters.

[0069] Step 203: Control the corresponding number of movers to move to the preset combination area according to the number of combined movers to form a combined mover unit.

[0070] Step 204: Obtain the combined mover position information of the combined mover unit in real time.

[0071] Step 205: Based on the position information of the combined mover, control the combined mover unit to transport the target workpiece to the preset workpiece processing area for processing.

[0072] In step 201 of some embodiments, the workpiece parameters of the target transported workpiece can be obtained through a weighing sensor, a 3D vision inspection device, or a communication interface with the material database of the production management system deployed at the workpiece inlet of the magnetic drive conveyor system. These workpiece parameters specifically include, but are not limited to, the workpiece's weight, outer contour dimensions, and the required transport timeliness level for the processing steps. For example, in an electronic component mounting scenario, when the workpiece is a PCB circuit board, its weight data can be measured in real time by a high-precision weighing sensor, while the workpiece's length and width dimensions can be obtained through non-contact scanning by a high-speed vision inspection module equipped with a line scan camera; for standardized workpieces with pre-stored parameters in a database, their pre-registered mass-size parameter set can be directly accessed.

[0073] In step 202 of some embodiments, based on the workpiece parameters obtained in step 201, the number of combined movers required to transport the target workpiece is determined by a preset mover load capacity mapping table or dynamic calculation. The mover load capacity mapping table defines the rated load capacity, maximum acceleration threshold, and safety margin coefficient of a single mover under different working conditions, for example, at an acceleration of 1.5 m / s². 2 The effective load of a single mover is 18 kg, with a 10% dynamic margin reserved to cope with sudden inertial forces. During calculation, the workpiece weight can be matched with the effective load of the mover under the current working condition: if the workpiece weight is Q and the available load capacity of a single mover is P, then the formula for calculating the number of movers N is N = Q / (P × k), where k is a safety factor (usually taken as 0.8-0.95), and N is rounded up. For example, when transporting a 65 kg car gearbox housing and the P value of a single mover at the target acceleration is 20 kg, taking k = 0.9, we get N = 65 / (20 × 0.9) ≈ 4 movers. Furthermore, in optional embodiments, a nonlinear mapping relationship between workpiece parameters and the number of movers can be established by training historical transport data using a machine learning model. For example, the three-dimensional contour features of the workpiece can be extracted based on a convolutional neural network, and combined with real-time magnetic field strength data to predict dynamic load requirements, thereby optimizing the decision accuracy and response speed of the combined number.

[0074] Please see Figure 3In some embodiments, step 202 may include, but is not limited to, steps 301 to 303.

[0075] Step 301: Calculate the number of the first combination based on the weight of the workpiece and the preset rated load capacity of a single mover.

[0076] Step 302: Calculate the number of the second combination based on the workpiece size and the preset effective bearing area of ​​a single mover.

[0077] Step 303: Determine the larger value between the first combination quantity and the second combination quantity as the number of combination movers.

[0078] In step 301 of some embodiments, the first combination quantity is calculated using a load matching algorithm based on the weight parameters of the target transported workpiece and the preset rated load capacity of a single mover. Specifically, the rated load capacity is the maximum safe load-bearing value of the mover under a specific acceleration, for example, when the mover acceleration is 1.2 m / s². 2 At that time, its rated load capacity is 25kg. In calculation, the total weight of the workpiece can be divided by the rated load capacity of a single mover, multiplied by a preset safety factor, and then rounded up to obtain the number of movers in the first combination. For example, if the workpiece weight is 90kg, the rated load capacity of a single mover is 30kg, and the safety factor is 0.9, then the calculation process is 90 / (30×0.9)=3.33, and after rounding up, the number of movers in the first combination is 4. This safety factor is used to compensate for inertial force fluctuations under dynamic working conditions, preventing the movers from becoming unstable due to instantaneous overload.

[0079] In step 302 of some embodiments, the minimum number of movers required to cover the bottom surface of the workpiece, i.e., the second combination quantity, can be calculated based on the workpiece's geometric dimensions (such as length and width) and the effective bearing area of ​​a single mover. The effective bearing area is defined as the area on the mover surface that can stably support the workpiece; for example, the effective bearing area of ​​a single mover is 200mm × 200mm. During calculation, the length and width of the workpiece can be divided by the effective bearing side length of the mover and rounded up to obtain the number of mover arrangements in the horizontal and vertical directions. The product of these two numbers is the second combination quantity. For example, if the workpiece's bottom surface dimensions are 600mm × 450mm and the effective bearing side length of the mover is 200mm, then the horizontal quantity is 600 / 200 = 3, the vertical quantity is 450 / 200 ≈ 3, and the second combination quantity is 3 × 3 = 9 movers. For non-rectangular workpieces, the above calculation can be performed after projecting them onto the smallest bounding rectangle to ensure that the bearing area of ​​the combined mover unit completely covers the workpiece.

