Motion control equipment, magnetic drive transportation equipment and article transportation system

Abstract

The utility model provides a motion control device, a magnetic drive transportation device and an article transportation system.The motion control device is connected with a transmission transportation device and a magnetic drive transportation mechanism, the magnetic drive transportation mechanism comprises a magnetic motion part and a magnetic drive wire body, and the magnetic motion part is movably connected with the magnetic drive wire body; the magnetic drive wire body is used for driving the magnetic moving part to move through a magnetic field; the motion control equipment comprises a motion acquisition module which is used for acquiring the motion state of the transmission transportation equipment and generating a motion acquisition signal; the magnetic drive control module is connected with the motion acquisition module and is used for controlling the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, so that the motion condition of the magnetic motion part is matched with the motion condition of the transmission transportation equipment; by adopting the motion control equipment, the problem of how to improve the debugging efficiency among various types of transportation equipment in the prior art is solved.

Description

[0001] This application claims priority to the Chinese patent application No. 202410597602.3, filed on May 14, 2024, and entitled "Motion control device and method, magnetic drive transportation device, and article transportation system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of industrial transportation, in particular, to a motion control device, a magnetic drive transportation device, and an article transportation system. BACKGROUND

[0003] With the development of technology, the article transportation scene is gradually complex, and different types of transportation devices need to be transported together. Due to the difference in mechanical structure, the transportation methods of different types of transportation devices are different. For example, some transportation devices transport articles through a conveyor belt, and some transportation devices transport articles through a turntable.

[0004] During the article transportation process, the article transportation demand may change (for example, the production line beat needs to be improved, and the number of articles transported per unit of time needs to be increased), and the motion parameters of each type of transportation device need to be adjusted according to the article transportation demand and the transportation methods of multiple types of transportation devices. Multiple types of transportation devices may not be able to cooperate due to the adjustment of the motion parameters, thereby requiring repeated debugging and taking a long time.

[0005] Therefore, how to improve the debugging efficiency between multiple types of transportation devices needs to be solved by those skilled in the art. SUMMARY

[0006] The main purpose of the present application is to provide a motion control device, a magnetic drive transportation device, and an article transportation system to solve the problem of how to improve the debugging efficiency between multiple types of transportation devices in the related art.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a motion control device is provided, which is connected with a transmission transportation device and a magnetic drive transportation mechanism respectively, the magnetic drive transportation mechanism includes a magnetic motion component and a magnetic drive line body, the magnetic motion component is movably connected with the magnetic drive line body, and the magnetic drive line body is used to drive the magnetic motion component to move through a magnetic field; the motion control device includes a motion acquisition module, which is used to acquire the motion state of the transmission transportation device and generate a motion acquisition signal; a magnetic drive control module connected with the motion acquisition module, which is used to control the change of the magnetic field of the magnetic drive line body according to the motion acquisition signal, so that the motion of the magnetic motion component matches the motion of the transmission transportation device.

[0008] Further, the motion control device further comprises a position detection module connected with the magnetic drive control module, configured to detect position information of the magnetic motion component, and generate a position detection signal; and the magnetic drive control module is further configured to monitor the motion of the magnetic motion component according to the position detection signal when controlling the magnetic field change of the magnetic drive wire body according to the motion collection signal.

[0009] Further, the magnetic drive control module is further configured to judge whether the magnetic motion component reaches the first position according to the position detection signal before controlling the magnetic field change of the magnetic drive wire body according to the motion collection signal, and control the magnetic field of the magnetic drive wire body according to the judgment result.

[0010] Further, the motion collection signal comprises transmission position information of the transmission transportation device, and the magnetic drive control module is further configured to determine the position change of the transmission transportation device according to the transmission position information of the transmission transportation device indicated by the motion collection signal when the judgment result indicates that the magnetic motion component reaches the first position, and control the magnetic field change of the magnetic drive wire body according to the position change of the transmission transportation device, so as to drive the magnetic motion component to move according to the position change of the transmission transportation device.

[0011] Further, the magnetic drive control module is further configured to control the magnetic field change of the magnetic drive wire body according to the transmission speed information corresponding to the transmission transportation device when the judgment result indicates that the magnetic motion component reaches the first position, so as to drive the magnetic motion component to move according to the transmission speed information, wherein the transmission speed information is determined through the motion collection signal or through a preset first control parameter.

[0012] Further, the magnetic drive control module is further configured to control the magnetic field change of the magnetic drive wire body according to the transmission speed information corresponding to the transmission transportation device and the position information of the magnetic motion component indicated by the position detection signal when the judgment result indicates that the magnetic motion component does not reach the first position, so as to drive the magnetic motion component to reach the first position at a motion speed matching the transmission speed information, wherein the transmission speed information is determined through the motion collection signal or through a preset first control parameter.

[0013] Further, the number of the motion acquisition modules is multiple, and the motion control device further comprises a signal processing module connected with the multiple motion acquisition modules and connected with the magnetic drive control module, configured to receive the motion acquisition signals of the multiple motion acquisition modules, and send the motion acquisition signals of the multiple motion acquisition modules to the magnetic drive control module one by one when the motion acquisition signals of the multiple motion acquisition modules are received.

[0014] Further, the signal processing module comprises a signal selection unit configured to receive the motion acquisition signals of the multiple motion acquisition modules in time division, and send the motion acquisition signals of the multiple motion acquisition modules to the magnetic drive control module in time division.

[0015] Further, the signal selection unit comprises multiple signal input parts, at least one signal output part and multiple switching sub-units; wherein: the multiple signal input parts are connected with the multiple motion acquisition modules one by one; one signal output part is connected with at least one signal input part through the switching sub-unit, and at least one signal output part is connected with the magnetic drive control module; the multiple switching sub-units correspond to the multiple motion acquisition modules, and each switching sub-unit switches between the connected state and the disconnected state according to the time sequence of the motion acquisition signals sent by the corresponding motion acquisition module.

