Magnetic drive conveying system, control method and related equipment

Abstract

The embodiment of the invention provides a magnetic drive conveying system, a control method and related equipment, the magnetic drive conveying system comprises a plurality of conveying rails, and each conveying rail comprises a plurality of stators; the at least one working rotor runs on the conveying track; the first transfer stator is provided with a plurality of transfer stations, and at least part of the transfer stations correspond to the conveying track; the transfer module comprises a transfer rotor and a second transfer stator, the second transfer stator is arranged on the transfer rotor, the transfer rotor is configured to be capable of being driven by the first transfer stator, the transfer rotor and the second transfer stator jointly move among a plurality of transfer stations, and the second transfer stator is configured to be capable of being driven by the first transfer stator when the transfer stator is located at the transfer station corresponding to the conveying track. And receiving the working rotor on the corresponding conveying track, or driving the working rotor to move to the corresponding conveying track. And the control processor is in communication connection with the stator, the working rotor, the first transfer stator and the transfer module, so that the development and long-term maintenance cost is greatly reduced.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to magnetic drive conveying systems, control methods and related equipment. Background Technology

[0002] In modern magnetically driven flexible conveyor systems, multiple parallel conveyor tracks are typically used to achieve flexibility and efficiency in production line layout. When it is necessary to transfer the workpiece-carrying moving part from one conveyor track to another, an independent electromechanical transfer module is commonly used. This module usually consists of a movable track section (i.e., a transfer section) and an external drive mechanism. The drive mechanism typically uses a servo motor in conjunction with a ball screw or synchronous belt or other mechanical transmission device. The servo motor and its driver have an independent control system that receives instructions from the host control processor via a dedicated industrial bus protocol to drive the transfer section to perform reciprocating linear motion on the preset track, thereby completing the cross-track transfer of the workpiece.

[0003] When using a servo motor-driven transport system, the magnetic drive conveyor system needs to integrate and maintain two distinct control systems: one for electromagnetic control of the magnetic drive motors and the other for servo motor control of the transport module. This heterogeneity leads to a complex and redundant software architecture. The control processor must develop and maintain independent communication protocol stacks, homing logic, and proprietary error code parsing processes for the servo motors, resulting in high maintenance costs for existing magnetic drive flexible conveyor systems. Summary of the Invention

[0004] This application provides a magnetic drive conveying system, control method, and related equipment, which can reduce the maintenance cost of magnetic drive flexible conveying systems.

[0005] To achieve the above objectives, a first aspect of this application provides a magnetic drive transport system, comprising: Multiple conveying tracks, each conveying track comprising multiple stators; At least one working mover, the working mover running on the conveying track; The first transfer stator has multiple transfer stations, wherein at least some of the transfer stations are arranged corresponding to the conveying track; The transfer module includes a rotating motion element and a second transfer stator. The second transfer stator is disposed on the rotating motion element. The rotating motion element is configured to be driven by the first transfer stator and move together with the second transfer stator between multiple transfer stations. The second transfer stator is configured to receive the working motion element on the corresponding conveying track or drive the working motion element to move to the corresponding conveying track when it is in the transfer station corresponding to the conveying track. The control processor is communicatively connected to the stator, the working rotor, the first transfer stator, and the transfer module.

[0006] In some embodiments, some of the transfer stations are correspondingly arranged with the conveying track and are located in the extension path of the corresponding conveying track, while the remaining transfer stations are located outside the extension path of the conveying track. or, Each of the aforementioned transfer stations is set up corresponding to the aforementioned conveying track.

[0007] In some embodiments, at least two of the multiple conveying tracks are arranged collinearly; Between any two collinear and adjacent conveying tracks, a first transfer stator and a transfer module are provided. One transfer station of the first transfer stator corresponds to one of the two conveying tracks, and the remaining transfer stations of the first transfer stator are located outside the extension path of the collinear conveying tracks.

[0008] In some embodiments, among the multiple conveying tracks, one of the conveying tracks is a first conveying track, one of the conveying tracks is a second conveying track, one of the conveying tracks is a third conveying track, and one of the conveying tracks is a fourth conveying track. The first conveying track, the second conveying track, and the third conveying track are arranged collinearly, and the fourth conveying track is parallel to the first conveying track but not collinear. The number of the first transfer stator and the transfer module are both multiple sets, wherein one set of the multiple sets of the first transfer stator is the first transfer stator one, and the other set is the first transfer stator two; Wherein, the first transfer stator is located at one end of the fourth conveying track, one transfer station of the first transfer stator is correspondingly set to the fourth conveying track, and the other transfer station is correspondingly set to the first conveying track and the second conveying track. The first transfer stator is located at the opposite end of the fourth conveying track, one transfer station of the first transfer stator is correspondingly set to the fourth conveying track, and the other transfer station is correspondingly set to the second conveying track and the third conveying track.

[0009] To achieve the above objectives, a second aspect of this application provides a control method for a magnetic drive conveyor system, as shown in the first aspect, wherein the method is applied to the control processor, and the method includes: In response to the transfer command of the working mover, determine the transfer start position and transfer end position of the working mover; When the working mover runs to the second transfer stator at the transfer start position, the moving mover is controlled based on the transfer control parameters so that the moving mover carries the second transfer stator and the working mover from the transfer start position to the transfer end position; The transfer control parameters are generated based on the transfer start position and the transfer end position.

[0010] In some embodiments, the step of generating the transfer control parameters includes: Obtain the operation control algorithm of the working mover; When the working rotor is loaded onto the second transfer stator, the transfer bearing weight of the rotating rotor is obtained; The transfer control parameters are obtained based on the transfer start position, the transfer end position, the transfer load weight, and the operation control algorithm.

[0011] In some embodiments, when the rotating motion vehicle carrying the second transfer stator and the working motion vehicle moves from the transfer start position to the transfer end position, the method further includes: Obtain the real-time transfer position, real-time transfer velocity, and real-time transfer acceleration of the rotating motion vehicle; Based on the real-time transfer speed and the real-time transfer acceleration, the real-time transfer braking distance of the rotating vehicle is calculated. Based on the length of the first transfer stator and the real-time transfer position, the remaining length of the transfer segment is determined; When the remaining length of the transfer section is less than the real-time transfer braking distance, the rotating motor is controlled to decelerate.

[0012] In some embodiments, the transfer termination position includes a first termination position and a second termination position, and controlling the transfer actuator based on transfer control parameters includes: Based on the first control parameter in the transfer control parameters, the transfer vehicle is controlled to run from the transfer start position to the first end position; In response to the command to continue driving, the rotating vehicle is controlled to move from the first termination position to the second termination position based on the second control parameter in the transfer control parameters.

[0013] In some embodiments, when the rotating motion device malfunctions, the method further includes: Obtain the abnormal state information of the rotating motion vehicle; Based on a preset standard format, the abnormal state information is converted into standard abnormal information; Obtain the abnormal handling data of the working actuator, and determine the abnormal handling measures that match the abnormal information from the abnormal handling data; The rotating motion device is repaired based on the aforementioned anomaly handling measures.

[0014] To achieve the above objectives, a third aspect of this application provides a control device for a magnetic drive conveying system, the device being applied to the control processor, the device comprising: A response module is used to determine the starting position and ending position of the transfer of the working move in response to the transfer command of the working move; The control module is configured to control the rotating motion based on transfer control parameters when the working motion moves to the second transfer stator at the transfer start position, so that the rotating motion carries the second transfer stator and the working motion from the transfer start position to the transfer end position; wherein the transfer control parameters are generated based on the transfer start position and the transfer end position.

[0015] To achieve the above objectives, a fourth 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 control method of the magnetic drive transport system as described in the second aspect.

[0016] To achieve the above objectives, a fifth 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 control method of the magnetic drive transport system described in the second aspect above.