[0080] In step 303 of some embodiments, the first combination quantity and the second combination quantity obtained in steps 301 and 302 can be compared and analyzed, and the larger value can be selected as the final number of combined movers. This strategy ensures that the combined mover unit meets both load capacity and bearing area requirements through a dual constraint mechanism: if only weight calculation is relied upon, the number of movers may be insufficient to cover the bottom surface of the workpiece, leading to the risk of off-center loading; if only area calculation is relied upon, the actual load capacity of the movers may be ignored, resulting in insufficient carrying capacity. For example, when the first combination quantity is 4 and the second combination quantity is 6, 6 movers are finally selected, which not only meets the weight bearing requirement, but also enhances the workpiece support stability through the distributed layout of multiple movers.

[0081] Through steps 301 to 303, this embodiment realizes dynamic decision-making on the number of mover combinations. Through the dual verification mechanism of weight and size, it effectively avoids overload or unreasonable layout problems under a single evaluation dimension, thereby improving the transport safety and system adaptability of the combined mover units.

[0082] In step 203 of some embodiments, a mover scheduling instruction is generated based on the number of combined movers determined in step 202. A magnetic field control signal drives the corresponding number of movers to move along the magnetic drive track to a preset combination area for coordinated combination. The combination area is a pre-planned logical or physical space in the magnetic drive system, with its magnetic field distribution optimized to support precise docking and synchronous control of multiple movers. For example, when three movers need to be combined, a path planning algorithm assigns an optimal movement trajectory to each mover, ensuring it arrives at the combination area with the minimum time difference while avoiding collisions with other movers. After arriving at the combination area, the movers perform a connection operation according to a preset combination mode. The movers are rigidly connected through an electromagnetic adsorption mechanism or a mechanical interlocking device, forming a combined mover unit with a unified motion reference. Through this method, this step achieves dynamic reorganization of mover resources and on-demand expansion of load capacity, adapting to the transportation needs of workpieces of different specifications without stopping the machine to adjust the mechanical structure, significantly improving production line efficiency.

[0083] Please see Figure 4 In some embodiments, step 203 may include, but is not limited to, steps 401 to 403.

[0084] Step 401: Determine multiple movers to be combined based on the number of combined movers.

[0085] Step 402: Control the first mover among the multiple movers to be combined to move to the combination area and keep it stationary.

[0086] Step 403: Sequentially control other movers to be combined to move towards the combination area. In response to the magnetic grating spacing between two adjacent movers being combined being less than a preset locking threshold, trigger the physical coupling device between the two adjacent movers to be combined to lock, thus obtaining the combined mover unit.

[0087] In step 401 of some embodiments, based on the number of movers to be combined determined in step 202, multiple movers that meet the requirements are selected from the multiple movers on the magnetic drive conveyor track. The selection criteria for movers to be combined include, but are not limited to, the current state (idle / occupied) of the mover and the path distance to the combination area. For example, when four movers need to be combined, the mover that is closest to the combination area and is idle can be selected first, and movers in maintenance mode or whose load tasks are about to be completed can be excluded by a dynamic priority algorithm to ensure the efficiency and reliability of the combination process.

[0088] In step 402 of some embodiments, the first mover among the movers to be combined can be driven to move to the combination area by a magnetic field control command, and then switch to a stationary locking mode upon arrival. The stationary locking mode adjusts the current phase of the stator winding to keep the mover in a zero-speed holding state. This mover will serve as a reference point for subsequent mover combinations, and its stationary state provides spatial anchoring for the alignment of other movers.

[0089] In step 403 of some embodiments, the remaining movers to be combined can be sequentially moved towards the combination area, and the distance between adjacent movers can be monitored in real time by a magnetic grating position detection module. When the magnetic grating distance between two adjacent movers (i.e., the distance between the edges of the mover magnetic grating) is less than a preset locking threshold (e.g., 2 mm), the automatic locking procedure of the physical coupling device is triggered. The physical coupling device can be a mechanical lock or a magnetic lock. For example, when the second mover approaches the first mover to a distance of 1.5 mm, a locking command is sent, and the two movers complete the physical connection to form a dual-motor unit; subsequent movers repeat this process until the combination is completed. In some embodiments, the connection strength can be verified by a force sensor throughout the combination process. If the coupling force is detected to be lower than the safety threshold, an alarm is triggered and the combination operation is re-executed.