[0016] Further, the signal processing module comprises a signal integration unit configured to receive the motion acquisition signals generated by the multiple motion acquisition modules, and send the motion acquisition signals of the multiple motion acquisition modules to the magnetic drive control module in sequence after sorting.

[0017] Further, the signal integration unit comprises multiple signal input parts, at least one signal output part and at least one signal buffering sub-unit; wherein: the multiple signal input parts are connected with the multiple motion acquisition modules one by one; at least one signal output part is connected with the multiple signal input parts through at least one signal buffering sub-unit, and at least one signal output part is connected with the magnetic drive control module; at least one signal buffering sub-unit corresponds to the multiple motion acquisition modules, and the signal buffering sub-unit is configured to buffer and sort the motion acquisition signals of the multiple motion acquisition modules, and send the motion acquisition signals to the connected signal output part in sequence.

[0018] Further, the number of the signal processing modules is multiple, and at least part of the signal processing modules are connected with the multiple motion acquisition modules; the connection relationship between the multiple signal processing modules comprises one of the following: a series connection relationship and a parallel connection relationship.

[0019] Further, in the case that the connection relationship between the plurality of signal processing modules is the series connection relationship, the plurality of signal processing modules pass the received motion acquisition signals in the direction close to the magnetic drive control module according to the series connection relationship.

[0020] Further, in the case that the connection relationship between the plurality of signal processing modules is the parallel connection relationship, the plurality of signal processing modules are arranged according to a plurality of levels, and the signal processing modules in the same parallel branch pass the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

[0021] Further, the number of the magnetic motion components is a plurality; the magnetic drive control module is configured to determine a control object from the plurality of magnetic motion components according to the transmission and transportation equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, or the magnetic drive control module is configured to determine a control object and the transmission and transportation equipment corresponding to the control object from the plurality of magnetic motion components, and control the magnetic field change of the magnetic drive wire body after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

[0022] According to another aspect of the present application, a magnetic drive transportation device is provided, which is connected with a transmission and transportation equipment, and includes: a motion acquisition module, configured to acquire a motion state of the transmission and transportation equipment, and generate a motion acquisition signal; a magnetic drive wire body, connected with a magnetic drive control module, and configured to drive a magnetic motion component to move through a magnetic field; the magnetic motion component is movably connected with the magnetic drive wire body, and configured to move under the drive of the magnetic field generated by the magnetic drive wire body; the magnetic drive control module is connected with the motion acquisition module, and configured to control the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, so that the motion of the magnetic motion component matches the motion of the transmission and transportation equipment.

[0023] According to another aspect of the present application, a magnetic drive transportation device is provided, which is connected with a transmission and transportation equipment, and includes: a motion acquisition module, configured to acquire a motion state of the transmission and transportation equipment, and generate a motion acquisition signal; a magnetic drive wire body, connected with a magnetic drive control module, and configured to drive a magnetic motion component to move through a magnetic field; the magnetic motion component is movably connected with the magnetic drive wire body, and configured to move under the drive of the magnetic field generated by the magnetic drive wire body; the magnetic drive control module is connected with the motion acquisition module, and configured to control the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, so that the motion of the magnetic motion component matches the motion of the transmission and transportation equipment.

[0024] By applying the technical solution of the present application, the motion control device is connected with the transmission transport device and the magnetic drive transport mechanism respectively, the magnetic drive transport mechanism includes a magnetic motion component and a magnetic drive wire body, the magnetic motion component is movably connected with the magnetic drive wire body, and the magnetic drive wire body is used to drive the magnetic motion component to move through a magnetic field; the motion state of the transmission transport device is collected through the motion collection module, and a motion collection signal used to indicate the motion state of the transmission transport device is generated; the magnetic drive control module is connected with the motion collection module, receives the motion collection signal sent by the motion collection module, and controls the magnetic field of the magnetic drive wire body to change according to the motion collection signal, so that the magnetic motion component is driven to move according to the motion state of the transmission transport device, so that the motion state of the magnetic motion component matches the motion state of the transmission transport device; by using the above motion control device, through the cooperative work of the motion collection module and the magnetic drive control module, the motion state of the magnetic motion component can match the motion state of the transmission transport device, the motion coupling relationship between the magnetic drive transport mechanism and the transmission transport device can be established, so that the situation that the transmission transport device and the magnetic drive transport mechanism cannot cooperate in transportation during debugging is avoided, thereby the debugging time can be shortened; and the problem of how to improve the debugging efficiency between multiple types of transport devices in the related art is further solved; and the beneficial effect of improving the debugging efficiency between multiple types of transport devices is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0025] The drawings accompanying the specification of the present application form a part thereof, serve to provide further understanding of the present application, and together with the specification explain the present application, and do not constitute an improper limitation on the present application. In the drawings:

[0026] Figure 1 is a structural block diagram of a motion control device according to an embodiment of the present application (one);

[0027] Figure 2 is a structural block diagram of a motion control device according to an embodiment of the present application (two);

[0028] Figure 3 is a structural schematic diagram of an optional motion control device according to an embodiment of the present application (one);

[0029] Figure 4 is a series structure schematic diagram of an optional signal processing module according to an embodiment of the present application;

[0030] Figure 5 is a parallel structure schematic diagram of an optional signal processing module according to an embodiment of the present application (one);

[0031] Figure 6 is a parallel structure schematic diagram of an optional signal processing module according to an embodiment of the present application (two);

[0032] Figure 7 is a structural schematic diagram of an optional motion control device according to an embodiment of the application (two);

[0033] Figure 8 is a schematic diagram of a transport matching area according to an embodiment of the application;

[0034] Figure 9 is a structural block diagram of a magnetic drive transport device according to an embodiment of the application (one);

[0035] Figure 10 is a structural block diagram of a magnetic drive transport device according to an embodiment of the application (two);

[0036] Figure 11 is a structural schematic diagram of a magnetic drive transport device according to an embodiment of the application;

[0037] Figure 12 is a structural block diagram of an article transport system according to an embodiment of the application (one);

[0038] Figure 13 is a structural block diagram of an article transport system according to an embodiment of the application (two). DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. The description of the at least one exemplary embodiment is actually only illustrative, but not intended to limit the present application and its application or use in any way. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0040] It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a feature, step, operation, device, component and / or combination thereof.