[0017] The magnetic drive conveying system, control method, and related equipment proposed in this application include a first transfer stator and a transfer module in which a rotating motion unit carries a second transfer stator. A control processor is communicatively connected to the stator, the working motion unit, the first transfer stator, and the transfer module. The rotating motion unit is configured to be driven by the first transfer stator and moves together with the second transfer stator between multiple transfer stations. When the second transfer stator is at a transfer station corresponding to a conveying track, it can accept the working motion unit on the corresponding conveying track or drive the working motion unit to move to the corresponding conveying track, thereby completing the transfer of working motion units between multiple conveying tracks. This application embodiment solves the control system heterogeneity problem caused by traditional servo motor solutions by setting up a transfer module in which a rotating motion element carries a second transfer stator. Since the rotating motion element is essentially the same type of electromagnetic drive element as the working motion element, the control processor can seamlessly integrate it into a unified magnetic drive element control framework for management. This makes the control architecture of the entire conveying system homogeneous, eliminating the need to develop and maintain an independent servo communication protocol stack, homing logic, and private error code parsing process for the transfer module. This significantly simplifies the complexity of the system software, greatly reduces development and long-term maintenance costs, and improves the overall compatibility and scalability of the system.

[0018] Other features and advantages of this application will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description, claims and drawings. Attached Figure Description

[0019] Figure 1 This is a top view of the structure of a magnetic drive conveying system provided in another embodiment of this application.

[0020] Figure 2 This is a front view of the structure of a magnetic drive conveying system provided in another embodiment of this application.

[0021] Figure 3 This is a schematic diagram of the structure of a transfer module provided in another embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the back-cut control of a magnetic drive conveyor system provided in another embodiment of this application.

[0023] Figure 5 This is a schematic diagram of the product structure of a magnetic drive conveying system provided in another embodiment of this application.

[0024] Figure 6 This is a schematic diagram of the starting position and target position in a magnetic drive conveying system according to another embodiment of this application.

[0025] Figure 7 This is a flowchart of a control method for a magnetic drive conveying system provided in another embodiment of this application.

[0026] Figure 8 This is a flowchart illustrating the generation of transfer control parameters provided in another embodiment of this application.

[0027] Figure 9 This is a braking control flowchart of a rotating motor provided in another embodiment of this application.

[0028] Figure 10 This is a control flowchart with two target termination positions provided in another embodiment of this application.

[0029] Figure 11 This is a flowchart of abnormal handling of rotating motion devices provided in another embodiment of this application.

[0030] Figure 12 This is a flowchart of a configuration file determining the type of the active component, provided in another embodiment of this application.

[0031] Figure 13 This is a flowchart illustrating the effect of a gain parameter, provided in another embodiment of this application.

[0032] Figure 14 This is a flowchart of a path planning algorithm constraint provided in another embodiment of this application.

[0033] Figure 15 This is another embodiment of the present application that provides a standardized flowchart for exception handling.

[0034] Figure 16 This is a schematic diagram of the structure of the control device of a magnetic drive conveying system provided in an embodiment of this application.

[0035] Figure 17 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0036] 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.

[0037] 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.

[0038] 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.

[0039] In modern magnetically driven flexible conveyor systems, multiple parallel conveyor tracks are typically used to achieve flexibility and efficiency in production line layout. When it is necessary to transfer the workpiece-carrying moving part from one conveyor track to another, an independent electromechanical transfer module is commonly used. This module usually consists of a movable track section (i.e., a transfer section) and an external drive mechanism. The drive mechanism typically uses a servo motor in conjunction with a ball screw or synchronous belt or other mechanical transmission device. The servo motor and its driver have an independent control system that receives instructions from the host control processor via a dedicated industrial bus protocol to drive the transfer section to perform reciprocating linear motion on the preset track, thereby completing the cross-track transfer of the workpiece.

[0040] When using a servo motor-driven transport system, the magnetic drive conveyor system needs to integrate and maintain two distinct control systems: one for electromagnetic control of the magnetic drive motors and the other for servo motor control of the transport module. This heterogeneity leads to a complex and redundant software architecture. The control processor must develop and maintain independent communication protocol stacks, homing logic, and proprietary error code parsing processes for the servo motors, resulting in high maintenance costs for existing magnetic drive flexible conveyor systems.

[0041] Furthermore, this servo motor-driven transport scheme typically requires the controller to check the servo motor's zero-return flag, set the servo motor's stopping position coordinates, and then send position commands to the servo driver via the industrial bus. The servo driver then performs position loop, speed loop, and current loop control calculations based on the position commands before controlling the servo motor to rotate. This is achieved by converting the mechanical device into linear thrust to realize the cross-track transport of the working mover. As a result, the software needs to embed a servo motor zero-return module into the control logic, and additionally perform zero-return status polling, zero-return trajectory planning, and zero-point verification. This process is coupled with the main control thread, increasing maintenance costs.

[0042] To reduce the maintenance cost of the magnetic drive flexible conveyor system, this application embodiment solves the control system heterogeneity problem caused by the traditional servo motor solution by setting up a transfer module in which the rotating motion element carries the second transfer stator. Since the rotating motion element is essentially the same type of electromagnetic drive element as the working motion element, the control processor can seamlessly integrate it into the unified magnetic drive element control framework for management, so that the control architecture of the entire conveyor system is homogeneous. There is no need to develop and maintain an independent servo communication protocol stack, homing logic and private error code parsing process for the transfer module, which significantly simplifies the complexity of the system software, greatly reduces the development and long-term maintenance costs, and improves the overall compatibility and scalability of the system.

[0043] The magnetic drive conveyor system, control method, and related equipment provided in the embodiments of this application will be further described below. To better illustrate the control method of the magnetic drive conveyor system provided in the embodiments of this application, this embodiment first describes the magnetic drive conveyor system applying the control method.

[0044] Reference Figure 1 This is a top view of the structure of a magnetic drive conveying system provided in an embodiment of this application. (Refer to...) Figure 2 This is a front view of a magnetic drive conveyor system provided in an embodiment of this application. The magnetic drive conveyor system includes multiple conveyor tracks and at least one working mover. (See attached diagram.) Figure 1 In the top view shown, multiple conveyor tracks can be arranged in parallel or other topological configurations, providing flexible path selection for the production process. Each conveyor track consists of multiple stators arranged sequentially. The stator is an electromagnetic unit with embedded coils, which generates a precisely time-varying magnetic field by being programmed to be energized. Correspondingly, the moving part is a mobile carrier carrying permanent magnets. Its function is to move precisely along the conveyor track under the driving force of the traveling wave magnetic field generated by the stator to complete tasks such as conveying, positioning, and processing of workpieces.

[0045] In some embodiments, to enable the lateral transfer of the working mover between different transport tracks, a first transfer stator and a transfer module are provided in the magnetic drive transport system. (See attached...) Figure 1 As shown, the first transfer stator is itself a fixed straight track, and its physical structure is similar to that of the stator of the conveying track. It is usually arranged on one side of multiple conveying tracks and perpendicular to their direction (e.g.). The dedicated function of this first transfer stator is to provide the trajectory and driving force for the transfer module. The transfer module, as the core transfer mechanism of this system, is constructed to include a rotating motion vehicle and a second transfer stator.

[0046] Reference Figure 3 This is a schematic diagram of a transfer module provided in an embodiment of this application. Figure 3As shown, the second transfer stator is fixedly positioned above the rotating motion unit, forming a stacked structure. This rotating motion unit, while electromagnetically similar to the working motion unit, does not function as a workpiece carrier but rather as a power platform supporting the second transfer stator above it. The second transfer stator is a movable module, physically equivalent to a short section of a conveyor track (like the stator in a conveyor track). Therefore, the rotating motion unit, carrying the second transfer stator, achieves overall translational movement under the magnetic field drive of the first transfer stator. The starting position of this transfer module can be precisely aligned with the corresponding transfer station on any conveyor track, ready for connection operations.