[0090] Through steps 401 to 403, this embodiment achieves sequential and precise combination of multiple movers. By anchoring the reference mover and using a progressive locking mechanism, the cumulative positional error of the multi-body cooperative combination is effectively reduced. At the same time, the force feedback verification of the physical coupling device ensures the mechanical reliability of the combined unit, providing a stable power foundation for subsequent heavy-duty transportation.

[0091] In some embodiments, each mover is configured with a unique mover identifier serial number, and step 203 may also include, but is not limited to, the following steps.

[0092] Based on the number of combined movers, determine multiple movers to be combined and the mover identifier sequence number corresponding to each mover to be combined from multiple movers;

[0093] Based on the sequence number of the first mover to be combined, control the first mover to be combined to move to the combination area and remain stationary;

[0094] Based on the corresponding mover identification sequence numbers determined by the other movers to be combined, the other movers to be combined are controlled to move towards the combination area. In response to the magnetic grating spacing between two adjacent movers to be combined, as identified by their respective mover identification sequence numbers, being less than a preset locking threshold, the physical coupling device between the two adjacent movers to be combined is triggered to lock, until all selected movers to be combined are combined to obtain a combined mover unit; wherein, the identification sequence number of the combined mover unit is determined to be the mover identification sequence number of the first mover to be combined.

[0095] In some embodiments, each individual mover in the magnetic drive conveyor system is pre-configured with a unique mover identification serial number. Each mover can be given a globally unique identity via an RFID tag. After determining the number of movers required for the current task, based on this number, multiple movers to be combined are identified from the available movers on the current line or within the area. This identification process involves more than just selecting any mover that meets the quantity requirement; it also requires specifying the unique mover identification serial number corresponding to each selected mover to be combined. Based on its unique identification, it will be scheduled to participate in the subsequent combination operation. Next, for the selected movers to be combined with their assigned serial numbers, a control command is sent to that specific mover using the previously determined unique mover identification serial number of the first mover to be combined, driving it to move precisely to the preset combination area and remain stationary upon arrival. Subsequently, the remaining movers to be combined are processed sequentially. For each subsequent mover to be combined, its previously determined unique mover identification serial number is used for individual addressing and control, instructing it to move towards the first mover (or a partially formed mover chain) already stationary in the combination area. During this process, the magnetic grating distance between two adjacent movers to be combined, identified and tracked by their respective mover identification serial numbers, is continuously monitored. When this magnetic grating distance shrinks to less than or equal to a preset locking threshold, it indicates that the two movers, identified by their unique IDs, have reached a sufficiently close distance suitable for physical connection. At this point, the physical coupling device installed between the adjacent movers is triggered to lock, thus physically and firmly connecting the two movers. This process is repeated for each mover until all previously selected movers to be combined, specified by their unique IDs, have been moved into place and physically locked, ultimately forming a single, multi-motor combined mover unit. After the physical combination of all movers is completed, the identification serial number of this newly formed combined mover unit is determined to be the unique mover identification serial number of the first mover to be combined, thus providing a unified, identifiable, and traceable identity for this combined unit.

[0096] Please see Figure 5 In some embodiments, the magnetic drive system further includes a magnetic drive transport track, under which a plurality of magnetic induction modules are disposed. Step 204 may include, but is not limited to, steps 501 to 503.

[0097] Step 501: Real-time position feedback data of each mover on the magnetic drive conveyor track is obtained through multiple magnetic induction modules.

[0098] Step 502: Assign movers whose spacing between adjacent movers is less than or equal to the preset intra-group spacing threshold to the same control logic group.

[0099] Step 503: Identify the foremost mover in the control logic group as the head mover, and determine the position feedback data of the head mover as the combined mover position information of the same control logic group.

[0100] In step 501 of some embodiments, multiple magnetic induction modules (such as Hall sensor arrays or magnetoresistive sensors) deployed below the magnetic drive transport track collect the magnetic field strength and phase information of each mover on the track in real time, generating position feedback data. The magnetic induction modules periodically scan the track magnetic field distribution at a preset sampling frequency, and calculate the absolute position coordinates of the mover center relative to the track by detecting the magnetic field characteristics of the permanent magnets built into the movers (such as magnetic pole direction and intensity attenuation gradient).

