Control method for motorized conveyor system and motorized conveyor system

Abstract

This invention relates to the field of motor technology, specifically providing a control method and a motor conveying system for a motor conveying system, aiming to solve the problem of reduced conveying efficiency caused by some moving modules being idle. To this end, the control method of this invention includes: determining whether each moving module is an idle moving module; determining the moving sequence of the idle moving modules based on a preset sorting rule; moving the idle moving modules sequentially to the first loading station based on the moving sequence; and controlling the corresponding moving module to move to the main conveying channel and then along the conveying direction of the main conveying channel to the unloading station after each idle moving module has stopped at the first loading station for a first time. This invention, through real-time detection of idle moving modules, can avoid the idle operation of moving modules during conveying, effectively improving the conveying efficiency of the motor conveying system.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and specifically provides a control method and a motor conveying system for a motor conveying system. Background Technology

[0002] Due to its advantages such as high conveying speed, low maintenance cost, and high flexibility, motor-driven conveyor systems have gradually replaced traditional belt and chain conveyor systems in many fields. A motor-driven conveyor system consists of stator modules and mover modules. Multiple stator modules are spliced ​​together to form a stator conveyor line. The mover modules move along the stator conveyor line through magnetic coupling with the stator modules. The mover modules can carry materials, allowing them to be conveyed to a preset position.

[0003] Currently, materials are typically transferred to moving modules via a transfer mechanism. When the moving modules reach a preset position, they usually need to be stationary for loading and unloading. This results in low conveying efficiency for the motor-driven conveyor system. To address this, multiple moving modules are usually configured, each carrying materials independently. These modules can load and unload simultaneously or at different times. However, during the conveying process, some moving modules may be idle, which also reduces the overall conveying efficiency of the motor-driven conveyor system.

[0004] Accordingly, a new technical solution is needed in this field to solve the above problems. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problems, namely, to solve the problem that the conveying efficiency of the motor conveying system is reduced due to the idling operation of some moving parts in the prior art.

[0006] In a first aspect, the present invention provides a control method for a motor conveying system, the motor conveying system comprising multiple moving modules and a stator conveying line, the stator conveying line being used to convey the moving modules and magnetically coupled to the moving modules, the stator conveying line comprising a main conveying channel and a first conveying branch disposed on a first side of the main conveying channel, the inlet and outlet ends of the first conveying branch being connected to the main conveying channel, a first loading station being disposed on the first conveying branch, and a unloading station being disposed on a second side of the main conveying channel, the control method comprising: determining whether each moving module is an idle moving module; determining the movement sequence of the idle moving modules based on a preset sorting rule; sequentially moving the idle moving modules to the first loading station based on the movement sequence; and controlling the corresponding moving module to move to the main conveying channel and move along the conveying direction of the main conveying channel to the unloading station after each idle moving module has stopped at the first loading station for a first time duration.

[0007] With the above technical solution, idle moving modules are monitored in real time. After sorting the idle moving modules, each idle moving module is moved sequentially to the first loading station. Each idle moving module stays at the first loading station for a first time to be loaded by the transfer mechanism. After loading is completed, the corresponding idle moving module is controlled to move to the main conveying channel and then moves to the unloading station along the conveying direction of the main conveying channel. This avoids the situation of the moving modules being unloaded during the conveying process and can effectively improve the conveying efficiency of the motor conveying system.

[0008] In the preferred embodiment of the above control method, there are multiple first conveying branches, which are arranged sequentially along the conveying direction. The step of "moving the idle moving sub-modules to the first loading station in sequence according to the moving order" further includes: obtaining the number of vacant first loading stations; if there is only one vacant first loading station, moving the idle moving sub-modules to the vacant first loading station in sequence according to the moving order; if there are multiple vacant first loading stations, calculating the first distance between the first vacant moving sub-module and each vacant first loading station; determining the target first loading station corresponding to each idle moving sub-module based on the first distance and the moving order; and controlling each idle moving sub-module to move to the corresponding target first loading station.

[0009] In a preferred embodiment of the above control method, the stator conveyor line further includes a second conveying branch located on the first side of the main conveying channel. The inlet and outlet ends of the second conveying branch are both connected to the main conveying channel and are located downstream of the first conveying branch along the conveying direction. A second loading station is provided on the second conveying branch. The control method further includes: before controlling the moving module to move to the unloading station, controlling the moving module to move along the conveying direction to the second conveying branch and then to the second loading station; after each moving module stops at the second loading station for a second duration, controlling the corresponding moving module to move to the main conveying channel and then to the unloading station along the conveying direction.

[0010] With the above technical solution, by setting up a second conveying branch on the downstream side of the first conveying branch along the conveying direction, and by moving the moving module to the second loading station on the second conveying branch and staying for a second duration before moving to the unloading station, the second loading station can be used for replenishing materials or for carrying a second type of material on the moving module. In this way, the motor conveying system can perform two loading operations on the moving module, ensuring sufficient feeding capacity of the same material and allowing two different materials to be carried on the moving module as needed, thus meeting the requirements for alternating loading. Overall, this improves the stability and process adaptability of the material supply flow of the motor conveying system, making it suitable for transportation and loading scenarios that require continuous material supply and multiple material switching, effectively expanding the application scenarios of the motor conveying system.

[0011] In the preferred embodiment of the above control method, there are multiple second conveying branches, which are arranged sequentially along the conveying direction. The step of "controlling the moving module to move along the conveying direction to the second conveying branch" further includes: determining whether there is an empty second loading station; when there is an empty second loading station, calculating the second distance between the moving module and each empty second loading station; determining the first target second loading station corresponding to the moving module based on the second distance; and controlling the moving module to move to the second conveying branch where the first target second loading station is located.

[0012] In a preferred embodiment of the above control method, the control method further includes: when there is no vacant second loading station, calculating a third distance between the moving module and each second loading station; determining a second target second loading station corresponding to the moving module based on the third distance; determining whether the number of moving modules waiting on the second conveying branch corresponding to the second target second loading station has reached a preset number; if the preset number has been reached, controlling the moving module to move along the conveying direction to the next second conveying branch, and further selectively controlling the moving module to enter the second conveying branch based on the number of moving modules waiting on the second conveying branch.

[0013] In a preferred embodiment of the above control method, the control method further includes: before the moving module moves to the second loading station, obtaining the first weight of the moving module; determining whether the moving module has been successfully loaded at the first loading station based on the first weight, and controlling the moving module to move to the second loading station or return to the first loading station along the main conveying channel according to the determination result.

[0014] In a preferred embodiment of the above control method, the control method further includes: before the moving module moves to the unloading station, obtaining a second weight of the moving module; determining whether the moving module has been successfully loaded at the second loading station based on the second weight, and controlling the moving module to move to the unloading station or return to the second loading station along the main conveying channel according to the determination result.

[0015] In a preferred embodiment of the above control method, a labeling station is further provided on the second side of the main conveying channel. The labeling station is located upstream of the unloading station and downstream of the second loading station along the conveying direction. The control method further includes: before controlling the moving module to move to the unloading station, controlling the moving module to pass through the labeling station at a preset speed along the conveying direction, and then controlling the moving module to move to the unloading station along the conveying direction.