[0041] The relative arrangement of parts and steps, numerical expressions, and values set forth in the examples herein are not intended to limit the scope of the present application unless otherwise specifically stated. It is to be understood that the actual dimensions of the various parts shown in the drawings are not necessarily to scale, and that certain specific values are to be interpreted as examples only and not as limitations. Other examples of the exemplary embodiments can have different values. It is to be noted that like numbers and letters refer to like elements throughout the several views of the drawings and that discussion of each element in one view does not preclude discussion of each element in another view.

[0042] A motion control device is provided in the embodiments, which is shown as a structural block diagram of a motion control device in the embodiments of the present application. The motion control device 11 is connected with a transmission transport device 12 and a magnetic drive transport mechanism 13 respectively. The magnetic drive transport mechanism 13 comprises a magnetic motion component 132 and a magnetic drive wire body 134. The magnetic motion component 132 is movably connected with the magnetic drive wire body 134. The magnetic drive wire body 134 is used to drive the magnetic motion component 132 to move through a magnetic field. The motion control device 11 comprises: Figure 1

[0043] A motion acquisition module 112 is used to acquire the motion state of the transmission transport device 12 and generate a motion acquisition signal.

[0044] It is to be noted that the motion acquisition module can be a contact type motion acquisition module or a non-contact type motion acquisition module. For the motion acquisition module, the acquisition can be performed through one or more combinations of light, electricity and magnetism. According to the actual contact mode and acquisition mode, the type of device included in the motion acquisition module can be determined. For example, the motion acquisition module can comprise an image sensor. The motion image data of the transmission transport device is acquired through the image sensor and analyzed to determine the motion state of the transmission transport device. For another example, the motion acquisition module can comprise an encoder. The motion state of the transmission transport device is measured through the encoder.

[0045] ​The type of motion state collected by the motion collection module is related to the motion mode of the transmission transport device. If the transmission transport device adopts a rotary motion mode for transportation, the motion collection module can collect the rotary motion state of the transmission transport device. If the transmission transport device adopts a linear motion mode for transportation, since the transmission transport device can have a process of converting rotary motion into linear motion, the motion collection module can collect the rotary motion state or the linear motion state of the transmission transport device. According to the specific motion mode of the transmission transport device for transportation, the motion collection module can include different types of devices according to the actual situation. According to the actual motion mode of the transmission transport device for transportation, the type of device that the motion collection module specifically includes can be determined. For example, the motion collection module can include at least one of a rotary sensor and a linear sensor. It should be noted that the type of motion physical information represented by the motion collection signal. The type of motion physical information can be transmission position information, transmission speed information, etc., wherein the transmission position information is used to represent the position of the transmission transport device at different times, and the transmission speed information is used to represent the speed of the transmission transport device, and the transmission speed information includes but is not limited to transmission instantaneous speed, transmission average speed, transmission direction, transmission acceleration, etc. information. Correspondingly, in order to collect the above different types of motion physical information, the motion collection module can be provided to include one or more of the following sensors: a position sensor capable of measuring transmission distance information, a speed sensor capable of measuring transmission speed information, etc.

[0046] With reference to Figure 1 The motion control device 11 can further include a magnetic drive control module 114 connected with the motion collection module 112, configured to control the magnetic field change of the magnetic drive wire body 134 according to the motion collection signal, so as to drive the magnetic motion component 132 to move, and make the motion condition of the magnetic motion component 132 match the motion condition of the transmission transport device 12.

[0047] With the above-mentioned motion control device 11, the motion state of the transmission transport device 12 is collected by the motion collection module 112 to generate a motion collection signal for indicating the motion condition of the transmission transport device 12; the magnetic drive control module 114 is connected with the motion collection module 112, and the magnetic drive control module 114 receives the motion collection signal sent by the motion collection module 112, and controls the magnetic field of the magnetic drive wire body 134 to change according to the motion collection signal, so as to drive the magnetic motion component 132 to move according to the motion condition of the transmission transport device 12, so that the motion condition of the magnetic motion component 132 matches the motion condition of the transmission transport device 12.

[0048] Therefore, through the cooperative work of the motion acquisition module and the magnetic drive control module, the motion conditions of different types of transportation devices are matched, the motion condition of the magnetic motion component can be matched with the motion condition of the transmission transportation device, the motion coupling relationship between the magnetic drive transportation mechanism and the transmission transportation device can be established, thereby avoiding the situation that the transmission transportation device and the magnetic drive transportation mechanism cannot be matched during debugging, thereby shortening the debugging time.

[0049] Therefore, the motion control device provided in the embodiments of the present application can solve the problem of how to improve the debugging efficiency between multiple types of transportation devices in the related art, and achieve the beneficial effect of improving the debugging efficiency between multiple types of transportation devices.

[0050] It can be understood that the transmission transportation device can be a device that realizes transportation by using one or more combinations of friction transmission and mesh transmission, such as friction transmission (e.g., belt transmission, rope transmission, and friction wheel transmission) and mesh transmission (e.g., gear transmission, chain transmission, screw transmission, and harmonic transmission), and the present application does not limit this.

[0051] It should be noted that in the embodiments of the present application, the motion acquisition module acquires the motion condition of the transmission transportation device, and the benefits are that after the magnetic drive control module is configured by software, hardware, or a combination of both, the magnetic drive control module can obtain the motion physical information represented by the motion acquisition signal sent by the motion acquisition module, and when the motion acquisition module is replaced with a transmission transportation device having the same motion mode (e.g., a rotary motion mode or a linear motion mode), the magnetic drive control module can still obtain the motion physical information of the replaced transmission transportation device according to the motion acquisition signal sent by the motion acquisition module and control the change of the magnetic field of the magnetic drive wire body, so that the motion control device has higher adaptability.