[0101] In step 502 of some embodiments, the actual distance between adjacent movers is calculated based on the position feedback data obtained in step 501, and compared with a preset intra-group distance threshold. If the distance between adjacent movers is less than or equal to the threshold, they are assigned to the same control logic group and regarded as a combined mover unit. For example, when mover A is located at (X = 1000 mm) and mover B is located at (X = 1045 mm), the distance between them is 45 mm (less than the threshold of 50 mm), and they are marked as the same control logic group.

[0102] In step 503 of some embodiments, within the divided control logic group, the mover closest to the target processing area can be identified as the head mover based on the mover's direction of motion (e.g., +X axis) and position coordinates. For example, in a control logic group consisting of mover C (X = 1500 mm) and mover D (X = 1480 mm), mover C is designated as the head mover because of its forward position. The position feedback data (coordinates, velocity, acceleration) of the head mover is used as the combined mover position information for the entire control logic group for subsequent path planning and magnetic field control. This strategy simplifies the multi-motor cooperative logic through master-slave control: the slave mover dynamically adjusts its own motion state based on the position information of the head mover, ensuring the motion synchronization of movers within the group.

[0103] Through steps 501 to 503, this embodiment realizes the dynamic partitioning and collaborative control of the mover group: based on the high-precision position feedback of the magnetic induction module, it can identify the spatial relationship of adjacent movers in real time and automatically group them, reducing the complexity of manual configuration; through the intra-group spacing threshold and the head mover dominance mechanism, the multi-motor collaboration problem is simplified to single mover tracking control, significantly reducing the computational load of the control algorithm; compared with the traditional fixed grouping scheme, this method effectively solves the control mismatch problem caused by changes in the number of movers or position drift, providing a technical basis for the flexible scheduling of large-scale magnetic drive systems.

[0104] In step 205 of some embodiments, based on the real-time position information of the combined moving subunit and the preset coordinates of the workpiece processing area, the combined moving subunit is driven along a planned trajectory to complete the transportation and precise positioning of the workpiece. Specifically, firstly, a motion trajectory is generated according to the relative relationship between the current position of the combined unit and the target area. The trajectory includes a velocity curve, acceleration constraints, and key points of the path. Subsequently, the driving current parameters of each stator module are calculated to ensure that the thrust distribution of the combined unit dynamically matches the load requirements during the movement. For example, during the heavy-load acceleration phase, the stator module in front of the trajectory is activated first to provide high-gradient thrust, while during the deceleration and positioning phase, the stator module behind applies reverse braking force. When the combined moving subunit arrives at the workpiece processing area, a ready signal is sent to the processing equipment to start the processing operation. During this process, the coordinated control of the combined moving subunit is achieved through a master-slave communication architecture: the head moving subunit serves as the motion reference, and other moving subunits in the group are synchronously adjusted according to their position data to ensure the consistency of motion among multiple moving subunits. This step achieves seamless connection from workpiece transportation to processing, significantly improving production line stability and overall equipment efficiency while ensuring positioning accuracy.

[0105] Please see Figure 6 In some embodiments, step 205 may include, but is not limited to, steps 601 to 604.

[0106] Step 601: Generate motion trajectory based on the position information of the combined mover and the workpiece processing area.

[0107] Step 602: Calculate the drive current value of the stator module in real time based on the combined mover position information and motion trajectory.

[0108] Step 603: Calculate the magnetic field coverage of the combined mover unit based on the number of combined movers and the preset mover magnetic grating length.

[0109] Step 604: The drive current value is synchronously sent to the stator module within the magnetic field coverage area, so that the combined moving unit moves along the motion trajectory until it reaches the workpiece processing area.

[0110] In step 601 of some embodiments, an optimized motion trajectory can be generated using a path planning algorithm based on the real-time position information (including global coordinates and direction of motion) of the combined moving subunit and the target coordinates of the workpiece processing area. The motion trajectory must meet acceleration constraints, obstacle avoidance conditions, and processing cycle time requirements. For example, a smooth trajectory can be generated using a B-spline curve interpolation algorithm to ensure that the combined moving subunit's speed and acceleration remain continuous without abrupt changes during transportation. In an automotive welding line scenario, if the processing area is located at the end of the track (X = 5000mm), the shortest collision-free path will be calculated based on the current combined unit position (e.g., X = 3000mm), and sections occupied by other moving subunits or equipment will be dynamically avoided.