[0016] In a preferred embodiment of the above control method, the stator conveyor line further includes a third conveying branch located on the second side of the main conveying channel. The third conveying branch is located upstream of the labeling station and downstream of the second conveying branch along the conveying direction. The inlet and outlet ends of the third conveying branch are both connected to the main conveying channel. The control method further includes: determining whether the labeling station is vacant before controlling the moving module to move to the labeling station; and controlling the moving module to move to the third conveying branch when the labeling station is not vacant.

[0017] In a preferred embodiment of the above control method, the control method further includes: before controlling each of the moving modules to move to the labeling station, determining whether the material carried on the moving module has been labeled, and selectively controlling the corresponding moving module to move to the labeling station based on the determination result.

[0018] Under the premise of adopting the above technical solution, by setting up the labeling station, setting up the third conveying branch, and judging whether the material carried on the moving module has been labeled, it can be ensured that the material carried on the moving module is labeled before being unloaded, and the situation of repeated labeling can be avoided.

[0019] In a preferred embodiment of the above control method, the control method further includes: before controlling the current moving module to move from the first conveying branch, the second conveying branch, and / or the third conveying branch to the main conveying channel, acquiring the status information of the moving module located on the main conveying channel; determining whether there is a collision risk based on the status information of the current moving module and the status information of the moving modules on the main conveying channel, and controlling the current moving module to immediately move to the main conveying channel or wait for a preset time before moving to the main conveying channel based on the determination result.

[0020] Secondly, the present invention also provides a motor conveying system, the motor conveying system comprising: a stator conveying line, the stator conveying line including a main conveying channel and a first conveying branch disposed on a first side of the main conveying channel, the first conveying branch having a first inlet end and a first outlet end, the first inlet end and the first outlet end being arranged sequentially along the conveying direction of the main conveying channel, the first conveying branch being connected to the main conveying channel through the first inlet end and the first outlet end, a first loading station being disposed on the first conveying branch, and a unloading station being disposed on a second side of the main conveying channel; a moving module for carrying materials, the moving module moving along the stator conveying line through magnetic coupling with the stator conveying line; and a controller, the controller being used to execute the control method described in any of the foregoing embodiments.

[0021] In the preferred embodiment of the above-mentioned motor conveying system, the motor conveying system further includes a second conveying branch. The second conveying branch is located on the first side of the main conveying channel and downstream of the first conveying branch along the conveying direction. The second conveying branch has a second inlet end and a second outlet end. The second inlet end and the second outlet end are arranged sequentially along the conveying direction of the main conveying channel. The second conveying branch is connected to the main conveying channel through the second inlet end and the second outlet end. A second loading station is provided on the second conveying branch.

[0022] In the preferred embodiment of the above-mentioned motor conveying system, there are multiple second conveying branches, which are arranged sequentially along the conveying direction.

[0023] In the preferred embodiment of the above-mentioned motor conveying system, a labeling station is further provided on the second side of the main conveying channel. The labeling station is located upstream of the unloading station and downstream of the second loading station along the conveying direction. The stator conveying line also includes a third conveying branch. The third conveying branch is located on the second side of the main conveying channel. The third conveying branch is located upstream of the labeling station and downstream of the second conveying branch along the conveying direction. The third conveying branch has a third inlet end and a third outlet end. The third inlet end and the third outlet end are arranged sequentially along the conveying direction of the main conveying channel. The third conveying branch is connected to the main conveying channel through the third inlet end and the third outlet end.

[0024] It should be noted that this motor conveying system has all the technical effects of the aforementioned control method, which will not be elaborated here. Attached Figure Description

[0025] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0026] Figure 1 This is a structural diagram of a motor conveying system according to an embodiment of the present invention;

[0027] Figure 2 This is a flowchart of a control method for a motor-driven transmission system according to an embodiment of the present invention;

[0028] Figure 3 This is a flowchart of an embodiment of the present invention, which describes how idle moving sub-modules are moved sequentially to the first loading station based on a moving sequence.

[0029] Figure 4 This is a flowchart of an embodiment of the present invention showing how to move the moving module to the second loading station when there is an empty second loading station;

[0030] Figure 5 This is a flowchart of an embodiment of the present invention showing how to move the moving module to the second loading station when there is no available second loading station;

[0031] Figure 6 This is a flowchart of moving the moving module to the labeling station according to one embodiment of the present invention.

[0032] List of reference numerals in the attached diagram:

[0033] 100. Motor conveyor system;

[0034] 1. Stator conveyor line; 11. Main conveyor channel; 111. Unloading station; 112. Labeling station; 12. First conveyor branch; 121. First conveyor section; 1211. First inlet end; 1212. First loading station; 122. Second conveyor section; 123. Third conveyor section; 1231. First outlet end; 13. Second conveyor branch; 131. Fourth conveyor section; 1311. Second inlet end; 132. Fifth conveyor section; 1321. Second loading station; 133. Sixth conveyor section; 1331. Second outlet end; 14. Third conveyor branch; 141. Seventh conveyor section; 1411. Third inlet end; 142. Eighth conveyor section; 143. Ninth conveyor section; 1431. Third outlet end. Detailed Implementation

[0035] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0036] It should be noted that, in the description of this invention, terms such as "left" and "right," which indicate direction or positional relationships, are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, in the description of this invention, the terms "first" to "ninth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "connected" and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] like Figure 1 As shown, the motor conveying system 100 includes a stator conveyor line 1 and a mover module (not shown). The stator conveyor line 1 drives the mover module to move along the conveying direction of the stator conveyor line 1 through magnetic coupling with the mover module. The mover module is used to carry materials, thus conveying materials by moving the mover module along the stator conveyor line 1. It should be noted that one of the stator conveyor line 1 and the mover module is equipped with a coil, and the other with a permanent magnet. Excitation of the coil current generates a traveling wave magnetic field, which magnetically couples with the permanent magnet, thereby causing the mover module to move relative to the stator conveyor line 1. The transmission function is achieved by loading materials onto the mover module.