[0047] The first transfer stator has multiple transfer stations, which serve as intermediate hubs for temporarily storing workpieces or connecting and transferring workpieces. At least some of the transfer stations are correspondingly arranged with the conveyor track, thereby enabling the connection and transfer of workpieces between the aforementioned transfer stations and the conveyor track.

[0048] When the second transfer stator is in the transfer station aligned with the conveying track, the second transfer stator is collinear with the conveying track. At this time, the second transfer stator can receive the working mover on the conveying track or drive the working mover located on the second transfer stator to move to the conveying track.

[0049] The second transfer stator is mounted on the rotating motion unit, which is driven by the magnetic field generated by the first transfer stator. The rotating motion unit moves together with the second transfer stator between multiple transfer stations, meaning the transfer module moves between these stations. This allows the second transfer stator to switch positions between the multiple transfer stations, enabling the transfer of the working motion unit between different conveyor tracks.

[0050] In some embodiments, the operation of the entire magnetic drive conveyor system is uniformly scheduled and controlled by a central control processor. This control processor establishes communication connections with all electromagnetic drive components within the system via industrial bus or other communication methods. This includes all working movers running on the conveyor tracks, as well as rotating movers dedicated to driving the transfer modules. When a working mover needs to be transferred across tracks, it first moves to the transfer module at the starting position, smoothly moving from the end of the conveyor track to the aligned second transfer stator. At this point, the control processor responds with a transfer command to transport the working mover to the target position (e.g., the transfer station corresponding to another conveyor track). Upon receiving the command, the control processor does not need to communicate with a separate, heterogeneous servo control system, but directly issues motion commands similar to those controlling the working movers to the rotating movers. This allows the rotating mover, as the power source, carrying the second transfer stator above it and the working movers above it, to smoothly move from the starting position to the target position as a whole, thus efficiently and accurately completing the entire transfer process.

[0051] In some embodiments, some transfer stations are correspondingly located within the extension path of the corresponding conveyor track, while the remaining transfer stations are located outside the extension path of the conveyor track. It is understood that the transfer modules and workpieces at the transfer stations located outside the aforementioned extension path of the conveyor track have been removed from the main production line. See details... Figure 4 This is a schematic diagram of the back-cut control of a magnetic drive conveyor system provided in an embodiment of this application. Figure 4 As shown, the transfer module and the first transfer stator provided in this application can also work together to achieve a flexible "return cut process". This process first involves moving a working mover running on a specific conveyor track to a transfer module aligned with it. Subsequently, the control processor drives the transfer module to run a distance along the first transfer stator, causing the working mover to temporarily detach from the main production line process. In this detached state, the working mover can wait (e.g., wait for the processing equipment at its original position to become available), and then the transfer module can precisely send it back to the connection position of the original conveyor track; alternatively, the control processor can directly instruct the transfer module to transport the working mover to another target conveyor track, thereby achieving dynamic production path replanning. In some other embodiments, each transfer station is set up corresponding to a conveyor track, that is, there is no waiting position as described above, and the first transfer stator and transfer module are only used for transferring workpieces between multiple conveyor tracks.

[0052] In some specific embodiments, at least two of the multiple conveying tracks are arranged collinearly. Between any two collinear and adjacent conveying tracks, a first transfer stator and a transfer module are provided. A transfer station of the first transfer stator corresponds to one of the two conveying tracks. Thus, when the transfer module is in the transfer station, the moving part can move from the two conveying tracks to the transfer module, or from the transfer module to the conveying track.

[0053] The remaining transfer stations of the first transfer stator are located outside the extended path of the collinear conveying track. Thus, when the transfer module is at the transfer station, the working mover can move from the two conveying tracks to the transfer module and be transferred to the transfer station outside the extended path under the drive of the first transfer stator.

[0054] For example, among multiple conveying tracks, one conveying track is a first conveying track, one conveying track is a second conveying track, one conveying track is a third conveying track, and one conveying track is a fourth conveying track. The first conveying track, the second conveying track, and the third conveying track are arranged collinearly, and the fourth conveying track is parallel to the first conveying track but not collinear.

[0055] The number of first transfer stators and transfer modules are both multiple sets. Among them, one set of first transfer stators is first transfer stator one, and the other set is first transfer stator two. It can be understood that transfer modules are correspondingly set on first transfer stator one and first transfer stator two.

[0056] The first transfer stator is located at one end of the fourth conveying track and between the first and second conveying tracks. One transfer station of the first transfer stator is set corresponding to the fourth conveying track, and the other transfer station is set corresponding to the first and second conveying tracks.

[0057] The first transfer stator is located at the opposite end of the fourth conveying track, and between the second and third conveying tracks. One transfer station of the first transfer stator is set corresponding to the fourth conveying track, and the other transfer station is set corresponding to the second and third conveying tracks.

[0058] In the above example, during operation, the vehicle moves from the first conveyor track to the third conveyor track, following the following two conveying paths: The working mover enters the transfer module on the first transfer stator from the first conveying track, and then enters the second conveying track under the drive of the transfer module. The second conveying track drives the working mover to enter the transfer module on the first transfer stator, and then the transfer module on the first transfer stator drives it to enter the third conveying track. The working mover enters the transfer module on the first transfer stator from the first conveying track, and is driven by the first transfer stator to another transfer station. Then, it is driven by the transfer module corresponding to the first transfer stator to the fourth conveying track. The fourth conveying track drives the working mover to the transfer module on the first transfer stator, and is driven by the first transfer stator to another transfer station corresponding to the third conveying track. Then, it is driven by the transfer module on the first transfer stator to the third conveying track.

[0059] In the above example, in areas of the production line with low processing efficiency, one or more sets of conveyor tracks are arranged side by side. The conveyor tracks are transferred between each other through a first transfer stator and a transfer module, thereby speeding up the production cycle.

[0060] Reference Figure 5 This is a schematic diagram of the product structure of a magnetic drive conveying system provided in an embodiment of this application. Figure 5The diagram illustrates a closed-loop conveyor track composed of multiple stators connected in sequence. This track includes parallel straight sections and curved sections connecting the two ends. Multiple moving parts, driven by the electromagnetic force generated by the stators, can perform high-speed, high-precision cyclic motion along this conveyor track. This figure clearly reveals the application background of the technical solution of this application: a magnetically driven flexible conveyor platform comprising a conveyor track, stators, and moving parts. The core of this application—the transfer module (i.e., composed of a second transfer stator and rotating moving parts)—is designed to solve the problem of how to efficiently and seamlessly transfer moving parts laterally from one conveyor track (e.g., the upper track in the diagram) to another parallel conveyor track (e.g., the lower track in the diagram) in such systems, thereby enabling more complex production layouts and processes.

[0061] The magnetic drive conveyor system provided in this application achieves a fundamental simplification and homogenization of the control architecture. It replaces the traditional "servo motor," which requires an independent control system, with a "rotating motion unit," essentially part of the magnetic drive system, as the drive source for the transfer module. This allows the control processor to simultaneously manage the motion of both the working motion unit and the rotating motion unit using a unified software algorithm, communication protocol, and exception handling framework designed specifically for the magnetic drive unit. This completely eliminates the technical pain points caused by the heterogeneity of the control system, such as software development redundancy, difficulties in multi-protocol adaptation, and complex private error code parsing. Ultimately, this solution not only significantly reduces the system's development and long-term maintenance costs but also greatly improves the system's integration, compatibility, and intelligence level.

[0062] Reference Figure 6 This is a schematic diagram of the starting and target positions in a magnetic drive conveyor system provided in an embodiment of this application. Figure 6 As shown, this application precisely defines the physical layout of the transfer mechanism to support flexible inter-track transfers. Figure 6 The diagram schematically illustrates the journey of a transfer module from a "starting position" to a "target position." The first transfer stator, the fixed track supporting the transfer module, is laid across at least one side of two or more conveyor tracks. This arrangement ensures that the transfer module's range of motion is sufficient to cover multiple production stations or lines. Correspondingly, the starting position of the transfer module is not fixed but can be dynamically set to one side of any conveyor track covered by the first transfer stator. This means that the transfer module can precisely stop and align with any designated conveyor track within the system as the starting point for receiving or sending working components.