[0111] In step 602 of some embodiments, the real-time position of the combined mover unit and the planned motion trajectory are used to calculate the driving current value of each stator module in real time through a magnetic field-motion coupling model. Specifically, the model maps the target acceleration of the mover to the required electromagnetic thrust and inversely calculates the current command based on the stator winding parameters. A distributed thrust allocation strategy is adopted for the combined mover unit, dynamically distributing the total thrust according to the load capacity of each mover to avoid local overload.

[0112] In step 603 of some embodiments, the overall magnetic field coverage of the combined mover unit is calculated based on the number of combined movers and the magnetic grating length of a single mover (i.e., the physical length of the permanent magnet array at the bottom of the mover). The coverage is defined as the length of the magnetic field region occupied by the combined unit in the direction of motion, and the calculation formula is:

[0113] L_total=N×L_m+(N-1)×Δ

[0114] Where N is the number of combined movers, and Δ is the minimum allowable magnetic coupling distance between movers (e.g., 10mm). For example, when N = 2 and L_m = 200mm, L_total = 2 × 200 + 1 × 10 = 410mm. This parameter is used to determine the range of stator modules to be activated: current commands can be sent only to the stator windings within the coverage area, while the remaining stator modules enter a dormant state to reduce energy consumption.

[0115] Please see Figure 7 In some embodiments, step 603 may include, but is not limited to, steps 701 to 702.

[0116] Step 701: Determine the position of the leading edge and trailing edge of the magnetic grating for each mover based on the combined mover position information and the mover magnetic grating length.

[0117] Step 702: Map the position of the leading edge and trailing edge of the magnetic grating of each mover to the physical coordinates of the magnetic drive transport track, and calculate the magnetic field coverage of the combined mover unit.

[0118] In step 701 of some embodiments, the effective range of the magnetic grating for each mover can be calculated based on the real-time position of each mover in the combined mover unit and the physical length of its bottom magnetic grating (e.g., the mover body length is 1m, and the effective area of ​​the magnetic grating is 0.6m). Specifically, the leading edge position of the magnetic grating is the absolute coordinate of the termination end of the bottom magnetic grating of the mover in the direction of motion, and the trailing edge position is the absolute coordinate of the starting end of the magnetic grating. Figure 8As shown, if the center coordinate of the mover is 1000mm, the total length of the mover is 1000mm, and the magnetic grating is 600mm long and centrally located, then the rear edge of the magnetic grating is 1000mm - 300mm = 700mm (the starting end of the magnetic grating), and the front edge is 1000mm + 300mm = 1300mm (the ending end of the magnetic grating). This calculation requires a clear distinction between the length of the mover body and the effective length of the magnetic grating: the portions of the mover body extending beyond the magnetic grating at both ends (such as the front 200mm and rear 200mm) lack a magnetic grating structure and cannot couple with the stator magnetic field, therefore no electromagnetic force needs to be applied. By precisely defining the actual effective range of the magnetic grating, energy waste in ineffective areas can be avoided.

[0119] In step 702 of some embodiments, the leading and trailing edge coordinates of the magnetic gratings of all movers obtained in step 701 can be mapped to the physical coordinate system of the magnetic drive transport track, and the actual magnetic field coverage range of the combined mover unit can be determined by an interval merging algorithm. For example, if the combined unit contains two movers with magnetic grating coverage ranges of [700mm, 1300mm] and [1700mm, 2300mm] respectively, the merged magnetic field coverage range will be two independent intervals, and the stator module corresponding to the 400mm non-magnetic grating area (1300mm to 1700mm) does not need to be activated. This mapping process associates the physical positions of the track stator modules using a coordinate matching table: assuming the track is divided into stator control units every 50mm, the magnetic grating coverage area of ​​the first mover corresponds to stator modules 14-26 (700 / 50 = 14, 1300 / 50 = 26), and the second mover corresponds to stator modules 34-46 (1700 / 50 = 34, 2300 / 50 = 46). Drive current commands can be sent only to these modules, while stator modules in the interval sections (such as modules 27-33) remain in a dormant state.