[0052] In actual applications, according to the specific mechanical structure of the transmission transportation device, the specific part of the motion acquisition module that acquires the motion state of the transmission transportation device can be determined. For example, the transmission transportation device can include a movable module and a fixed module, the movable module moves relative to the fixed module, and the movable module can include an execution module (e.g., a motor, a lifting component, etc.) and a load module (e.g., a wave wheel, a transmission belt, etc.). The motion acquisition module can acquire the motion state of the execution module or the load module. The execution module and the load module can be directly connected or indirectly connected. Direct connection can be achieved by rigid connection, and indirect connection can be achieved by magnetic force connection, and the embodiments of the present application do not limit this.

[0053] In a specific implementation, the motion control device can further include a position detection module. The position detection module is connected with the magnetic drive control module, and the position detection module is configured to detect position information of the magnetic motion component and generate a position detection signal. Accordingly, the magnetic drive control module can monitor the motion of the magnetic motion component according to the position detection signal, and can adjust the magnetic field change of the magnetic drive wire body according to the monitoring result, thereby improving the motion accuracy of the magnetic motion component. It can be understood that the timing of monitoring the motion of the magnetic motion component by the magnetic drive control module can be determined according to actual conditions. The motion of the magnetic motion component can be monitored before or after the motion acquisition signal is acquired, or the motion of the magnetic motion component can be monitored after the motion acquisition signal is acquired. The present application does not make specific limitations on this.

[0054] In an optional embodiment, the present application provides an optional motion control device, which has a structure as shown in Figure 2 The motion control device 11 includes a motion acquisition module 112, a magnetic drive control module 114, and a position detection module 116. It can be understood that, Figure 2 the same or similar hardware (such as the motion acquisition module 112, the magnetic drive control module 114, etc.) can be referred to Figure 1 the related description, which will not be repeated here. Figure 1

[0055] The position detection module 116 is connected with the magnetic drive control module 114, and is configured to detect position information of the magnetic motion component 132 and generate a position detection signal. The magnetic drive control module 114 is further configured to monitor the motion of the magnetic motion component 132 according to the position detection signal when controlling the magnetic field change of the magnetic drive wire body 134 according to the motion acquisition signal.

[0056] By providing a position detection module in the motion control device, the position information of the magnetic motion component at different times can be detected, and a position detection signal can be generated according to the position information. When the magnetic drive control module controls the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, the motion of the magnetic motion component can be monitored according to the position detection signal, so that the magnetic drive control module can adjust the control of the magnetic drive wire body at any time according to the position detection signal, so that the motion of the magnetic motion component can match the motion of the transmission and transportation equipment.

[0057] ​It can be known from the above embodiments that the real-time position of the magnetic moving component is detected by the position detection module, useful reference information can be provided for the magnetic drive control module, so that the magnetic drive control module can timely adjust the movement of the magnetic moving component when controlling the magnetic field change of the magnetic drive line body according to the movement acquisition signal, thereby ensuring that the movement of the magnetic moving component accurately matches the movement of the transmission and transportation equipment.

[0058] It can be understood that the number of the magnetic moving components can be one or more. When the number of the magnetic moving components is more than one, the magnetic drive control module is used to determine the control object from the plurality of magnetic moving components according to the transmission and transportation equipment indicated by the received movement acquisition signal, and control the magnetic field change of the magnetic drive line body according to the movement acquisition signal, or the magnetic drive control module can determine the control object and the transmission and transportation equipment corresponding to the control object from the plurality of magnetic moving components, and control the magnetic field change of the magnetic drive line body after receiving the movement acquisition signal of the transmission and transportation equipment corresponding to the control object.

[0059] When there are multiple magnetic moving components, unique and identifiable magnetic drive identification information can be assigned to the multiple magnetic moving components to distinguish between the magnetic moving components, thereby ensuring that the magnetic drive control module can correctly control the movement of each magnetic moving component.

[0060] It can also be understood that the process of determining the control object from the plurality of magnetic moving components by the magnetic drive control module can be combined with the position detection module, that is, the position detection module can not only be used to detect the position information of the magnetic moving component at different times, so that the magnetic drive control module can regulate the movement of the magnetic moving component in combination with the position information detected by the position detection module, but also be used to determine the correspondence between the magnetic moving component and the transmission and transportation equipment, which will be described in combination with several optional embodiments as follows:

[0061] In a first optional embodiment, the number of transmission and transportation equipment is one, the magnetic drive control module obtains the position of the transmission and transportation equipment relative to the magnetic drive line body (i.e., the distribution position of the transmission and transportation equipment) after obtaining the movement acquisition signal, and determines the positions of the plurality of magnetic moving components (i.e., the current positions of the plurality of magnetic moving components) at the time when the movement acquisition signal is obtained by the position detection module, determines the magnetic moving component corresponding to the transmission and transportation equipment (i.e., the first magnetic moving component) from the plurality of magnetic moving components according to the distribution position of the transmission and transportation equipment and the current positions of the plurality of magnetic moving components, and controls the magnetic field change of the magnetic drive line body according to the obtained movement acquisition signal, so that the movement of the first magnetic moving component matches the movement of the transmission and transportation equipment.

[0062] In a second optional embodiment, the number of transmission transport devices is multiple, and a unique and identifiable transmission identification information can be assigned to each transmission transport device for distinguishing each transmission transport device. The magnetic drive control module determines the corresponding transmission transport device (i.e., the first transmission transport device) according to the transmission identification information carried in the acquired motion acquisition signal, and acquires the position of the first transmission transport device relative to the magnetic drive line body (i.e., the distribution position of the first transmission transport device), and determines the positions of the multiple magnetic movement components (i.e., the current positions of the multiple magnetic movement components) through the position detection module when the motion acquisition signal is acquired, determines the magnetic movement component corresponding to the first transmission transport device (i.e., the first magnetic movement component) from the multiple magnetic movement components according to the distribution position of the first transmission transport device and the current positions of the multiple magnetic movement components, and controls the magnetic field change of the magnetic drive line body according to the acquired motion acquisition signal, so that the motion condition of the first magnetic movement component matches the motion condition of the first transmission transport device.