[0063] like Figure 6 As shown, the target location can be any point in the first transfer stator (e.g., Figure 6The target position 1) is to facilitate the machining machine to process the workpiece carried by the working mover at that position, or it can be a point in the first transfer stator that comes into contact with another conveyor track (e.g. Figure 6 The target position 2 is selected so that the working mover can move from the target position 2 to another conveyor track.

[0064] When the target location is as follows Figure 6 When the target position 2 (pointing to the target conveyor track) is shown, the process begins with a working mover running along its conveyor track to the transfer module at the starting position and smoothly stopping on the second transfer stator. Once the working mover is in position and the control processor receives a transfer command pointing to a specific target conveyor track, the control processor initiates the transfer operation. It precisely controls the rotating mover carrying the second transfer stator and the working mover, causing it to run along the first transfer stator from its current starting position to a new position precisely aligned with the target conveyor track. Here, the "target conveyor track" is any one of the multiple conveyor tracks within the system, thus completing a full point-to-point cross-track transport task.

[0065] By precisely defining the transfer layout and control process as described above, the magnetic drive conveyor system provided in this application achieves highly flexible and software-defined material path planning capabilities. It abstracts a physical lateral transfer action into a logical instruction at the software level, moving from an "arbitrary starting track" to an "arbitrary target track." Since the entire process is completed by a unified control processor within a homogeneous magnetic drive control framework, the system can easily achieve dynamic production scheduling. For example, it can transfer moving parts from busy conveyor tracks to idle tracks based on real-time operating conditions to achieve load balancing, or flexibly change the workpiece flow path according to process requirements. This inherent flexibility greatly enhances the adaptability and production efficiency of the entire production line, while maintaining the simplicity and maintainability of the control system architecture.

[0066] Based on the above-described magnetic drive conveyor system, the control method of the magnetic drive conveyor system in the embodiments of this application will be described in detail below. (Refer to...) Figure 7 This is an optional flowchart of the control method for the magnetic drive conveyor system provided in the embodiments of this application. Figure 7 The method may include, but is not limited to, steps 701 to 702. It is also understood that this embodiment... Figure 7 The order of steps 701 to 702 is not specifically limited; the order of steps can be adjusted or certain steps can be added or removed according to actual needs. The control method for the magnetic drive conveyor system provided in this application embodiment can be applied to the control processor of the magnetic drive conveyor system, or to intelligent terminals, servers, computers, etc. connected to the magnetic drive conveyor system.

[0067] Step 701: In response to the transfer command of the working mover, determine the starting position and ending position of the transfer of the working mover.

[0068] Step 701 will be described in detail below.

[0069] In some embodiments, based on the magnetic drive conveyor system described above, the planning and parsing phase of the transfer task is first executed. When the control processor receives a transfer instruction for a specific moving part, this instruction is typically a high-level logical command, such as "transfer moving part 3 on track A to track C". The control processor responds immediately to this instruction and parses it into specific physical path parameters. Specifically, it "determines the starting and ending positions of the moving part's transfer," where "position" refers to the precise coordinates of the transfer module on the physical track of the first transfer stator. The starting position is the coordinate point where the transfer module must stop to connect to the moving part on the source track, while the ending position is the coordinate point that the transfer module must reach to unload the moving part to the target track, such as... Figure 6 The starting and ending positions shown are illustrated, where the starting position is a transfer station corresponding to one conveyor track, and the ending position can be a transfer station corresponding to another conveyor track or one of the remaining transfer stations on the first transfer stator. This step provides a clear path planning basis for subsequent physical movements.

[0070] In addition, the control processor of the magnetic drive conveying system of this application may also store a configuration file. The configuration file is used to describe the road segment topology. By setting a certain attribute for the road segment in the configuration file, the control processor can determine which magnetic drive units are rotating motors and which motors are working motors after parsing the configuration file.

[0071] Because the loads of the driving and rotating actuators are different, they require different gain parameters. Multiple sets of gain parameters (such as default gain parameters and special gain parameters) can be set in the configuration file. When the control processor determines that a magnetic actuator is the driving actuator, it uses the default gain parameters; otherwise, it uses the special gain parameters.

[0072] In one example, because the loads on the working mover and the rotating motioner are different, they require different gain parameters. Multiple sets of gain parameters can be set in the configuration file, for example (the following parameters are for illustrative purposes only): Default gain parameters: Proportional gain (Kp): 10000, Differential gain (Kd): 4000, Integral gain (Ki): 4000; Special gain parameters: Proportional gain (Kp): 100, Differential gain (Kd): 0, Integral gain (Ki): 200000.

[0073] Step 702: When the working mover runs to the second transfer stator at the transfer start position, the rotating mover is controlled based on the transfer control parameters so that the rotating mover carries the second transfer stator and the working mover from the transfer start position to the transfer end position.

[0074] Step 702 will be described in detail below.

[0075] In some embodiments, the physical execution phase of the transfer task begins. Once the working mover has successfully moved from its designated transport track to the second transfer stator docked at the transfer start position, and the working mover has been confirmed to have safely "boarded," the control processor "controls the moving mover based on transfer control parameters." These "transfer control parameters" are a set of parameters containing complete motion curve information, such as acceleration, maximum speed, deceleration, and PID gain, dynamically generated from the transfer start and end positions determined in the previous step. Using these parameters, the control processor directly drives the moving mover, enabling it to carry the second transfer stator above and the working mover above, as a whole, smoothly and precisely moving along the first transfer stator from the transfer start position to the transfer end position, thus completing the entire physical transfer journey.

[0076] The following describes how to generate these transport control parameters.

[0077] Reference Figure 8 The steps for generating transfer control parameters include steps 801 to 803.

[0078] Step 801: Obtain the operation control algorithm of the working mover.

[0079] Step 802: Obtain the transfer load weight of the rotating motion when the second transfer stator is loaded with the working motion.

[0080] Step 803: Based on the starting position of the transfer, the ending position of the transfer, the weight carried by the transfer, and the operation control algorithm, obtain the transfer control parameters.

[0081] Steps 801 to 803 are described in detail below.

[0082] In some embodiments, the core of this application lies in reusing existing software rather than creating a completely new set of control logic for the transfer module. Based on this, when generating transfer control parameters, the operating control algorithm of the working mover is first obtained. That is, the control processor actively calls and loads the core motion control algorithm that is already running stably within the system and is used to drive the conventional working mover. Here, the "operating control algorithm" is a mature software module that encapsulates a series of basic functions such as path planning, speed curve generation, PID (proportional-integral-derivative) closed-loop control, and collision avoidance logic. By obtaining this algorithm, this method establishes a unified control framework, ensuring that the control of the rotating mover and the control of the working mover are consistent at the underlying logic level.

[0083] In the coordinated control of the rotary motion unit and the working motion unit, the original coordinated control scheme of the servo motor and the working motion unit is partially reused. However, the rotary motion unit replaces the original servo motor, and more options are provided for motion control. The servo motor only provides simple point-to-point fixed path motion, while the rotary motion unit can not only provide point-to-point motion, but also perform synchronization functions and cam curves.

[0084] In this embodiment, the rotating motion vehicle directly reuses the motion control method of the working motion vehicle, leveraging its simple motion trajectory and simple collision avoidance scenarios to directly reuse the original path planning of the working motion vehicle. Because the motion trajectory of the rotating motion vehicle is simple—the working motion vehicle needs to operate on a single segment or across segments, while the rotating motion vehicle only needs to perform reciprocating motion on a fixed straight trajectory—the rotating motion vehicle can directly reuse the motion planning interface of the working motion vehicle and configure it through configuration files.<bTranpath = false> To disable the route planning function across road segments.