[0039] like Figure 1 As shown, the stator conveyor line 1 includes a main conveyor 11 and a first conveyor branch 12. The main conveyor 11 is arranged in a loop, and the first conveyor branch 12 is located on the first side of the main conveyor 11 (approximately). Figure 1 (On the left side of the main conveying channel 11). The first conveying branch 12 is roughly U-shaped, with a first inlet end 1211 and a first outlet end 1231, which are arranged sequentially along the conveying direction of the main conveying channel 11. The first conveying branch 12 includes a first conveying section 121, a second conveying section 122, and a third conveying section 123 connected in sequence. The first conveying section 121 and the third conveying section 123 are parallel to each other. The first inlet end 1211 is located at the end of the first conveying section 121 away from the second conveying section 122, and the first outlet end 1231 is located at the end of the third conveying section 123 away from the second conveying section 122. The first conveying section 121 and the third conveying section 123 are connected to the main conveying channel 11 through the first inlet end 1211 and the first outlet end 1231, respectively. A first loading station 1212 is provided on the first conveying section 121, on the second side of the main conveying channel 11 (roughly on the left side of the main conveying channel 11). Figure 1 A material unloading station 111 is provided on the right side of the main conveying channel 11 to facilitate the placement of a robotic arm or other transfer mechanism. The moving module moves from the main conveying channel 11 to the first conveying section 121 via the first inlet end 1211. Driven by the first conveying section 121, it moves to the first loading station 1212, where the first material is transferred to the moving module via the transfer mechanism. The moving module carrying the material is then driven sequentially by the first conveying section 121, the second conveying section 122, and the third conveying section 123, and moves from the first conveying branch 12 to the main conveying channel 11 via the first outlet end 1231. Driven by the main conveying channel 11, it moves along its conveying direction to the unloading station 111, thereby realizing the conveying of the first material.

[0040] It should be noted that the first feeding station 1212 can also be set in the second conveying section 122 or the third conveying section 123.

[0041] It should be noted that one or more coils can be installed on the main conveying channel 11, the first conveying section 121, the second conveying section 122, and the third conveying section 123. When the coil is energized, it generates a magnetic field, which drives the moving module to move along each conveying section. The working principle of driving the moving module to move through magnetic coupling has been disclosed in relevant technologies and will not be repeated here.

[0042] It should be noted that in this embodiment, the conveying direction of the main conveying channel 11 is described as counterclockwise. Of course, the conveying direction of the main conveying channel 11 can also be clockwise or other possible directions.

[0043] In one possible implementation, there are multiple first conveying branches 12, which are arranged sequentially along the conveying direction of the main conveying channel 11. That is, the motor conveying system of this application has multiple first loading stations 1212, which can simultaneously transfer the first material to multiple moving modules, further improving the conveying efficiency of the motor conveying system.

[0044] Continue to refer to Figure 1 The stator conveyor line 1 also includes multiple second conveyor branches 13, which are arranged sequentially along the conveying direction of the main conveyor 11 and are all located on the first side of the main conveyor 11. Each second conveyor branch 13 is approximately U-shaped, having a second inlet end 1311 and a second outlet end 1331, which are arranged sequentially along the conveying direction of the main conveyor 11. Each second conveyor branch 13 includes a fourth conveyor section 131, a fifth conveyor section 132, and a sixth conveyor section 133 connected in sequence. The fourth conveyor section 131 and the sixth conveyor section 133 are parallel to each other. The second inlet end 1311 is located at the end of the fourth conveyor section 131 away from the fifth conveyor section 132, and the second outlet end 1331 is located at the end of the sixth conveyor section 133 away from the fifth conveyor section 132. The fourth conveyor section 131 and the sixth conveyor section 133 are connected to the main conveyor 11 through the second inlet end 1311 and the second outlet end 1331, respectively. A second loading station 1321 is provided on the fifth conveying section 132, thus placing the second loading station 1321 on the side of the entire motor conveying system, which facilitates the placement of a robotic arm or other transfer mechanism. The moving module moves from the main conveying channel 11 to the fourth conveying section 131 via the second inlet end 1311. It is then driven sequentially by the fourth conveying section 131 and the fifth conveying section 132 to move to the second loading station 1321. The transfer mechanism transfers the second material to the moving module. This second material is different from the first material. The moving module, carrying two materials, is then driven sequentially by the fifth conveying section 132 and the sixth conveying section 133, and moves from the second conveying branch 13 to the main conveying channel 11 via the second outlet end 1331. It is then driven by the main conveying channel 11 to move along its conveying direction to the unloading station 111, thereby realizing the assembly and conveying of the first and second materials.

[0045] It should be noted that the second feeding station 1321 can also be set in the fourth conveying section 131 or the sixth conveying section 133. It should also be noted that the first material and the second material can be the same. In this case, the material is ensured to be supplied in sufficient quantity through two feeding processes at the first feeding station 1212 and the second feeding station 1321.

[0046] It should be noted that one or more coils can also be installed on the fourth conveying section 131, the fifth conveying section 132, and the sixth conveying section 133. When the coils are energized, they generate a magnetic field, which drives the moving module to move along each conveying section.

[0047] It should be noted that the stator conveyor line may also include only one second conveyor branch 13. Without affecting the basic principles of this application, those skilled in the art can flexibly select the specific number of second conveyor branches 13 according to the specific application scenario, as long as the conveying efficiency of the motor conveying system can be ensured.

[0048] Continue to refer to Figure 1 A labeling station 112 is also provided on the second side of the main conveying channel 11. This labeling station 112 is located upstream of the unloading station 111 and downstream of the second loading station 1321 along the conveying direction. The material carried on the moving module is labeled at this labeling station 112 and then moved to the unloading station 111 for unloading. The stator conveyor line also includes a third conveying branch 14, which is located on the second side of the main conveying channel 11, upstream of its labeling station 112 and downstream of the second conveying branch 1321 along the conveying direction of the main conveying channel 11. The third conveying branch 14 is approximately U-shaped, with a third inlet end 1411 and a third outlet end 1431, which are arranged sequentially along the conveying direction of the main conveying channel 11. The third conveying branch 14 includes a seventh conveying section 141, an eighth conveying section 142, and a ninth conveying section 143 connected in sequence. The seventh conveying section 141 and the ninth conveying section 143 are parallel to each other. The third inlet end 1411 is located at the end of the seventh conveying section 141 away from the eighth conveying section 142, and the third outlet end 1431 is located at the end of the ninth conveying section 143 away from the eighth conveying section 142. The seventh conveying section 141 and the ninth conveying section 143 are connected to the main conveying channel 11 through the third inlet end 1411 and the third outlet end 1431, respectively. The moving module moves from the main conveying channel 11 to the seventh conveying section 141 via the third inlet end 1411, is driven by the seventh conveying section 141, and is sequentially driven by the eighth conveying section 142 and the ninth conveying section 143. It then moves from the third conveying branch 14 to the main conveying channel 11 via the third outlet end 1431, is driven by the main conveying channel 11, and moves along its conveying direction to the labeling station 112.

[0049] It should be noted that the stator conveyor line of this application may not have a third conveyor branch 14. In this case, after the mover module moves from the second conveyor branch 13 to the main conveyor 11, it is driven by the main conveyor 11 and moves directly to the labeling station 112.

[0050] In summary, by setting the first conveying branch 12 and the second conveying branch 13 on the first side of the main conveying channel 11, and setting the third conveying branch 14, the labeling station 112 and the unloading station 111 on the second side of the main conveying channel 11, the motor conveying system is made neat and orderly as a whole. It also facilitates the configuration of transfer mechanisms for the first loading station 1212, the second loading station 1321 and the unloading station 111, and the labeling station 112 for labeling equipment, thereby improving space utilization and allowing for flexible adaptation to various industrial line layouts.