[0120] Through steps 701 to 702, this embodiment achieves refined control and energy efficiency optimization of magnetic field resources: by accurately calculating the magnetic grating's effective range, driving current can be applied only to the stator modules within the effective coverage area, avoiding ineffective excitation of the mover body's ends and intervals. For example, in a scenario where the mover body is 1m and the magnetic grating is 0.6m, the traditional solution requires activating 20 stator modules (1m / 50mm = 20), while this method only activates 12 modules corresponding to the magnetic grating (0.6m / 50mm = 12), reducing ineffective energy consumption by 40%. Simultaneously, the discrete interval merging mechanism supports the coordinated transport of movers with discontinuous magnetic grating layouts, ensuring strict matching of thrust distribution during movement of multiple mover units and eliminating the risk of magnetic field breakage. Furthermore, dynamically mapping the stator module range reduces the complexity of control commands, improves the system's real-time response capability, and provides technical support for the stable operation of high-cycle production lines.

[0121] In step 604 of some embodiments, the drive current value calculated in step 602 is synchronously sent to the stator modules within the magnetic field coverage area via a real-time communication bus. For example, when the combined unit covers stator modules 50-54 of the track, a current waveform with adjustable phase difference is sent to these five modules respectively, so that the traveling wave magnetic field generated by it interacts with the mover magnetic grating, driving the combined unit to move along the track.

[0122] Please see Figure 9 In some embodiments, after step 205, steps 901 to 902 may also be included, but are not limited to.

[0123] Step 901: Based on the position information of the combined mover, control the combined mover unit to transport the processed target workpiece to the preset workpiece separation area for workpiece separation.

[0124] Step 902: After the processed target transport workpiece is separated from the combined moving unit, control the separation of multiple moving parts in the combined moving unit.

[0125] In step 901 of some embodiments, based on the real-time position information of the combined moving subunit and the preset coordinates of the workpiece separation area, a path is generated through a path replanning algorithm to control the combined moving subunit to move the processed target workpiece to the separation area. The separation area is equipped with a workpiece unloading mechanism (such as a robotic arm, lifting platform, or pneumatic gripper), whose trigger signal is linked to the position of the moving subunit: when the combined unit reaches the coordinates of the separation area, it can send a separation command to the unloading mechanism, for example, by de-energizing the electromagnet to release the workpiece, or by lifting the workpiece away from the moving subunit bearing surface through the lifting mechanism.

[0126] In step 902 of some embodiments, after the workpiece is successfully separated, a splitting command is sent to the combined moving unit to release the physical connection between the moving units. For physically coupled moving units, the electromagnetic adsorption mechanism is powered off or the mechanical latch retracts, allowing the moving units to return to an independent state. During splitting, a gradual separation strategy is adopted: first, the connection force between the moving units is released, and then the moving units are controlled to move in opposite directions with acceleration to avoid collisions due to inertia. For example, in the electromagnetic adsorption scheme, the adsorption current can be linearly reduced from 10A to 0A in 0.5 seconds, while different target positions are assigned to each moving unit (such as ±X direction offset of 200mm) to ensure a safe distance. After splitting, the moving units return to the idle queue or receive new task commands to enter the next round of combined scheduling cycle.

[0127] Through steps 901 to 902, this embodiment achieves full automation of the workpiece transportation and mover resource recovery process after processing: based on dynamic path planning and separation area collaborative control, the accuracy and efficiency of workpiece transfer are ensured; the progressive mover splitting mechanism avoids mechanical impact and position interference by decoupling force control and motion, ensuring equipment safety; the split movers are returned to the resource pool in real time, supporting rapid reorganization to adapt to the needs of new workpieces, reducing production line interruptions caused by manual intervention in traditional solutions.

[0128] This application also provides a mover control device for a magnetic drive system, which can implement the above-described mover control method for the magnetic drive system, see reference. Figure 10 The device includes:

[0129] The acquisition module 1001 is used to acquire the workpiece parameters of the target transported workpiece;

[0130] The determination module 1002 is used to determine the number of combined movers corresponding to the target transport workpiece based on the workpiece parameters.

[0131] The combination module 1003 is used to control a corresponding number of movers to move to a preset combination area for combination according to the number of combined movers, so as to form a combined mover unit;

[0132] The control module 1004 is used to acquire the position information of the combined mover of the combined mover unit in real time, and control the combined mover unit to transport the target and the workpiece to the preset workpiece processing area for processing based on the position information of the combined mover.

[0133] 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 system is basically the same as the specific implementation of the mover control method of the magnetic drive system described above, and will not be repeated here.