[0085] Therefore, this application also focuses on obtaining the key physical parameters necessary for precise control of the rotating motion unit. Specifically, this step also requires obtaining the load-bearing weight of the rotating motion unit when the second stator is loaded with the working mover. Since the load on the rotating motion unit is dynamic (sometimes it only needs to support the second stator, and sometimes it needs to support an additional working mover and its workpiece), precise control must consider its current total inertia. The control processor determines the total load mass, i.e., the "load-bearing weight," in this transfer task through preset configuration data, sensor measurements, or upper-level logic judgments. This weight parameter is the fundamental basis for subsequent dynamic calculations and control processor gain adjustments.

[0086] Next, the acquired information is integrated, specifically, "transfer control parameters are obtained based on the transfer start and end positions, transfer load weight, and operation control algorithm." In particular, the control processor takes the transfer path information (start and end positions) and load information (transfer load weight) as inputs and substitutes them into the acquired general operation control algorithm. This algorithm dynamically calculates a set of "transfer control parameters" tailored to this transfer task based on these inputs. This set of parameters is a complete data structure, including the optimal S-shaped acceleration / deceleration curve, PID gain values ​​(Kp, Ki, Kd) adapted to the current load, maximum speed limits, and key location points along the journey, providing a direct and precise instruction set for subsequent physical actuation.

[0087] Through steps 801 to 803 above, a highly efficient and flexible "software-defined" control parameter generation mechanism is implemented. A standardized "run control algorithm" is used as a configurable engine, automatically generating targeted control commands by dynamically injecting task-related "path" and "load" parameters. This method avoids hard-coding fixed motion programs for the transfer module, greatly improving code reusability and system maintainability. More importantly, it endows the transfer system with unprecedented adaptability, enabling it to automatically generate optimal motion curves for transfer tasks of different weights and strokes, thereby ensuring the efficiency, stability, and accuracy of the entire transfer process.

[0088] Reference Figure 9 When the rotating motion vehicle carries the second transfer stator and the working motion vehicle from the transfer start position to the transfer end position, the control method of the magnetic drive conveying system further includes the following steps 901 to 904.

[0089] Step 901: Obtain the real-time transfer position, real-time transfer speed, and real-time transfer acceleration of the rotating particle.

[0090] Step 902: Calculate the real-time transfer braking distance of the rotating motion vehicle based on the real-time transfer speed and real-time transfer acceleration.

[0091] Step 903: Determine the remaining length of the transfer segment based on the length of the first transfer stator and the real-time transfer position.

[0092] Step 904: When the remaining length of the transfer section is less than the real-time transfer braking distance, control the rotating motor to decelerate.

[0093] Steps 901 to 904 are described in detail below.

[0094] In some embodiments, to improve the operational safety of the rotating motion vehicle, this application also continuously performs real-time monitoring of the motion state of the transfer module during operation. By acquiring the real-time transfer position, real-time transfer speed, and real-time transfer acceleration of the rotating motion vehicle, the control processor collects its current position data at high frequency through position sensors (such as Hall sensors or encoders) throughout the entire process of the rotating motion vehicle running along the first transfer stator, and obtains the instantaneous speed and acceleration by performing differential operations on the position data. These three parameters together constitute the complete kinematic state of the rotating motion vehicle at any given moment, providing a real-time and accurate data foundation for subsequent predictive control.

[0095] Similar to the motion control method that reuses the working mover, the rotating mover directly reuses the collision avoidance control algorithm of the working mover. Leveraging its simple motion trajectory and simple collision avoidance scenarios, it directly reuses the collision avoidance interface. Because the collision avoidance scenarios for the rotating mover are simpler—the working mover needs to consider end-point collision avoidance, collision avoidance with other moves, and collision avoidance with external mechanisms; the rotating mover only needs to consider end-point collision avoidance—the rotating mover can directly reuse the collision avoidance calculation interface of the working mover and configure it through configuration files.<bCarMtrPath = true> To limit the use of only end-collision avoidance algorithms.

[0096] Based on this, predictive safety calculations are performed, specifically calculating the real-time braking distance of the rotating vehicle based on its real-time transfer speed and acceleration. This "real-time braking distance" is a dynamically calculated value, representing the minimum distance the rotating vehicle needs to slide from the current moment to a complete stop if maximum braking is immediately applied under the current motion state. This calculation comprehensively considers the current initial velocity, acceleration (which may affect braking response), and the system's preset maximum braking deceleration, thus deriving a precise safety margin that changes in real-time with the motion state.

[0097] Simultaneously, it is also necessary to calculate the available physical space for the rotating vehicle. This involves determining the remaining length of the transfer segment based on the length of the first transfer stator and the real-time transfer position. The "length of the first transfer stator" is the total physical length of the track where the transfer module is located; this is a known and fixed system parameter. By subtracting the acquired "real-time transfer position" from this total length, the control processor can accurately calculate how much available physical travel remains ahead of the rotating vehicle, i.e., the "remaining length of the transfer segment."

[0098] Finally, when the remaining length of the transfer segment is less than the real-time transfer braking distance, the system controls the rotating motor to decelerate. Specifically, the control processor performs this comparison in each control cycle. Once it is found that the available physical space (remaining length of the transfer segment) is insufficient to accommodate the distance required for a safe stop (real-time transfer braking distance), the system no longer waits for the preset deceleration point but immediately intervenes, controlling the rotating motor to begin the deceleration procedure to ensure that it can stop smoothly and safely before reaching the end of the track.

[0099] In one example, the end-collision avoidance function requires parameters including: forward end-collision avoidance distance. : Minimum distance from the moving part to the positive end of the road segment (i.e., the remaining length of the positive transfer section), and negative end collision avoidance distance. : Minimum distance from the moving part to the negative end of the road segment (i.e., the remaining length of the negative transfer segment).

[0100] The deceleration trigger logic is: braking distance formula (i.e., real-time transfer braking distance), where It is the current velocity of the rotating rotor. It is the current acceleration of the rotating particle.

[0101] Case 1: The rotating motion unit moves in the direction of increasing position, and the current position of the rotating motion unit is defined. First transfer stator length When the conditions are met At that moment, the rotating rotor immediately begins to decelerate.

[0102] Case 2: The rotating rotor moves in the direction of decreasing position, when the condition is met. At that moment, the moving part immediately begins to decelerate.

[0103] Through the coordinated operation of steps 901 to 904 above, a dynamic, real-time closed-loop end-of-line collision avoidance safety mechanism is constructed. Unlike traditional methods that rely on fixed limit switches or pre-programmed deceleration points, this application forms a mobile safety "protective shield" by dynamically calculating and comparing the "required braking distance" and "available remaining distance" in real time. This not only reliably prevents the rotating vehicle from colliding with the end of the track due to accidental overspeed or control delay, greatly improving the safety and robustness of equipment operation, but also allows the system to optimize the motion curve as much as possible within the safety boundary, thereby maximizing transfer efficiency while ensuring absolute safety.

[0104] In one example, such as Figure 6As shown, there is a situation where the working mover needs to first run to target position 1 for processing, and after completing the processing, it runs to target position 2 to move to another conveyor track. Therefore, in this case, the termination position includes a first termination position (corresponding to, for example, ...). Figure 6 The target position 1 and the second termination position (corresponding to, as shown) are shown in the figure. Figure 6 Target location 2 shown in the figure.

[0105] Reference Figure 10 The process of controlling the rotating motion based on the transfer control parameters includes the following steps 1001 to 1002.

[0106] Step 1001: Control the rotating motion vehicle to run from the starting position to the first ending position based on the first control parameter in the transfer control parameters.

[0107] Step 1001: In response to the continue driving command, control the rotating vehicle to move from the first termination position to the second termination position based on the second control parameter in the transfer control parameters.