[0051] In one possible implementation, the motor conveying system of this application further includes a controller (not shown in the figure), which is communicatively connected to the stator conveying line and the mover module respectively, and is capable of controlling some coils in the stator conveying line to be energized to drive the corresponding mover module to move, or controlling some coils in the stator conveying line to be de-energized to stop the corresponding mover module from moving.

[0052] It should be noted that such a controller can be a control chip inherent in the motor conveying system itself, a controller specifically designed to execute the method of this application, or a functional module or unit of a general controller.

[0053] The following is combined Figure 2 This paper will describe possible implementations of the control method for a motor drive system according to this application.

[0054] In one possible implementation, such as Figure 2 As shown, the control method of the present invention includes:

[0055] S100: Determine whether each moving module is an idle moving module;

[0056] S101: Determine the moving order of the idle moving sub-modules based on the preset sorting rules;

[0057] S102: Based on the movement sequence, move the idle moving sub-modules to the first loading station in sequence;

[0058] S103: After each idle moving module stops at the first loading station for a first duration, control the corresponding moving module to move to the main conveyor and move along the conveying direction of the main conveyor to the unloading station.

[0059] In S100, the overall weight of the moving module can be used to determine whether it is an idle moving module: if the overall weight of the moving module is approximately equal to the pre-recorded initial weight of the moving module, then the moving module can be identified as an idle moving module; if the overall weight of the moving module is greater than the pre-recorded initial weight of the moving module, then the moving module can be identified as a non-idle moving module. The overall weight of the moving module can be obtained as follows: a dynamic weighing sensor is integrated upstream of the main conveyor along the conveying direction at the first loading station. When the moving module passes through this section, the total weight of the moving module is obtained through the dynamic weighing sensor. Alternatively, following Newton's second law, the total weight of the current moving module can be calculated based on the acceleration of the moving module and the electromagnetic thrust required at that acceleration, combined with the mass of the unloaded moving module.

[0060] Of course, image analysis can also be used to determine whether a moving module is idle: An image acquisition device (such as a camera or webcam) is installed upstream of the first loading station in the motor conveyor system. This device acquires images of moving modules passing through its detection area. The images undergo preprocessing such as grayscale conversion, filtering and denoising, and image enhancement. These images are then input into a pre-trained model, which outputs the result of whether the moving module carries material. The model can be a deep learning model such as YOLOv8, YOLOv7, or FF-CNN classification network. Its training set includes multiple images of moving modules carrying material and multiple images of moving modules not carrying material.

[0061] Without departing from the basic principles of this application, those skilled in the art can flexibly choose specific methods according to specific application scenarios, as long as they can accurately determine whether the starter module is an idle starter module.

[0062] In S101, the preset sorting rule can be based on the distance between the idle moving modules and the first loading station. For example, the idle moving modules can be sorted in a way that gradually increases the distance. That is, the idle moving modules that are closer to the first loading station will move to the first loading station first, and the idle moving modules that are farther away from the first loading station will move to the first loading station later.

[0063] It should be noted that the preset sorting rule can also be based on the identification (ID) of the idle moving modules. To facilitate the management of the moving modules, each moving module has an identification (ID), which can be implemented by setting a passive RFID tag within the moving module. After the motor conveyor system is powered on, it can identify the identification (ID) of all moving modules located on the conveyor track. During sorting, the controller directly calls the identification (ID) of each idle moving module for sorting.

[0064] In S102, according to the movement sequence of the idle moving modules determined in S101, each idle moving module is moved from the main conveying channel to the first conveying branch in sequence from front to back, and is driven by the first conveying branch to move to the first loading station.

[0065] In step S103, after each idle moving module is moved to the first loading station, it is stopped at the first loading station for a first duration, for example, 1 to 4 seconds. Preferably, the first duration is 2 seconds. During this first duration, the first material is transferred to the idle moving module by a transfer mechanism corresponding to the first loading station. Then, the moving module is driven by the first conveying branch to move to the main conveying channel, and subsequently driven by the main conveying channel to move to the unloading station. The material is then unloaded by a transfer mechanism configured at the unloading station or manually.

[0066] By using the above method, idle mover modules are detected in real time, and each idle mover is sorted according to a preset sorting rule and moved sequentially to the first loading station. This effectively avoids the situation where the mover modules run unloaded during the conveying process and effectively improves the conveying efficiency of the motor conveying system.

[0067] In one possible implementation, the stator conveyor line includes multiple first conveying branches, thus having multiple first loading stations. In this case, some of the first loading stations may be vacant. In order to further improve the conveying efficiency, this application monitors the vacancy status of the first loading stations and controls the movement of idle moving parts based on the monitoring status.

[0068] The following is combined Figure 3 This paper further elaborates on the possible implementation of the present application of moving idle moving sub-modules to the first loading station in sequence based on the moving order.

[0069] In one possible implementation, such as Figure 3 As shown, the control method of the present invention further includes:

[0070] S200: Obtain the number of vacant spaces at the first loading station;

[0071] S201: Determine if the number of vacant spaces is one. If yes, proceed to S202; otherwise, proceed to S203.

[0072] S202: Move the idle moving modules sequentially to the first empty loading station according to the moving sequence;

[0073] S203: Calculate the first distance between the first idle moving module and each vacant first loading station;

[0074] S204: Determine the target first loading station corresponding to each idle moving sub-module based on the first distance and the moving sequence;

[0075] S205: Control each idle moving sub-module to move to the corresponding target first loading station.

[0076] In S200, a magnetic sensor can be installed at each first loading station. When the moving module passes by, its magnetic field is captured by the magnetic sensor. The magnetic sensor is used to determine whether a moving module has entered the range of the first loading station. If it has, it means that the first loading station is occupied; if not, it means that the first loading station is vacant. Of course, other methods can also be used to determine whether the first loading station is vacant; this embodiment does not limit such methods.

[0077] If there is only one vacant first loading station, then execute S202, and move each vacant sub-module to the vacant first loading station in sequence according to the moving order determined in S101, so that the first material can be placed on the vacant moving sub-module in sequence through the transfer mechanism.

[0078] If there are multiple vacant first loading stations, then execute S203 to calculate the first distance between the first vacant moving module in S101 and each vacant first loading station.

[0079] It should be noted that sensors are typically integrated into the stator conveyor line. These sensors can be Hall effect sensors or magnetoresistive sensors, and each mover module is equipped with a permanent magnet. The sensors capture the magnetic field strength components of the permanent magnet in the vertical (Z-axis) and horizontal (X-axis or Y-axis) directions of the mover module, determining the current coordinates of that mover module. The coordinates of each first loading station are pre-calibrated and stored in the controller. The distance between the first loading station and the mover module is calculated based on their coordinates.

[0080] In S204, based on the first distance calculated in S203 and the movement sequence determined in S101, the target first loading station corresponding to each idle moving sub-module is determined.