[0063] In a third optional embodiment, the magnetic drive control module determines the current positions of the multiple magnetic movement components through the position detection module, and determines the control object (i.e., the second magnetic movement component) and the transmission transport device corresponding to the control object (i.e., the second transmission transport device) from the multiple magnetic movement components in combination with the distribution position of the transmission transport device relative to the magnetic drive line body (i.e., the distribution position of the transmission transport device), and determines the second transmission transport device according to the transmission identification information in the acquired motion acquisition signal, and controls the magnetic field change of the magnetic drive line body after the motion acquisition signal of the second transmission transport device is acquired, so that the motion condition of the second magnetic movement component matches the motion condition of the second transmission transport device.

[0064] As can be seen from the above, the magnetic drive control module can accurately determine the correspondence between each magnetic movement component and the transmission transport device by cooperating with the position detection module, so as to accurately control the motion condition of the correct magnetic movement component according to the motion acquisition signal, and ensure that the transmission transport device and the magnetic movement component can smoothly cooperate in transportation.

[0065] In actual application process, in order to improve the efficiency of goods transportation, multiple transmission transport devices can be operated at the same time, and the number of motion acquisition modules is also increased accordingly. In an optional embodiment, each motion acquisition module corresponds to one transmission transport device, and each magnetic drive control module is connected with different motion acquisition modules through different interfaces, so as to receive the motion acquisition signal.

[0066] However, an excessive number of motion acquisition modules can negatively impact the operation of motion control equipment. For example, to ensure the magnetic drive control module can promptly monitor the movement of various transmission and transport devices, it needs to acquire motion signals from different acquisition modules through different interfaces. Too many acquisition modules can lead to insufficient interfaces for the magnetic drive control module. Furthermore, with an increased number of acquisition modules, the magnetic drive control module needs to continuously select different interfaces to read signals. However, the excessive number of interfaces can cause long waiting times for motion signals, potentially resulting in changes to the received signals during this waiting period (e.g., becoming stationary or being overwritten by the next acquisition signal). This can prevent the magnetic drive control module from acquiring motion signals in a timely manner, leading to signal loss.

[0067] To solve the above problems, a signal processing module can also be set in the motion control device. The signal processing module is set between multiple motion acquisition modules and magnetic drive control module. The signal processing module is used to send multiple motion acquisition signals acquired by different motion acquisition modules to the magnetic drive control module one by one.

[0068] In one alternative embodiment, such as Figure 3 As shown, the motion control device 11 may include: multiple motion acquisition modules 112, a magnetic drive control module 114, and a signal processing module 118, wherein, Figure 3 Zhongyu Figure 1 Similar or identical hardware (such as motion acquisition module 112, magnetic drive control module 114) can be referenced. Figure 1 The relevant descriptions will not be repeated here.

[0069] The signal processing module 118 is connected to multiple motion acquisition modules 112 and to the magnetic drive control module 114. The signal processing module 118 is used to receive motion acquisition signals generated by multiple motion acquisition modules 112, and when it receives the motion acquisition signals from multiple motion acquisition modules 112, it sends the motion acquisition signals from multiple motion acquisition modules 112 to the magnetic drive control module 114 one by one.

[0070] Therefore, by using the signal processing module, multiple motion acquisition signals can be sent in an orderly manner, which improves the interface reuse rate of the magnetic drive control module, reduces the interface occupancy rate of the motion acquisition module on the magnetic drive control module, and reduces the probability of motion acquisition signal loss.

[0071] In the article transportation scenario, there can be multiple transmission transportation devices. In order to facilitate control of the movement of each magnetic movement component according to the signal, multiple movement acquisition modules can be provided, and the multiple transmission transportation devices correspond one-to-one to the multiple movement acquisition modules. For the multiple movement acquisition modules, the movement acquisition signal contains identification information, which is used to represent which movement acquisition module it comes from.

[0072] In a specific implementation, according to actual conditions, the signal processing module can process the movement acquisition signals of the multiple movement acquisition modules through different processing manners, so as to ensure the orderly sending of the movement acquisition signals of the multiple movement acquisition modules. The specific structure of the signal processing module is illustrated below in combination with several optional embodiments.

[0073] In a first optional embodiment, continuing to refer to Figure 3 , the signal processing module 118 can include a signal selection unit 1182. The signal processing module 118 is configured to receive the movement acquisition signals generated by the multiple movement acquisition modules 112 in time division manner, and send the movement acquisition signals of the multiple movement acquisition modules 112 to the magnetic drive control module 114 in time division manner.

[0074] The signal selection unit 1182 can include multiple signal input parts (not shown in the figure) and at least one signal output part (not shown in the figure). Each signal input part of the signal selection unit 1182 is connected to one movement acquisition module 112, that is, the multiple signal input parts of the signal selection unit 1182 are connected to the multiple movement acquisition modules 112 one-to-one. The multiple signal input parts of the signal selection unit 1182 are configured to receive the movement acquisition signals of the multiple movement acquisition modules 112. The at least one signal output part of the signal selection unit 1182 is connected to the magnetic drive control module 114. The total number of the signal input parts of the signal selection unit 1182 is greater than the total number of the signal output parts of the signal selection unit 1182. One signal output part of the signal selection unit 1182 is in on-off connection with at least one signal input part of the signal selection unit 1182. The signal selection unit 1182 can control the on-off connection of the signal input parts and the signal output parts in one or more combinations of analog circuits and digital circuits.

[0075] The connected signal output part and signal input part can transmit the movement acquisition signal of the movement acquisition module 112 connected to the signal input part to the magnetic drive control module 114.