[0108] Steps 1001 to 1002 are described in detail below.

[0109] In some embodiments, in application scenarios with a first termination position and a second termination position, the first segment of the transfer task is executed first. In this step, the entire transfer process is divided into at least two stages, the goal of which is to reach a preset intermediate point, i.e., the "first termination position." (Refer to...) Figure 6 The diagram illustrates that this position corresponds to a processing station or a material transfer point. The control processor calls a specific subset of the "transfer control parameters," namely the "first control parameters," to precisely "control the moving vehicle from the transfer start position to the first end position." This set of first control parameters tailors a complete motion curve for this segment of the journey, ensuring that the moving vehicle can smoothly and accurately reach this intermediate position and stop stably, preparing for subsequent processes or instructions.

[0110] The second segment of the transfer task is executed next, and this step is conditionally triggered. Subsequent actions only occur after the control processor responds to a "continue driving command." This "continue driving command" is a crucial synchronization signal, which may originate from external processing equipment (indicating processing completion), sensors (indicating material arrival), or a higher-level scheduling system. Once received, the control processor invokes another specific subset of the "transfer control parameters," namely the "second control parameters," to "control the rotating vehicle to move from the first termination position to the second termination position." The second termination position is the final destination of this transfer task, such as the connection point of another conveyor track. The second control parameters also define a dedicated motion curve for this segment, ensuring that the rotating vehicle can complete the remaining journey efficiently and accurately.

[0111] By organically combining steps 1001 to 1002 above, a segmented, event-driven advanced motion control mode is introduced to the transfer module. This mode decomposes a complete transfer task into multiple logically independent sub-tasks, establishing synchronization breakpoints between these sub-tasks controlled by "continue driving commands." This mechanism transforms the transfer module from an isolated transport tool into one that can be deeply integrated into complex production cycles, achieving precise timing coordination with external equipment (such as machining centers and loading / unloading robots). For example, the transfer module can deliver a workpiece to the processing station (first termination position), silently wait for the processing completion signal (continue driving command), and then deliver it to the next station (second termination position). This high degree of flexibility and coordination significantly enhances the intelligence level of the entire magnetic drive conveyor system and the optimization potential of the production line process.

[0112] Reference Figure 11 When the rotating motor malfunctions, the control method of the magnetic drive conveyor system further includes the following steps 1101 to 1104.

[0113] Step 1101: Obtain abnormal status information of rotating motion vehicles.

[0114] Step 1102: Based on the preset standard format, convert the abnormal status information into standard abnormal information.

[0115] Step 1103: Obtain the anomaly handling data of the working actuator, and determine the anomaly handling measures that match the anomaly information from the anomaly handling data.

[0116] Step 1104: Repair the rotating motion device based on the anomaly handling measures.

[0117] Steps 1101 to 1104 are described in detail below.

[0118] In this application, in order to solve the redundancy and maintenance problems caused by the parsing of proprietary error codes of servo motors from different manufacturers, the error handling of the rotating motion motor reuses the exception code system of the working motion motor. This system includes common exception types, including following error, feedback exception, speed over-limit, etc., and provides clear language descriptions and coping methods for each exception.

[0119] Therefore, when a rotor malfunctions, such as motor overcurrent, excessive position deviation, or communication interruption, its underlying driver or control processor generates a raw, typically hardware-related fault code or status flag. The control processor immediately captures this raw fault signal; this unprocessed raw data constitutes the "abnormal status information," which is the starting point for all subsequent diagnostic and processing procedures.

[0120] Then, a crucial error information standardization process was performed. This involves converting abnormal state information into standard error information based on a preset standard format. Since the original fault codes for different hardware (such as rotating actuators and working actuators) may have vastly different formats and meanings, direct processing would complicate the software logic. Therefore, this application uses a preset mapping table or conversion logic (i.e., a "preset standard format") to translate the acquired, actuator-specific abnormal state information into a system-wide, hardware-independent "standard error information." For example, a specific error code "0x2301" might be converted into a standardized description such as "critical position follow error."

[0121] This application reuses the system's existing fault handling knowledge base for the working mover, that is, it acquires the abnormal handling data of the working mover and determines the abnormal handling measures that match the abnormal information from the abnormal handling data. Here, the "abnormal handling data of the working mover" is a well-established and mature database or rule set that defines in detail the response strategies the system should take when a normal working mover experiences various standard abnormalities. The control processor uses the generated "standard abnormal information" as a query index to search this existing database, thereby finding a predefined "abnormal handling measure" that perfectly matches it, such as "immediately stop and apply the brakes," "attempt error reset," or "degrade to safe mode operation."

[0122] Finally, the determined solution is applied to the source of the fault. This involves repairing the moving parts based on anomaly handling measures. The control processor translates the abstract handling strategy retrieved from the knowledge base in the previous step into specific control instructions for the moving parts and executes them. For example, if the determined measure is "immediate stop and brake engagement," the control processor will send an emergency stop command to the moving parts' driver. This step completes the closed loop from fault diagnosis to actual repair operation, aiming to restore the moving parts from the abnormal state or bring them into a safe state.

[0123] In one example, to address the redundancy and maintenance issues arising from parsing proprietary error codes of servo motors from different manufacturers, the error handling of the rotating motor reuses the exception code system of the working motor. This system includes common exception types, such as following error, feedback exception, and speed over-limit, and provides clear language descriptions and coping methods for each exception.

[0124] Exception mapping for rotating motion vehicles: The control processor converts the underlying exceptions of rotating motion vehicles into a unified exception standard code. For example: following error: mapped to the unified code ERR_FOLLOW_ERROR; feedback exception: mapped to the unified code ERR_FEEDBACK_ERROR.

[0125] When a rotor malfunctions, the control processor receives a standardized exception code. Without needing to identify the drive unit manufacturer, query a proprietary error library, or perform secondary text parsing, it can directly invoke the existing exception handling interface of the rotor. Upon receiving the standardized code, this exception handling interface executes the exact same subsequent process as in a rotor malfunction: error log update, saving the exception code, rotor number, and error time to the error log; safety response, determining whether all rotors should immediately brake or brake and deactivate based on the exception level; user prompt, reusing the existing text description library of the rotor to directly display a user-friendly, standardized error message (e.g., "Rotor [ID]: Follower error, please check for mechanical interference") based on the standard exception code, with no modification required to the display logic; and a recovery mechanism, providing a unified exception recovery process.

[0126] Through steps 1101 to 1104 above, a highly unified and reusable exception handling framework was constructed. By standardizing and reusing the process, the development and maintenance of a separate, redundant fault handling logic for the transfer module was avoided. Seamlessly integrating the exceptions of the moving parts into the mature exception handling system of the working parts not only significantly reduces the workload and complexity of software development and substantially lowers the long-term maintenance costs of the system, but also ensures that the entire magnetic drive conveyor system has consistent, reliable, and fully verified response behavior when facing exceptions in any component, thereby greatly improving the overall robustness and stability of the system.

[0127] Furthermore, this application reuses the servo motor graphical user interface. First, through a decoupled software architecture design, the original servo motor control interface is reused, and visualization and control functions are extended to suit the characteristics of the rotating motor. Then, the rotating motor visualization is implemented: the working motor display function is reused, supporting real-time position synchronization and differentiated display of different rotating motor states; only the configuration file needs modification, without altering the screen display layer code. Finally, the rotating motor control function is implemented: the original control panel layout is reused, and parameter logic is remapped to the rotating motor; no modification to the human-machine interface code is required, and all original servo interface parameters are converted 1:1 to rotating motor adaptation parameters with completely consistent units; the magnetic drive parameter range detection function can automatically detect and alert to unreasonable parameters, reducing the risk of anomalies.

[0128] In one example, the parameter adaptation for some code is shown in the table below.

[0129]

[0130] In one example, the interaction between the working motion and the rotating motion is described below.