[0081] It should be noted that the first loading station with the smallest first distance can be determined as the target first loading station for the first idle moving module. For example, if there are vacant first loading stations A1, A3, and A4, and the sorted vacant moving modules are a1, a2, a3, a4, and a5, then the first distance between a1 and A1 is the smallest, and the first distance between a1 and A4 is the largest. In this case, A1 is determined as the target first loading station for a1, A3 as the target first loading station for a2, and A4 as the target first loading station for a3. The remaining vacant moving modules a4 and a5 need to be judged again based on the vacancy status of the first loading stations. If there is no vacant first loading station, they continue to wait. If there is only one vacant first loading station, they enter the first loading station in sequence. If there are multiple vacant first loading stations, the first loading station with the closest distance is taken as the target first loading station.

[0082] Alternatively, the first loading station with the largest distance can be determined as the target first loading station for the first idle moving module. Without departing from the basic principles of this application, those skilled in the art can flexibly choose according to the specific application scenario, as long as the target first loading station corresponding to each idle moving module can be accurately determined and the idle moving module can be prevented from running unloaded.

[0083] In S205, after the target first loading station corresponding to each idle moving module is determined in S204, each idle moving module is moved to the corresponding first loading station so that the first material can be loaded onto the idle moving module by the transfer mechanism.

[0084] In this way, by monitoring the number of vacant units at the first loading station, idle moving modules can be moved to the first loading station in sequence according to the moving order, or the idle moving modules can be moved to the nearest first loading station. The method of moving idle moving modules to the first loading station can be adjusted in real time according to the number of vacant units. This can not only avoid the moving modules running idle, but also effectively utilize the vacant first loading station, improve the utilization rate of the first loading station, and effectively improve the conveying efficiency.

[0085] In one possible implementation, to transport different parts of the same product together, the motor conveying system typically includes a second loading station for loading the second material. Idle moving modules, after carrying the first material at the first loading station, move to the main conveying channel. Before each moving module moves along the main conveying channel to the unloading station, it is controlled to move along the conveying direction to a second conveying branch, and is then driven by the second conveying branch to the second loading station. Each moving module is stopped at the second loading station for a second duration, for example, 6-10 seconds. Preferably, the second duration is 8 seconds. During this second duration, a transfer mechanism corresponding to the second loading station transfers the second material to the idle moving module, which is then driven by the second conveying branch to move to the main conveying channel, and subsequently driven by the main conveying channel to move along the conveying direction to the unloading station. In this way, the two materials of the product are loaded onto the moving module in two separate steps. The moving module then transports the complete set of products to the unloading station, achieving product transportation while assembling the products and improving the overall efficiency of the production line.

[0086] In one possible implementation, the stator conveyor line of this application has multiple second conveying branches, thus having multiple second loading stations. In this case, some of the second loading stations may be vacant. In order to further improve the conveying efficiency, this application monitors the vacancy status of the second loading stations before moving the moving module to the second loading station, and controls the movement of the moving module based on the monitoring status.

[0087] The following is combined Figure 4 and Figure 5 This paper further elaborates on the possible implementation methods of moving the moving module to the second loading station.

[0088] In one possible implementation, such as Figure 4 As shown, the control method of the present invention includes:

[0089] S300: Determine if there is an empty second loading station;

[0090] S301: When there is an empty second loading station, calculate the second distance between the moving module and each empty second loading station;

[0091] S302: Determine the first target second loading station corresponding to the moving module based on the second distance;

[0092] S303: Control the moving module to move to the second conveying branch where the corresponding first target second loading station is located.

[0093] In S300, similar to the first loading station described above, a magnetic sensor is installed at each second loading station. This magnetic sensor determines whether a moving module has entered the range of the second loading station. If so, the second loading station is occupied; otherwise, it is vacant. Of course, other methods can also be used to determine whether the second loading station is vacant; this embodiment does not limit such methods.

[0094] In S301, the calculation method for the second distance between the moving module and the vacant second loading station is roughly similar to the calculation method for the first distance between the idle moving module and the vacant first loading station. It also uses the magnetic field strength parameters of the moving module captured by the sensor to determine the current coordinates of the moving module, and then calculates the second distance between the moving module and the vacant second loading station.

[0095] In S302, the second loading station with the smallest second distance is determined as the first target second loading station of the moving module. Obviously, the second loading station with the largest second distance can also be determined as the first target second loading station of the moving module.

[0096] In S303, the control module moves to the second conveying branch where the corresponding first target second loading station is located, and moves to the first target second loading station.

[0097] In the above manner, when there is an empty second loading station, the first target second loading station corresponding to it is determined based on the second distance between the moving module and the empty second loading station, so that the moving module can move to the corresponding first target second loading station as soon as possible for loading, thereby improving the conveying efficiency.

[0098] In one possible implementation, such as Figure 5 As shown, the control method of the present invention includes:

[0099] S400: Determine if there is an empty second loading station;

[0100] S401: When there is no vacant second loading station, calculate the third distance between the moving module and each second loading station;

[0101] S402: Determine the second target second loading station corresponding to the moving module based on the third distance;

[0102] S403: Determine whether the number of moving modules waiting on the second conveyor branch corresponding to the second loading station of the second target has reached the preset number. If not, execute S404; if not, execute S405.

[0103] S404: Controls the moving module to enter the second conveyor branch where the second target second loading station is located;

[0104] S405: Controls the moving module to move along the conveying direction to the next second conveying branch.

[0105] In S400, similar to S300 above, a magnetic sensor is used to determine whether there is an vacant second loading station.

[0106] In S401, the calculation method for the third distance between the moving module and each of the second loading stations is roughly similar to the calculation method for the first distance between the idle moving module and the vacant first loading station, and the calculation method for the second distance between the moving module and the vacant second loading station. It also determines the current coordinates of the moving module by capturing the magnetic field strength parameters of the moving module by the sensor, and then calculates the third distance between the moving module and each of the second loading stations.

[0107] In S402, the second loading station with the smallest third distance is determined as the second target second loading station of the moving module. Obviously, the second loading station with the largest third distance can also be determined as the second target second loading station of the moving module.

[0108] In S403, the number of moving modules waiting on the second conveying branch corresponding to the second loading station of the second target determined in S402 is obtained, and it is determined whether the number has reached the preset number.

[0109] It should be noted that, as mentioned above, each moving module has an identification identifier (ID). After the second conveyor branch is powered on, it can identify the identification identifiers (IDs) of all moving modules located on it, and thus determine the number of moving modules waiting on the second conveyor branch.

[0110] If the preset number is not reached, for example, if the number of waiting moving modules is 2 and the preset number is 3, it means that the number of waiting moving modules on the second conveying branch is not very large. In this case, S404 is executed to control the moving module to enter the second conveying branch where the second target second loading station is located.

[0111] If a preset number is reached, for example, if the number of waiting moving modules is 3, and the preset number is 3, it means that there are many moving modules waiting on the second conveying branch. If they also enter the second conveying branch, the waiting time will be long. In this case, S405 is executed to control the moving module to move along the conveying direction to the next second conveying branch. It is further determined whether the number of waiting moving modules on the second conveying branch has reached the preset number. If the preset number has not been reached, the moving module is controlled to enter the second conveying branch. If the preset number has been reached, the moving module is controlled to move to the next second conveying branch. This process continues until all moving modules have been moved to the second conveying branch.