[0076] If only one signal output unit in the signal selection unit 1182 is connected with the magnetic drive control module 114, by controlling the on-off state between the signal output unit and the plurality of signal input units, the signal output unit can be connected with one signal input unit at a time, and the signal selection unit 1182 outputs a motion acquisition signal of one motion acquisition module to the magnetic drive control module 114 at the time. If there are multiple signal output units (the number of signal output units is less than the number of signal input units) in the signal selection unit 1182 connected with the magnetic drive control module 114, by controlling the on-off state between the plurality of signal output units and the plurality of signal input units, at least one signal output unit can be connected with one signal input unit at a time, and the signal selection unit 1182 outputs one or more motion acquisition signals to the magnetic drive control module 114 at the time.

[0077] Optionally, the signal selection unit 1182 can also include a switching subunit (not shown in the figure), one signal output unit is connected with at least one signal input unit through the switching subunit, and a plurality of switching subunits correspond to a plurality of motion acquisition modules. Each switching subunit switches between the connected state and the disconnected state according to the time sequence of the corresponding motion acquisition module sending the motion acquisition signal, thereby realizing the on-off connection between the signal output unit and the signal input unit.

[0078] Among them, the switching subunit can realize the on-off function by one or more combinations of analog circuits and digital circuits. For example, the switching subunit can include an analog switch realized by a transistor circuit, thereby realizing the on-off function.

[0079] For ease of understanding, the working conditions of the signal selection unit are further described below in combination with specific scenarios:

[0080] In some scenarios, assuming that there are motion acquisition modules A1, A2 and A3, the signal selection unit 1182 can include 3 signal input parts (i.e., signal input part B1, signal input part B2 and signal input part B3) and one signal output part C1, each signal input part corresponding to one motion acquisition module, assuming that the motion acquisition module A1 is connected to the signal input part B1, the motion acquisition module A2 is connected to the signal input part B2, and so on. The signal output part C1 is connected to the magnetic drive control module. At t1, the signal input part B1 is connected to the signal output part C1 through the switching subunit, the signal input part B2 and the signal input part B3 are disconnected from the signal output part C1, and the signal selection unit transmits the motion acquisition signal of the motion acquisition module A1; at t2, the signal input part B2 is connected to the signal output part C1 through the switching subunit, at this time, the signal input part B1 and the signal input part B3 are disconnected from the signal output part C1, and the signal selection unit transmits the motion acquisition signal of the motion acquisition module A2; and so on.

[0081] In other scenarios, assuming that there are motion acquisition modules A4, A5 and A6, the signal selection unit includes 3 signal input parts (i.e., signal input part B4, signal input part B5 and signal input part B6) and 2 signal output parts (signal output part C2 and signal output part C3), each signal input part corresponding to one motion acquisition module, assuming that the motion acquisition module A4 is connected to the signal input part B4, the motion acquisition module A5 is connected to the signal input part B5, and so on. The signal output part C2 and the signal output part C3 are connected to the magnetic drive control module. The signal output part C2 is connected to the signal input part B4 through the switching subunit, at this time, the switching subunit only selects to control the signal output part C2 and the signal input part B4 to be connected or disconnected; the signal output part C3 can be connected to the signal input part B5 and the signal input part B6, the switching subunit selects to control the signal output part C3 and the signal input part B5 to be connected, and the signal output part C3 and the signal input part B6 to be disconnected; the switching subunit selects to control the signal output part C3 and the signal input part B6 to be connected, and the signal output part C3 and the signal input part B6 to be disconnected.

[0082] At t1, the signal input part B4 is connected to the signal output part C2, the signal input part B5 is connected to the signal output part C3, at this time, the signal input part B6 is disconnected from the signal output part C3, and the signal selection unit transmits the motion acquisition signals of the motion acquisition module A4 and the motion acquisition module A5; at t2, the signal input part B6 is connected to the signal output part C3, the signal input part B4 is disconnected from the signal output part C2, and the signal input part B5 is disconnected from the signal output part C3, and the signal selection unit transmits the motion acquisition signal of the motion acquisition module A6. And so on.

[0083] Thus, by switching the sub-unit to selectively connect different signal input units and signal output units, time-sharing transmission of multiple signals is realized, ensuring that multiple motion acquisition signals can be sent in order, improving the interface multiplexing rate of the magnetic drive control module, and reducing the interface occupancy rate of the motion acquisition module to the magnetic drive control module and the loss probability of the motion acquisition signal.

[0084] It can be understood that the on-off state between the signal output unit and the signal input unit can be controlled externally (such as controlled by the magnetic drive control module or other external control module) or internally (such as the control sub-unit internally provided by the signal selection unit, which controls the on-off timing between each signal output unit and at least one signal input unit according to the preset program). Thus, the on-off state is controlled by hardware, which has faster response speed and can perform faster on-off switching.

[0085] In a second alternative embodiment, continuing to refer to Figure 3 The signal processing module 118 can include a signal integration unit 1184, which is located between the motion acquisition module 112 and the magnetic drive control module 114, and is used to integrate the motion acquisition signals of multiple motion acquisition modules 112 and output to the magnetic drive control module 114.

[0086] Specifically, the signal integration unit 1184 receives the motion acquisition signals generated by multiple motion acquisition modules 112, and sequentially sends the motion acquisition signals of multiple motion acquisition modules to the magnetic drive control module 114 after sorting. In other words, after receiving the motion acquisition signals of multiple motion acquisition modules 112, the signal integration unit 1184 sorts the received motion acquisition signals of multiple motion acquisition modules 112 according to certain rules (such as sorting according to the order of motion acquisition modules 112, or according to the order of signal reception, or according to the acquisition frequency of different motion acquisition modules 112) to obtain a signal sequence, and sequentially sends the received multiple motion acquisition signals to the magnetic drive control module 114 according to the signal sequence. For example, the signal integration unit 1184 first outputs the motion acquisition signal of the first motion acquisition module, then outputs the motion acquisition signal of the second motion acquisition module, and so on until the motion acquisition signal of the Nth motion acquisition module is output. The signal integration unit 1184 can realize the signal integration function by one or more combinations of analog circuits and digital circuits.