[0131] Material receiving: When the target of the working mover points to the transfer section (i.e. the first transfer stator), the working mover sends a material receiving request signal to the rotating mover. The rotating mover then moves to the section (i.e. the conveyor track) where the working mover is located to align and begin to move. The working mover waits at the end anti-collision position (i.e. the starting position). After the rotating mover reaches the designated position (i.e. the starting position), it sends an entry permission signal to the working mover. The working mover then releases the end anti-collision and proceeds to the transfer section (i.e. the first transfer stator).

[0132] Processing: After the working mover reaches the transfer section, it gives a processing request and target position, and the rotating mover goes to the position. After arriving, it gives a position signal, allowing the external mechanism to perform processing. After processing is completed, the external mechanism gives a processing completion signal. At this time, it can also choose to go to other positions for processing or go to the feeding position.

[0133] Feeding: The working mover can also directly give a feeding request, and the rotating mover goes directly to the feeding position. After the rotating mover reaches the designated position, it gives an arrival signal, allowing the working mover to leave the transfer section.

[0134] In addition to point-to-point movement, the rotating actuator can also perform synchronization and cam curve functions, as described below.

[0135] Synchronization Function: The rotary motion unit can designate any working motion unit as the main spindle, or designate another rotary motion unit as the main spindle and move synchronously with it, thus enabling different machining processes. For example, after both rotary motion units have received material, one rotary motion unit can act as the main spindle and the other as the slave spindle, achieving parallel movement in the same direction during the transition section, allowing external machining of both working motion units simultaneously. The rotary motion unit's synchronization function enables special machining processes, such as multiple rotary motion units machining together, reducing ineffective strokes of external mechanisms and improving machining efficiency.

[0136] Cam curve function: The rotating actuator can execute a pre-set cam curve to complete specific actions. For example, after the rotating actuator completes material reception, it checks the position of the cam spindle. When the position meets the conditions, it executes the cam curve to realize complex processes such as tracking shearing and spiral bottle feeding.

[0137] Through the coordinated execution of steps 701 to 702, this method achieves a highly integrated and software-defined transport control process. Step 701 abstracts a complex physical task into a simple "start-end" planning problem, while step 702 utilizes a unified magnetic drive control engine to dynamically generate motion curves and execute the task. This software architecture, which separates "planning and execution," allows the control system to reuse its core motion control algorithm designed for the working actuators to drive the rotating actuators, completely eliminating the reliance on heterogeneous servo systems found in traditional solutions. This not only greatly simplifies the control logic and reduces software development and maintenance costs, but also endows the system with unprecedented flexibility, enabling it to easily adapt to transport requirements from any start point to any end point without hard-coding each path, significantly improving the automation level and production flexibility of the entire magnetic drive transport system.

[0138] In this application, since the rotating motion unit reuses the position control logic of the working motion unit, and the working motion unit typically does not require complex servo-style homing, the need to develop and maintain a separate servo motor homing process for the rotating motion unit is completely eliminated, simplifying the control software. Furthermore, reusing the exception handling interface of the working motion unit means a unified error handling mechanism. The rotating motion unit no longer needs a separate parsing process based on servo vendor-specific error codes; it directly uses the existing, unified error handling logic of the working motion unit, significantly reducing the complexity and maintenance cost of error parsing and improving compatibility. Moreover, to address the redundancy issue of multi-protocol adaptation, the issuance of control commands and status feedback no longer depend on a specific servo motor communication protocol stack. The rotating motion unit is treated as a special type of "motion unit," and its control commands (speed, acceleration, position, etc.) are generated and issued to the driver through a unified internal interface. Therefore, the upper-level graphical user interface, path planning, collision avoidance algorithm, and exception handling of the software are all decoupled from the underlying servo protocol. Only one unified "mover" control interface needs to be maintained, which fundamentally solves the problem of multi-protocol adaptation and greatly reduces the protocol stack related code and maintenance costs.

[0139] Reference Figure 12 This is a flowchart illustrating how a configuration file determines the type of a mover, as provided in an embodiment of this application. Figure 12 As shown, the process begins with parsing the configuration file during system startup to obtain the track topology of the entire transport system. The control processor checks the attributes of each segment one by one and determines whether it has been assigned a "special segment marker." If a segment does not have this marker, the system defaults to any mover on that segment as a standard "working mover" and processes it using conventional logic. Conversely, if the system detects a segment with a special marker, it further searches for and locates the movers on that segment and formally marks them as "transfer movers" at the software level. Through this configuration-based software-defined approach, the system can flexibly assign any physical mover to a special role in undertaking transfer tasks without changing the hardware or underlying firmware.

[0140] Reference Figure 13 This is a flowchart illustrating the effect of a gain parameter as provided in an embodiment of this application. Figure 13As shown, firstly, the control processor parses and loads two sets of gain parameters from the configuration file: one set of "standard gain parameters" suitable for lightly loaded working movers, and the other set of "special gain parameters" suitable for heavy-load transport modules. When motion control needs to be performed on a mover, the system first obtains the type of the mover. Then, the system makes a judgment: if the mover is a "rotating mover," because it carries the second transport stator and the working mover, its total inertia is relatively large, and the control processor will automatically select the "special gain parameters" to ensure the stability and accuracy of the motion; if the mover is a regular working mover, the control processor will use the "standard gain parameters." This process reflects the reusability and adaptability of the control algorithm, that is, within a unified control framework, different parameter sets are dynamically selected to adapt to the controlled objects with different load characteristics.

[0141] Reference Figure 14 This is a flowchart illustrating the constraint mechanism of a path planning algorithm provided in an embodiment of this application. Figure 14 As shown, when the control processor receives a motion command from a mover, it first determines whether the mover is a "rotating mover". If not, it is a normal working mover, and the system enters the standard path planning module, which further determines whether complex "cross-segment path planning" is required. However, if the mover is determined to be a "rotating mover", since its trajectory is physically restricted to a fixed segment of the first transfer stator, the system skips the complex cross-segment planning logic and directly executes simplified "same-segment path planning". This process cleverly reuses and simplifies the existing path planning function through logical branches, avoiding unnecessary complex calculations for rotating movers, thereby improving the response speed and operating efficiency of the control processor.

[0142] Reference Figure 15 This is a standardized flowchart for exception handling provided in an embodiment of this application. For example... Figure 15 As shown, the process begins when a "rotating actuator anomaly" occurs. First, the system obtains the original hardware-related fault information through a "low-level error capture" mechanism. Then, the system performs "error type identification" on this information and executes the crucial "conversion to standard error codes" step, translating it into standardized error codes applicable to all actuators (including active actuators) within the system. Once the error information is standardized, the system can invoke a unified exception handling framework to sequentially "execute safety responses" to ensure device safety, "record in the error log" for subsequent traceability and analysis, and "display error information" to the user interface. The core of this process lies in achieving complete reuse of the rotating actuator anomaly handling logic through error code standardization, ensuring the consistency and reliability of the entire system's anomaly response.

[0143] This application also provides a control device for a magnetic drive conveyor system, which can implement the above-described control method for the magnetic drive conveyor system. (Refer to...) Figure 16 The device 1600 includes: The response module 1610 is used to determine the starting position and ending position of the transfer of the working move in response to the transfer command of the working move; The control module 1620 is used to control the rotating motion based on the transfer control parameters when the working motion moves to the second transfer stator at the transfer start position, so that the rotating motion carries the second transfer stator and the working motion from the transfer start position to the transfer end position; wherein, the transfer control parameters are generated based on the transfer start position and the transfer end position.

[0144] In some embodiments, the control module 1620 is further configured to: Obtain the operation control algorithm of the working actuator; When the second transfer stator is loaded with the working rotor, the transfer load weight of the rotating rotor is obtained; Based on the starting and ending points of the transfer, the weight carried during the transfer, and the operation control algorithm, the transfer control parameters are obtained.