[0112] By using the above method, when there are no vacant second loading stations, the third distance between the moving module and each second loading station, as well as the number of moving modules waiting on each second conveying branch, is combined to determine the second conveying branch that the moving module will eventually enter, thereby maximizing the use of each second loading station and improving conveying efficiency.

[0113] In one possible implementation, before the moving module moves to the second loading station, it has already undergone its first loading at the first loading station. At this time, the overall weight of the moving module is detected to obtain a first weight, which is the total weight of the moving module, including the weight of the moving module body and the first material it carries. Based on this first weight, it is determined whether the moving module has successfully loaded material at the first loading station. If the loading is successful, the moving module is controlled to move to the second loading station. If the loading is unsuccessful, the moving module is controlled to return to the first loading station along the main conveyor, where it is loaded again to ensure that the moving module carries a sufficient amount of the first material before moving to the second loading station. This ensures that the moving module arrives at the second loading station with a sufficient amount of the first material, preventing material leakage.

[0114] It should be noted that the success of loading the moving module at the first loading station can be determined by the difference between the first weight and the weight of the moving module body: if the difference is equal to the preset first weight, which is the preset loading amount of the first material, then the moving module was successfully loaded at the first loading station; if the difference is less than the preset first weight, then the moving module was not successfully loaded at the first loading station. Alternatively, the first weight can be directly compared with the preset weight, which is the sum of the weight of the moving module body and the preset loading amount of the first material. If the first weight is greater than or equal to the preset weight, then the moving module was successfully loaded at the first loading station; if the first weight is less than the preset weight, then the moving module was not successfully loaded at the first loading station.

[0115] In one possible implementation, before the moving module moves to the unloading station, it has already undergone a second loading at the second loading station. At this time, the overall weight of the moving module is detected to obtain a second weight, which is the total weight of the moving module, including the weight of the moving module body and the first and second materials it carries. Based on this second weight, it is determined whether the moving module has successfully loaded materials at the second loading station. If the loading is successful, the moving module is controlled to move to the unloading station. If the loading is unsuccessful, the moving module is controlled to return along the main conveyor to the second loading station for loading again, ensuring that the moving module carries sufficient first and second materials before moving to the unloading station. This ensures that the moving module arrives at the unloading station carrying sufficient first and second materials, preventing material leakage.

[0116] It should be noted that the success of loading the moving module at the second loading station can be determined by the difference between the second weight and the weight of the moving module body: if the difference is equal to the preset second weight, which is the sum of the preset loading amounts of the first and second materials, then the moving module has been successfully loaded at both the first and second loading stations; if the difference is less than the preset second weight, then the moving module has not been successfully loaded at the second loading station. Alternatively, the second weight can be directly compared to the preset weight, which is the sum of the weight of the moving module body, the preset loading amounts of the first and second materials. If the second weight is greater than or equal to the preset weight, then the moving module has been successfully loaded at the second loading station; if the second weight is less than the preset weight, then the moving module has not been successfully loaded at the second loading station.

[0117] It should be noted that the methods for obtaining the first and second weights of the moving module are roughly the same as the methods for detecting the overall weight of the moving module in S100. A dynamic weighing sensor is integrated on the upstream side of the conveying direction along the main conveying channel at the second loading station and unloading station. When the moving module passes through this section, the first and second weights of the moving module can be obtained through the dynamic weighing sensor.

[0118] In one possible implementation, a labeling station is also provided on the second side of the main conveyor, where products carried on the moving parts are labeled. Since multiple moving parts typically exist on the main conveyor simultaneously, to avoid congestion of the main conveyor due to too many waiting moving parts, a third conveying branch is also provided upstream of the labeling station in this application, where moving parts waiting to enter the labeling station wait.

[0119] The following is combined Figure 6This paper further elaborates on the possible implementation methods of moving the moving module to the labeling station in this application.

[0120] In one possible implementation, such as Figure 6 As shown, the control method of the present invention further includes:

[0121] S500: After the moving module stops at the second feeding station for a second duration, control the moving module to move to the main conveyor.

[0122] S501: Determine if the labeling station is vacant. If yes, execute S503; otherwise, execute S502.

[0123] S502: Controls the moving module to move to the third conveyor branch;

[0124] S503: Controls the moving module to pass through the labeling station at a preset speed along the conveying direction;

[0125] S504: Control the moving module to move along the conveying direction to the unloading station.

[0126] In S500, after the moving module stops for a second period of time at the second loading station, the second material has been loaded onto the moving module through the transfer mechanism, and the moving module is controlled to move from the second conveying branch to the main conveying channel.

[0127] In S501, before the control module moves to the labeling station, it is determined whether the labeling station is in an empty state.

[0128] If the labeling station is not in an idle state, execute S502 to control the moving module to move to the third conveyor branch. At the same time, return to execute S501 to continue to determine whether the labeling station is in an idle state.

[0129] If the labeling station is idle, S503 is executed, controlling the moving module to pass through the labeling station at a preset speed. The labeling head of the labeling equipment configured at the labeling station synchronizes its speed with the passing moving module, and the moving module performs dynamic labeling while passing through the labeling station. It should be noted that the relevant technology for synchronizing the speed of the labeling head and the moving module has been reported and will not be elaborated here.

[0130] In S504, each moving module completes labeling when passing the labeling station, and is then driven by the main conveyor to move to the unloading station along the conveying direction of the main conveyor.

[0131] By setting up the labeling station and the third conveying branch, it is possible to ensure that the materials carried by the moving module are labeled before being unloaded. When there are many moving modules waiting to be labeled, the moving modules can be moved to the third conveying branch to wait, avoiding blockage of the main conveying channel and effectively improving the conveying efficiency of the main conveying channel.

[0132] In one possible implementation, before controlling each moving module to move to the labeling station, it is determined whether the material carried on the moving module has already been labeled. If labeling has been completed, the moving module is directly controlled to move to the unloading station; if labeling has not been completed, the moving module is controlled to move to the labeling station for labeling. This ensures that the material carried on the moving module is labeled before unloading and avoids duplicate labeling.

[0133] It should be noted that image analysis can be used to determine whether the material carried on the moving module has been labeled: An image acquisition device (such as a camera or webcam) is installed upstream of the labeling station in the motor conveyor system. This device acquires images of the moving module passing through its detection area. The images undergo preprocessing such as grayscale conversion, filtering and denoising, and image enhancement. These images are then input into a pre-trained model, which outputs the result indicating whether the material carried on the moving module is labeled. The model can be a deep learning model such as YOLOv8, YOLOv7, or FF-CNN classification network, and its training set includes multiple images of labeled material and multiple images of unlabeled material.