[0087] The signal integration unit 1184 can include a plurality of signal input parts (not shown in the figure) and at least one signal output part (not shown in the figure), each signal input part of the signal integration unit 1184 is connected with one motion acquisition module 112, that is, the plurality of signal input parts of the signal integration unit 1184 are connected with the plurality of motion acquisition modules 112 one by one, and the plurality of signal input parts of the signal integration unit 1184 are used to receive the motion acquisition signals of the plurality of motion acquisition modules 112. At least one signal output part of the signal integration unit 1184 is connected with the magnetic drive control module 114. The total number of signal input parts of the signal integration unit 1184 is greater than the total number of signal output parts of the signal integration unit 1184.

[0088] The signal integration unit 1184 can also include at least one signal buffer subunit (not shown in the figure), and at least one signal output part is connected with a plurality of signal input parts through at least one signal buffer subunit. At least one signal buffer subunit corresponds to a plurality of motion acquisition modules, and the signal buffer subunit is used to buffer and sort the motion acquisition signals of the plurality of motion acquisition modules, and sequentially sends them to the connected signal output part. The signal output part transmits the motion acquisition signals sent by the signal buffer subunit to the magnetic drive control module 114. Among them, the signal buffer subunit can realize the functions of buffering and sorting in one or more combinations of analog circuits and digital circuits.

[0089] If there is only one signal output part connected with the magnetic drive control module in the signal integration unit, then one signal buffer subunit can realize signal buffering and sorting. The signal buffer subunit sorts the motion acquisition signals of the plurality of motion acquisition modules received by the plurality of signal input parts and outputs them to the signal output part. If there are a plurality of signal output parts (the number of signal output parts is less than the number of signal input parts) connected with the magnetic drive control module in the signal integration unit, then a plurality of signal buffer subunits are used to buffer and sort the motion acquisition signals of the plurality of motion acquisition modules, wherein one signal buffer subunit is connected with one signal output part, and one signal buffer subunit is connected with at least one motion acquisition module.

[0090] In this way, the signal buffer subunit buffers and sorts the signals of the plurality of motion acquisition modules, realizes the sequential transmission of multiple signals, ensures that the plurality of motion acquisition signals can be sent in order, improves the interface reuse rate of the magnetic drive control module, and reduces the interface occupancy rate of the motion acquisition module to the magnetic drive control module and reduces the loss probability of the motion acquisition signal.

[0091] It can be understood that the signal integration process between the multi-signal output unit and the signal input unit can be externally controlled (such as a magnetic drive control module or other external control module controls the signal buffering and sorting of the motion acquisition module by the signal buffering subunit) or internally controlled (such as the signal integration unit is internally provided with a control subunit, which controls the signal buffering and sorting of the motion acquisition module by the signal buffering subunit according to a preset program). For external control, the integration object of the signal integration unit can be flexibly adjusted (for example, there are five motion acquisition modules, numbered 1-5, when the corresponding transmission and transportation equipment of the motion acquisition module 5 is damaged and stops running, the signal integration unit can be controlled to integrate only the signals of the motion acquisition modules 1-4 through external control).

[0092] It can also be understood that since each motion acquisition module will generate a signal after a period of time, the signal integration unit needs to integrate the signals of multiple motion acquisition modules in the same time period according to the acquisition frequency of the motion acquisition module, so that the motion acquisition signals collected by multiple motion acquisition modules in a time period are transmitted to the magnetic drive control module, avoiding signal timing disorder.

[0093] It should be noted that the number of signal processing modules can be determined according to the number of transmission and transportation equipment, and the specific structure in the signal processing module (such as whether the signal processing module includes at least one of the signal selection unit and the signal integration unit, the number of signal selection units, and the number of signal integration units) can also be set according to the number of transmission and transportation equipment and actual requirements, and the embodiments of the present application do not make specific limitations.

[0094] In actual application, when facing a large number of transmission and transportation equipment, more motion acquisition modules need to be used for acquisition, which leads to the need for the signal processing module to process the motion acquisition signals of more motion acquisition modules. The internal structure of the signal processing module will become more and more complex, and the volume will also increase. Due to some objective factors (such as volume requirements and power consumption requirements of the signal processing module), the internal structure of the signal processing module cannot be expanded unlimitedly. In order to connect more motion acquisition modules, multiple signal processing modules can be used jointly to support the expansion of the number of motion acquisition modules.

[0095] In an optional embodiment, the number of signal processing modules is multiple, and at least part of the multiple signal processing modules is connected with the multiple motion acquisition modules, that is, among the multiple signal processing modules, there can be signal processing modules connected with one or more motion acquisition modules; and the connection relationship between the multiple signal processing modules can include one of the following: a series connection relationship and a parallel connection relationship.

[0096] Specifically, in the case that the connection relationship between the plurality of signal processing modules is the series connection relationship, the plurality of signal processing modules pass the received motion acquisition signals in the direction close to the magnetic drive control module according to the series connection relationship.

[0097] In the case that the connection relationship between the plurality of signal processing modules is the parallel connection relationship, the plurality of signal processing modules are arranged according to a plurality of levels, and the signal processing modules in the same parallel branch pass the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

[0098] Therefore, by arranging a plurality of signal processing modules, it can be ensured that the magnetic drive control module can efficiently and accurately process the motion acquisition signals collected by a large number of motion acquisition modules in the case that the number of transmission and transportation devices is large, and the disorder or loss of motion acquisition signals can be avoided in the case that the number of transmission and transportation devices and motion acquisition modules is too large.

[0099] In order to facilitate those skilled in the art to understand and implement, the connection mode between the plurality of signal processing modules is further described in combination with several examples as follows:

[0100] In the first optional embodiment, the connection relationship between the plurality of signal processing modules is a series connection relationship, and the plurality of signal processing modules can be connected in series according to the module order. The signal processing module with the first value of the module order is connected with the magnetic drive control module, the signal processing module with the non-first value of the module order passes the received motion acquisition signals to the signal processing module with the first value of the module order in time, and the signal processing module with the first value of the module order sends the received motion acquisition signals to the magnetic drive control module in time, wherein the first value is the maximum value or the minimum value in the module order.