[0134] This application also provides an electronic device, including:

[0135] The magnetic drive system mover control method and apparatus proposed in this application, based on the weight and size of the target workpiece, accurately calculates the required number of combined movers using a preset mover load capacity mapping table and geometric coverage model: the workpiece weight is divided by the rated load capacity of a single mover and rounded up to obtain the minimum number of movers required to meet the load demand; simultaneously, based on the workpiece's geometric dimensions and the effective load-bearing area of ​​the movers, the minimum number of mover arrangements covering the bottom surface of the workpiece is calculated, and the larger of the two values ​​is selected as the combined number, ensuring both load capacity and support stability. During the combination phase, a specified number of movers are moved to a preset combination area using a magnetic field coordinated scheduling algorithm, forming combined mover units using electromagnetic adsorption or mechanical coupling, and the synchronization of multiple movers' movements is ensured through real-time position feedback and a master-slave control architecture. During transportation, the system dynamically calculates the magnetic field coverage area based on the real-time position information of the combined units, activating only the drive current of the corresponding stator module, avoiding ineffective excitation of non-magnetic grid areas (such as the interval between adjacent movers), and reducing energy consumption. Furthermore, after the assembly unit arrives at the processing area, a progressive disassembly strategy is used to disconnect the mover connection, releasing redundant mover resources and supporting rapid reconfiguration to adapt to new workpiece requirements, reducing downtime for adjustments. Through these technical means, this solution effectively solves the problem of insufficient production line flexibility caused by fixed mover specifications in traditional solutions: the dynamic assembly mechanism can cover loads across orders of magnitude, avoiding frequent mover replacements or mechanical structure modifications; simultaneously, the precise excitation and resource recovery mechanism based on the magnetic grating's effective range significantly improves energy efficiency and equipment utilization, thereby increasing the overall production line efficiency.

[0136] At least one memory;

[0137] At least one processor;

[0138] At least one program;

[0139] The program is stored in a memory, and the processor executes the at least one program to implement the actuator control method of the magnetic drive 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.

[0140] Please see Figure 11 , Figure 11 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes:

[0141] The processor 1101 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.

[0142] The memory 1102 can be implemented in the form of ROM (Read-Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1102 can store the operating system and other applications. 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 1102 and is called and executed by the processor 1101 to execute the actuator control method of the magnetic drive system in the embodiments of this application.

[0143] Input / output interface 1103 is used to implement information input and output;

[0144] The communication interface 1104 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0145] Bus 1105 transmits information between various components of the device (e.g., processor 1101, memory 1102, input / output interface 1103, and communication interface 1104);

[0146] The processor 1101, memory 1102, input / output interface 1103 and communication interface 1104 are connected to each other within the device via bus 1105.

[0147] 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 system.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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 method for controlling the mover of a magnetic drive system, characterized in that, The magnetic drive system includes multiple movers and a magnetic drive transport track. Multiple magnetic induction modules are disposed below the magnetic drive transport track, and multiple stator modules are disposed below the magnetic drive transport track. The stator modules are used to drive the movers to move on the magnetic drive transport track after being energized. The method includes: Obtain the workpiece parameters of the target transported workpiece; The number of combined movers corresponding to the target transport workpiece is determined based on the workpiece parameters; According to the number of combined movers, control the corresponding number of movers to move to the preset combination area for combination to form a combined mover unit; Real-time acquisition of the combined mover position information of the combined mover unit includes: acquiring position feedback data of each mover on the magnetic drive conveyor track in real time through multiple magnetic induction modules; classifying movers with adjacent mover spacing less than or equal to a preset intra-group spacing threshold into the same control logic group; identifying the foremost mover in the control logic group as the head mover, and determining the position feedback data of the head mover as the combined mover position information of the same control logic group; Controlling the combined mover unit to transport the target workpiece to a preset workpiece processing area based on the combined mover position information includes: generating a motion trajectory based on the combined mover position information and the workpiece processing area; calculating the drive current value of the stator module in real time based on the combined mover position information and the motion trajectory; calculating the magnetic field coverage range of the combined mover unit based on the number of combined movers and the preset mover magnetic grating length; and synchronously sending the drive current value to the stator module within the magnetic field coverage range, so that the combined mover unit moves along the motion trajectory until it reaches the workpiece processing area.

2. The mover control method for a magnetic drive system according to claim 1, characterized in that, After controlling the combined moving unit to transport the target workpiece to a preset workpiece processing area based on the combined moving unit position information, the process further includes: Based on the combined mover position information, the combined mover unit is controlled to transport the processed target workpiece to a preset workpiece separation area for workpiece separation; After the processed target transport workpiece is separated from the combined moving subunit, the multiple moving parts in the combined moving subunit are controlled to separate.