[0134] In one possible implementation, before controlling the current moving module to move from the first conveying branch, the second conveying branch, and the third conveying branch to the main conveying channel, the status information of the moving module located on the main conveying channel is obtained. Based on the status information of the current moving module and the moving modules on the main conveying channel, it is determined whether there is a risk of collision between the current moving module and the moving modules on the main conveying channel. If there is no risk of collision, the current moving module is controlled to move immediately to the main conveying channel. If there is a risk of collision, the current moving module is controlled to wait for a preset time before moving to the main conveying channel. This not only utilizes each conveying branch to achieve parallel material feeding at multiple stations and dynamic waiting before labeling, improving overall conveying efficiency, but also actively avoids collisions between moving modules, ensuring that materials remain stable and do not slip during conveying.

[0135] It should be noted that the status information of the moving module includes motion parameters such as the moving direction, current speed, and acceleration of the moving module, as well as the magnetic field parameters of the moving module.

[0136] For example, the risk of collision between the current moving module and the moving modules on the main conveyor can be determined as follows: The coordinates of each moving module are determined based on the magnetic field strength data of the sensors on the stator conveyor line when the moving module passes through them; the real-time distance between the current moving module and the moving modules on the main conveyor is calculated based on their coordinates; if this real-time distance is less than or equal to the safe distance, a collision risk exists; if this real-time distance is greater than the safe distance, there is no collision risk. The safe distance can be determined through experimental testing or calculated based on the current motion parameters of the moving module and a preset anti-collision distance: Based on the current speed and maximum deceleration capacity of the moving module on the main conveyor, the shortest braking distance required for the moving module to come to a complete stop from its current speed is calculated; this shortest braking distance plus the user-preset anti-collision distance is the safe distance.

[0137] Of course, the risk of collision between the current moving module and the moving modules on the main conveyor can also be determined as follows: Taking the current moving module as being located on the second conveyor branch as an example, calculate the time required for the current moving module to move at a preset speed to the intersection of the second conveyor branch and the main conveyor. Calculate the time required for each moving module on the main conveyor to move at its current speed to the intersection. If the absolute value of the difference between the two times is less than or equal to the preset difference, there is a risk of collision; if the absolute value of the difference between the two times is greater than the preset difference, there is no risk of collision. The preset speed refers to the pre-set speed at which the current moving module moves from its current position along the second conveyor branch to the main conveyor.

[0138] In summary, in the preferred embodiment of the present invention, by real-time monitoring of idle moving parts, the idle operation of the moving parts during the conveying process can be avoided, effectively improving the conveying efficiency of the motor conveying system. By setting up multiple first and second conveying branches, and monitoring the vacancy status of the first and second loading stations, the utilization rate of each loading station can be improved while meeting the requirements for alternating loading and ensuring continuous material supply, further enhancing the system's conveying efficiency. By setting up a third conveying branch and determining whether the material carried on the moving parts has been labeled, it can be ensured that the material carried on the moving parts is labeled before unloading, and the occurrence of repeated labeling can be avoided.

[0139] The following example, using workpiece assembly with only one first loading station, illustrates the possible implementation of the control method of this application, including the following steps:

[0140] Step 1: Determine whether each moving module is an idle moving module;

[0141] Step 2: Calculate the distance between each idle moving sub-module and the first loading station, and sort the idle moving sub-modules in order of increasing distance;

[0142] Step 3: Move each idle moving sub-module to the first loading station in sequence;

[0143] Step 4: Stop each idle moving module at the first loading station for 2 seconds, and transfer the empty box to the idle moving module through the transfer mechanism configured at the first loading station;

[0144] Step 5: After each idle moving module stops at the first loading station for 2 seconds, move it to the main conveyor.

[0145] Step 6: Determine if there is an available second loading station;

[0146] Step 61: If there is an empty second loading station, control the moving module to move to the nearest empty second loading station;

[0147] Step 62: If there is no vacant second loading station, calculate the distance between the moving module and each second loading station, and determine whether the number of moving modules waiting on the second conveyor branch corresponding to the nearest second loading station has reached the preset number.

[0148] Step 621: If the preset quantity is not reached, control the moving module to move to the second conveying branch corresponding to the nearest second loading station;

[0149] Step 622: If the preset number is exceeded, control the moving module to move along the main conveyor to the next second conveyor branch, and further determine whether the number of moving modules waiting on the second conveyor branch has reached the preset number, until all moving modules are moved to the corresponding second conveyor branch.

[0150] Step 7: Stop each moving module at the second loading station for 8 seconds, and transfer the workpiece to the box on the idle moving module through the transfer mechanism configured at the second loading station;

[0151] Step 8: After each moving module stops at the second loading station for 8 seconds, determine whether there is a risk of collision with the moving modules moving on the main conveyor.

[0152] Step 81: If there is no risk of collision, move it to the main transport route;

[0153] Step 82: If there is a risk of collision, wait 2 seconds before moving to the main transport route;

[0154] Step 9: Determine if the labeling station is vacant;

[0155] Step 91: If the labeling station is vacant, control the moving module to move to the labeling station;

[0156] Step 92: If the labeling station is not vacant, control the moving module to move to the third conveyor branch, wait, and continue to determine whether the labeling station is vacant.

[0157] Step 10: Make each moving module pass through the labeling station at a preset speed, and dynamically label the box through the labeling device configured at the labeling station;

[0158] Step 11: Control the moving module to move along the conveying direction to the unloading station;

[0159] Step 12: Stop the moving sub-module at the unloading station for 2 seconds, and unload the assembled workpiece through the transfer mechanism configured at the unloading station.

[0160] Although the steps in the above embodiments are described in the above order, those skilled in the art will understand that in order to achieve the effect of this embodiment, different steps do not need to be executed in such order. They can be executed simultaneously (in parallel) or in reverse order. These simple changes are all within the protection scope of this application.

[0161] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. A control method for a motor-driven transmission system, characterized in that, The motor conveying system (100) includes multiple moving parts modules and a stator conveying line (1). The stator conveying line (1) is used to convey the moving parts modules and is magnetically coupled to them. The stator conveying line (1) includes a main conveying channel (11) and a first conveying branch (12) located on the first side of the main conveying channel (11). The inlet and outlet ends of the first conveying branch (12) are connected to the main conveying channel (11). A first loading station (1212) is provided on the first conveying branch (12). The second side of the main conveying channel (11) A material unloading station (111) is provided. The control method includes: determining whether each of the moving modules is an idle moving module; determining the movement order of the idle moving modules based on a preset sorting rule; moving the idle moving modules to the first loading station (1212) in sequence based on the movement order; and controlling the corresponding moving module to move to the main conveying channel (11) and move along the conveying direction of the main conveying channel (11) to the material unloading station (111) after each idle moving module stops at the first loading station (1212) for a first time.

2. The control method according to claim 1, characterized in that, The number of first conveying branches (12) is multiple, and the multiple first conveying branches (12) are arranged sequentially along the conveying direction. The step of "moving the idle moving sub-modules sequentially to the first loading station (1212) according to the moving order" further includes: obtaining the number of vacant first loading stations (1212); if the number of vacant first loading stations (1212) is one, then moving the idle moving sub-modules sequentially to the vacant first loading station (1212) according to the moving order; if the number of vacant first loading stations (1212) is multiple, then calculating the first distance between the first idle moving sub-module and each vacant first loading station (1212); determining the target first loading station corresponding to each idle moving sub-module based on the first distance and the moving order; and controlling each idle moving sub-module to move to the corresponding target first loading station.