[0145] In some embodiments, the control module 1620 is further configured to: Obtain the real-time transfer position, real-time transfer velocity, and real-time transfer acceleration of the rotating motion vehicle; Based on the real-time transfer speed and real-time transfer acceleration, the real-time transfer braking distance of the rotating motion vehicle is calculated. Based on the length of the first transfer stator and the real-time transfer position, the remaining length of the transfer segment is determined; When the remaining length of the transfer section is less than the real-time transfer braking distance, the rotating motor is controlled to decelerate.

[0146] In some embodiments, the control module 1620 is further configured to: The transfer vehicle is controlled to move from the transfer start position to the first end position based on the first control parameter in the transfer control parameters. In response to the command to continue driving, the rotating vehicle is controlled to move from the first termination position to the second termination position based on the second control parameter in the transfer control parameters.

[0147] In some embodiments, the control module 1620 is further configured to: Obtain abnormal status information of rotating instruments; Based on a preset standard format, abnormal status information is transformed into standard abnormal information; Obtain the anomaly handling data of the working actuator, and determine the anomaly handling measures that match the anomaly information from the anomaly handling data; Repairing the rotating motion element based on anomaly handling measures.

[0148] 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 control device of the magnetic drive conveying system is basically the same as the specific implementation of the control method of the magnetic drive conveying system described above, and will not be repeated here.

[0149] This application also provides an electronic device, including: At least one memory; At least one processor; At least one program; The program is stored in a memory, and the processor executes the at least one program to implement the control method of the magnetic drive conveying system described above in this application. The electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), and in-vehicle computers.

[0150] Please see Figure 17 , Figure 17 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1701 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. The memory 1702 can be implemented in the form of ROM (Read-Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1702 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1702 and is called and executed by the processor 1701 to execute the control method of the magnetic drive conveyor system of the embodiments of this application. The input / output interface 1703 is used to implement information input and output; The communication interface 1704 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1705 transmits information between various components of the device (e.g., processor 1701, memory 1702, input / output interface 1703, and communication interface 1704); The processor 1701, memory 1702, input / output interface 1703 and communication interface 1704 are connected to each other within the device via bus 1705.

[0151] 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 control method of the magnetic drive conveying system described above.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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 magnetic drive conveying system, characterized in that, include: Multiple conveying tracks, each conveying track comprising multiple stators; At least one working mover capable of running on the conveying track; The first transfer stator has multiple transfer stations, wherein at least some of the transfer stations are arranged corresponding to the conveying track; The transfer module includes a rotating motion element and a second transfer stator. The second transfer stator is disposed on the rotating motion element. The rotating motion element is configured to be driven by the first transfer stator and move together with the second transfer stator between multiple transfer stations. The second transfer stator is configured to receive the working motion element on the conveying track or drive the working motion element to move to the conveying track when it is in the transfer station corresponding to the conveying track. The control processor is communicatively connected to the stator, the working rotor, the first transfer stator, and the transfer module.

2. The magnetic drive conveying system according to claim 1, characterized in that, Some of the transfer stations are set up corresponding to the conveying track and are located in the extension path of the corresponding conveying track, while the remaining transfer stations are located outside the extension path of the conveying track. or, Each of the aforementioned transfer stations is set up corresponding to the aforementioned conveying track.

3. The magnetic drive conveying system according to claim 1, characterized in that, Of the multiple conveying tracks, at least two are arranged collinearly. Between any two collinear and adjacent conveying tracks, a first transfer stator and a transfer module are provided. One transfer station of the first transfer stator corresponds to one of the two conveying tracks, and the remaining transfer stations of the first transfer stator are located outside the extension path of the collinear conveying tracks.

4. The magnetic drive conveying system according to claim 3, characterized in that, Of the multiple conveying tracks, one of the conveying tracks is a first conveying track, one of the conveying tracks is a second conveying track, one of the conveying tracks is a third conveying track, and one of the conveying tracks is a fourth conveying track. The first conveying track, the second conveying track, and the third conveying track are arranged collinearly, and the fourth conveying track is parallel to the first conveying track but not collinear. The number of the first transfer stator and the transfer module are both multiple sets, wherein one set of the multiple sets of the first transfer stator is the first transfer stator one, and the other set is the first transfer stator two; Wherein, the first transfer stator is located at one end of the fourth conveying track, one transfer station of the first transfer stator is correspondingly set to the fourth conveying track, and the other transfer station is correspondingly set to the first conveying track and the second conveying track. The first transfer stator is located at the opposite end of the fourth conveying track, one transfer station of the first transfer stator is correspondingly set to the fourth conveying track, and the other transfer station is correspondingly set to the second conveying track and the third conveying track.

5. A control method for a magnetic drive conveyor system, characterized in that, The magnetic drive conveying system as described in claim 1, the method being applied to the control processor, the method comprising: In response to the transfer command of the working mover, the transfer start position and transfer end position of the working mover are determined, wherein the transfer start position is one of the transfer stations and the transfer end position is another of the transfer stations; When the working mover runs to the second transfer stator at the transfer start position, the moving mover is controlled based on the transfer control parameters so that the moving mover carries the second transfer stator and the working mover from the transfer start position to the transfer end position; The transfer control parameters are generated based on the transfer start position and the transfer end position.

6. The control method for the magnetic drive conveyor system according to claim 5, characterized in that, The steps for generating the transfer control parameters include: Obtain the operation control algorithm of the working mover; When the working rotor is loaded onto the second transfer stator, the transfer bearing weight of the rotating rotor is obtained; The transfer control parameters are obtained based on the transfer start position, the transfer end position, the transfer load weight, and the operation control algorithm.

7. The control method for the magnetic drive conveyor system according to claim 6, characterized in that, When the rotating motion vehicle, carrying the second transfer stator and the working motion vehicle, moves from the transfer start position to the transfer end position, the method further includes: Obtain the real-time transfer position, real-time transfer velocity, and real-time transfer acceleration of the rotating motion vehicle; Based on the real-time transfer speed and the real-time transfer acceleration, the real-time transfer braking distance of the rotating vehicle is calculated. Based on the length of the first transfer stator and the real-time transfer position, the remaining length of the transfer segment is determined; When the remaining length of the transfer section is less than the real-time transfer braking distance, the rotating motor is controlled to decelerate.

8. The control method for the magnetic drive conveyor system according to claim 5, characterized in that, The transfer termination position includes a first termination position and a second termination position, and the control of the transfer vehicle based on transfer control parameters includes: Based on the first control parameter in the transfer control parameters, the transfer vehicle is controlled to run from the transfer start position to the first end position; In response to the command to continue driving, the rotating vehicle is controlled to move from the first termination position to the second termination position based on the second control parameter in the transfer control parameters.

9. The control method for the magnetic drive conveyor system according to claim 5, characterized in that, When the rotating motion device malfunctions, the method further includes: Obtain the abnormal state information of the rotating motion vehicle; Based on a preset standard format, the abnormal state information is converted into standard abnormal information; Obtain the abnormal handling data of the working actuator, and determine the abnormal handling measures that match the abnormal information from the abnormal handling data; The rotating motion device is repaired based on the aforementioned anomaly handling measures.

10. A control device for a magnetic drive conveying system, characterized in that, The magnetic drive conveying system as described in claim 1, the device being applied to the control processor, the device comprising: A response module is used to determine the starting position and ending position of the transfer of the working move in response to the transfer command of the working move; The control module is configured to control the rotating motion based on transfer control parameters when the working motion moves to the second transfer stator at the transfer start position, so that the rotating motion carries the second transfer stator and the working motion from the transfer start position to the transfer end position; wherein the transfer control parameters are generated based on the transfer start position and the transfer end position.

11. 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 control method of the magnetic drive conveying system according to any one of claims 5 to 9.

12. 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 control method of the magnetic drive conveyor system as described in any one of claims 5 to 9.

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