3. The mover control method for a magnetic drive system according to claim 1, characterized in that, The workpiece parameters include workpiece weight and workpiece dimensions. Determining the number of combined movers corresponding to the target transport workpiece based on the workpiece parameters includes: The first combination quantity is calculated based on the weight of the workpiece and the preset rated load capacity of a single mover; The second combination quantity is calculated based on the workpiece size and the preset effective bearing area of ​​a single moving part; The larger of the first combination quantity and the second combination quantity is determined as the number of combination movers.

4. The mover control method for a magnetic drive system according to claim 1, characterized in that, The step of controlling a corresponding number of movers to move to a preset combination area to combine and form a combined mover unit according to the number of combined movers includes: Multiple movers to be combined are determined based on the number of combined movers; Control the first of the plurality of movers to be combined to move to the combination region and remain stationary; The other actuators to be combined are sequentially controlled to move toward the combination region. In response to the magnetic grating spacing between two adjacent actuators to be combined being less than a preset locking threshold, the physical coupling device between the two adjacent actuators to be combined is triggered to lock, thereby obtaining the combined actuator unit.

5. The mover control method for a magnetic drive system according to claim 1, characterized in that, The step of calculating the magnetic field coverage range of the combined mover unit based on the number of combined movers and the preset mover magnetic grating length includes: Based on the combined mover position information and the mover magnetic grating length, determine the position of the leading edge and trailing edge of the magnetic grating for each mover; Map the position of the leading edge and the trailing edge of the magnetic grating of each mover to the physical coordinates of the magnetic drive transport track, and calculate the magnetic field coverage of the combined mover unit.

6. The mover control method for a magnetic drive system according to claim 4, characterized in that, Each of the aforementioned movers is configured with a unique mover identification sequence number. The step of controlling a corresponding number of movers to move to a preset combination area based on the number of combined movers is to form a combined mover unit, including: Based on the number of combined movers, determine multiple movers to be combined and the mover identification sequence number corresponding to each mover to be combined from among the multiple movers; Based on the actuator identifier sequence number determined by the first actuator to be combined, control the first actuator to be combined to move to the combination area and remain stationary; Based on the respective corresponding mover identification sequence numbers determined by the other movers to be combined, the other movers to be combined are controlled to move towards the combination area. In response to the magnetic grating spacing between two adjacent movers to be combined, as identified by their respective mover identification sequence numbers, being less than a preset locking threshold, the physical coupling device between the two adjacent movers to be combined is locked until all selected movers to be combined are combined to obtain the combined mover unit; wherein, the identification sequence number of the combined mover unit is determined to be the mover identification sequence number of the first mover to be combined.

7. A mover control device for a magnetic drive system, characterized in that, The magnetic drive system includes multiple movers and a magnetic drive transport track. Multiple magnetic induction modules are disposed below the magnetic drive transport track, and multiple stator modules are disposed below the magnetic drive transport track. The stator modules are used to drive the movers to move on the magnetic drive transport track when energized. The device includes: The acquisition module is used to acquire the workpiece parameters of the target transported workpiece; The determining module is used to determine the number of combined movers corresponding to the target transport workpiece based on the workpiece parameters; The combination module is used to control a corresponding number of movers to move to a preset combination area for combination according to the number of combined movers, so as to form a combined mover unit; The control module is used to acquire the combined mover position information of the combined mover unit in real time, including: acquiring the position feedback data of each mover on the magnetic drive conveyor track in real time through multiple magnetic induction modules; classifying movers with a spacing between adjacent movers less than or equal to a preset intra-group spacing threshold into the same control logic group; identifying the foremost mover in the control logic group as the head mover, and identifying the position feedback data of the head mover as the combined mover position information of the same control logic group; and further used to control the combined mover unit to transport the target workpiece to a preset workpiece processing area for processing based on the combined mover position information, including: generating a motion trajectory based on the combined mover position information and the workpiece processing area; calculating the drive current value of the stator module in real time based on the combined mover position information and the motion trajectory; calculating the magnetic field coverage range of the combined mover unit based on the number of combined movers and the preset mover magnetic grating length; and synchronously sending the drive current value to the stator module within the magnetic field coverage range, so that the combined mover unit moves along the motion trajectory until it reaches the workpiece processing area.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the actuator control method of the magnetic drive system according to any one of claims 1 to 6.

9. 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 actuator control method of the magnetic drive system according to any one of claims 1 to 6.

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