3. The control method according to claim 1, characterized in that, The stator conveyor line (1) further includes a second conveyor branch (13) located on the first side of the main conveyor (11). The inlet and outlet ends of the second conveyor branch (13) are connected to the main conveyor (11) and are located downstream of the first conveyor branch (12) along the conveying direction. A second loading station (1321) is provided on the second conveyor branch (13). The control method further includes: before controlling the moving module to move to the unloading station (111), controlling the moving module to move along the conveying direction to the second conveyor branch (13) and then to the second loading station (1321); after each moving module stops at the second loading station (1321) for a second duration, controlling the corresponding moving module to move to the main conveyor (11) and then to the unloading station (111) along the conveying direction.

4. The control method according to claim 3, characterized in that, The number of second conveying branches (13) is multiple, and the multiple second conveying branches (13) are arranged sequentially along the conveying direction. The step of "controlling the moving module to move along the conveying direction to the second conveying branch (13)" further includes: determining whether there is an empty second loading station (1321); when there is an empty second loading station (1321), calculating the second distance between the moving module and each empty second loading station (1321); determining the first target second loading station corresponding to the moving module based on the second distance; and controlling the moving module to move to the second conveying branch (13) where the first target second loading station is located.

5. The control method according to claim 4, characterized in that, The control method further includes: when there is no vacant second loading station (1321), calculating a third distance between the moving module and each second loading station (1321); determining a second target second loading station corresponding to the moving module based on the third distance; determining whether the number of moving modules waiting on the second conveying branch (13) corresponding to the second target second loading station has reached a preset number; if the preset number has been reached, controlling the moving module to move along the conveying direction to the next second conveying branch (13), and further selectively controlling the moving module to enter the second conveying branch (13) based on the number of moving modules waiting on the second conveying branch (13).

6. The control method according to claim 3, characterized in that, The control method further includes: before the moving module moves to the second loading station (1321), obtaining the first weight of the moving module; determining whether the moving module has been successfully loaded at the first loading station (1212) based on the first weight, and controlling the moving module to move to the second loading station (1321) or return to the first loading station (1212) along the main conveying channel (11) according to the determination result.

7. The control method according to claim 3, characterized in that, The control method further includes: before the moving module moves to the unloading station (111), obtaining the second weight of the moving module; determining whether the moving module is successfully loaded at the second loading station (1321) based on the second weight, and controlling the moving module to move to the unloading station (111) or return to the second loading station (1321) along the main conveying channel (11) according to the determination result.

8. The control method according to claim 3, characterized in that, A labeling station (112) is also provided on the second side of the main conveying channel (11). The labeling station (112) is located upstream of the unloading station (111) and downstream of the second loading station (1321) along the conveying direction. The control method further includes: before controlling the moving module to move to the unloading station (111), controlling the moving module to pass through the labeling station (112) at a preset speed along the conveying direction, and then controlling the moving module to move to the unloading station (111) along the conveying direction.

9. The control method according to claim 8, characterized in that, The stator conveyor line (1) further includes a third conveyor branch (14) located on the second side of the main conveyor (11). The third conveyor branch (14) is located upstream of the labeling station (112) and downstream of the second conveyor branch (13) along the conveying direction. The inlet and outlet ends of the third conveyor branch (14) are both connected to the main conveyor (11). The control method further includes: before controlling the moving module to move to the labeling station (112), determining whether the labeling station (112) is in an empty state; when the labeling station (112) is not in an empty state, controlling the moving module to move to the third conveyor branch (14).

10. The control method according to claim 8, characterized in that, The control method further includes: before controlling each of the moving modules to move to the labeling station (112), determining whether the material carried on the moving module has been labeled, and selectively controlling the corresponding moving module to move to the labeling station (112) based on the determination result.

11. The control method according to claim 9, characterized in that, The control method further includes: before controlling the current moving module to move from the first conveying branch (12), the second conveying branch (13) and / or the third conveying branch (14) to the main conveying channel (11), acquiring the status information of the moving module located on the main conveying channel (11); judging whether there is a collision risk based on the status information of the current moving module and the status information of the moving module on the main conveying channel (11), and controlling the current moving module to immediately move to the main conveying channel (11) or wait for a preset time before moving to the main conveying channel (11) based on the judgment result.

12. A motor conveying system, characterized in that, The motor conveying system (100) includes: a stator conveying line (1), the stator conveying line (1) includes a main conveying channel (11) and a first conveying branch (12) disposed on a first side of the main conveying channel (11), the first conveying branch (12) has a first inlet end (1211) and a first outlet end (1231), the first inlet end (1211) and the first outlet end (1231) are arranged sequentially along the conveying direction of the main conveying channel (11), and the first conveying branch (12) passes through the first... An inlet end (1211) and a first outlet end (1231) are connected to the main conveying channel (11), a first loading station (1212) is provided on the first conveying branch (12), and a unloading station (111) is provided on the second side of the main conveying channel (11); a moving module for carrying materials, the moving module moving along the stator conveying line (1) by magnetic coupling with the stator conveying line (1); and a controller for executing the control method of any one of claims 1 to 11.

13. The motor conveying system according to claim 12, characterized in that, The motor conveying system (100) further includes a second conveying branch (13), which is located on the first side of the main conveying channel (11) and downstream of the first conveying branch (12) along the conveying direction. The second conveying branch (13) has a second inlet end (1311) and a second outlet end (1331). The second inlet end (1311) and the second outlet end (1331) are arranged sequentially along the conveying direction of the main conveying channel (11). The second conveying branch (13) is connected to the main conveying channel (11) through the second inlet end (1311) and the second outlet end (1331). A second loading station (1321) is provided on the second conveying branch (13).

14. The motor conveying system according to claim 13, characterized in that, The number of the second conveying branches (13) is multiple, and the multiple second conveying branches (13) are arranged sequentially along the conveying direction.

15. The motor conveying system according to claim 13, characterized in that, A labeling station (112) is also provided on the second side of the main conveying channel (11). The labeling station (112) is located upstream of the unloading station (111) and downstream of the second loading station (1321) along the conveying direction. The stator conveying line (1) also includes a third conveying branch (14). The third conveying branch (14) is located on the second side of the main conveying channel (11). The third conveying branch (14) is located downstream of the labeling station (111) along the conveying direction. On the upstream side of 2) and the downstream side of the second conveying branch (13), the third conveying branch (14) has a third inlet end (1411) and a third outlet end (1431). The third inlet end (1411) and the third outlet end (1431) are arranged sequentially along the conveying direction of the main conveying channel (11). The third conveying branch (14) is connected to the main conveying channel (11) through the third inlet end (1411) and the third outlet end (1431).

Images