[0101] Taking two signal processing modules 118 as an example, in combination with reference to Figure 4 Each signal processing module 118 is connected with a plurality of motion acquisition modules 112 (two motion acquisition modules 112 connected with each signal processing module 118 are exemplarily shown in the figure), and the two signal processing modules 118 are connected in series according to the module order (such as order 1 and order 2 in the figure). According to different control conditions, different control strategies can be set.

[0102] Control strategy one: the magnetic drive control module 114 (or a control module other than the magnetic drive control module 114) controls the timing of the signal processing module 118 of different modules to send the motion acquisition signal. The magnetic drive control module 114 can control the signal processing module 118 of order 2 to send the motion acquisition signal from the motion acquisition module 112 connected to the signal processing module 118 of order 2 to the signal processing module 118 of order 1 when the signal processing module 118 of order 1 does not transmit the motion acquisition signal to the motion acquisition module 112 connected to itself. Through the transmission of the signal processing module 118 of order 1, the magnetic drive control module 114 receives the motion acquisition signal of the motion acquisition module 112 connected to the signal processing module 118 of order 2.

[0103] Control strategy two: the signal processing module 118 includes a control unit (not shown in the figure). After the signal selection module of order 2 receives the motion acquisition signal of the motion acquisition module 112, it sends a signal receiving instruction to the control unit of the signal processing module 118 of order 1. After the control unit of the signal processing module 118 of order 1 responds to the signal receiving instruction, it receives the motion acquisition signal of the signal selection module 118 of order 2 and transmits it to the magnetic drive control module 114.

[0104] In the second optional embodiment, when the number of signal processing modules is small in the parallel connection relationship, multiple signal processing modules can be distributed in the same level, and the magnetic drive control module and the motion acquisition module are connected to the signal processing module. Specifically, the connection mode is as shown in Figure 5 The magnetic drive control module 114 connects multiple signal processing modules 118 through different interfaces, and each signal processing module is connected to multiple motion acquisition modules 112. In this connection mode, the signal processing modules 118 in the same level are only used to connect multiple motion acquisition modules 112 and the magnetic drive control module 114.

[0105] In a third optional embodiment, when the connection relationship is the parallel connection relationship, when the number of signal processing modules is large, the plurality of signal processing modules can be arranged in multiple levels. The signal processing modules of the first level are connected with the plurality of motion acquisition modules. The signal processing modules of the Nth level are connected with the signal processing modules of the adjacent level. The signal processing modules of the Nth level are used to transmit the motion acquisition signals of the signal processing modules of the adjacent level and in the same parallel branch. The transmission direction is from the signal processing modules of the first level to the signal processing modules of the Nth level. The larger N is, the closer the signal processing modules of the corresponding level are to the magnetic drive control module. The signal processing modules of the Mth level are connected with the magnetic drive control module. The signal processing modules of the Mth level are used to transmit the motion acquisition signals transmitted by the signal processing modules of the previous level to the magnetic drive control module in time. N and M are positive integers, and N is less than or equal to M.

[0106] For example, in two levels, the connection mode between the plurality of signal processing modules is as shown in Figure 6 The plurality of signal processing modules are arranged in two levels. The first level includes signal processing module A and signal processing module B. The second level includes signal processing module C. The signal processing module A in the first level is connected with motion acquisition module A1-Ai. The signal processing module B is connected with motion acquisition module B1-Bj. i and j are positive integers. The signal processing module C in the second level is connected with the signal processing module A and the signal processing module B, and is connected with the magnetic drive control module 114. In this connection mode, the signal processing module A and the signal processing module C are in the same parallel branch. The signal processing module B and the signal processing module C are in the same parallel branch. The control strategy of the signal processing module in the parallel connection mode can refer to the series connection mode.

[0107] It can be understood that according to actual conditions, the signal processing module can include at least one of the signal integration unit and the signal selection unit. When the signal processing module includes the signal integration unit and the signal selection unit, the signal integration unit and the signal selection unit are used in combination. The connection mode of the signal integration unit and the signal selection unit can be at least one of the series connection mode and the parallel connection mode. The specific connection mode of the signal integration unit and the signal selection unit can be set according to actual conditions. In an optional example, as shown in Figure 7 the plurality of motion acquisition modules 112 are transmitted in time through the plurality of signal selection units 1182 respectively, and then the motion acquisition signals transmitted by the plurality of signal selection units 1182 are integrated by the signal integration unit 1184, and then transmitted to the magnetic drive control module (not shown in the figure). It can be understood that, Figure 7Only one optional connection mode is shown, and the specific connection mode can be set according to actual needs, and the application does not limit this.

[0108] Through the series connection mode, the connection relationship is simple, easy to implement, and the hardware cost is low; and through the parallel connection mode, the number of signal processing modules through which the motion acquisition signal flows in the transmission process can be reduced, the risk of loss of the motion acquisition signal is reduced, and the transmission efficiency of the motion acquisition signal is improved.

[0109] In an optional embodiment, the magnetic drive control module is further configured to determine, before controlling the magnetic field of the magnetic drive wire body according to the motion acquisition signal, whether the magnetic motion component reaches a first position according to the position detection signal, and control the magnetic field of the magnetic drive wire body according to the determination result.

[0110] It should be noted that the first position is used to represent the position at which the motion condition of the magnetic motion component starts to match the motion condition of the transmission and transportation equipment, and the first position can be set based on the magnetic drive wire body and is related to a transportation matching area formed by the relative arrangement between the magnetic drive wire body and the transmission and transportation equipment. According to actual conditions, the first position can be located at the boundary of the transportation matching area, or can be located within the transportation matching area, or can be located outside the transportation matching area, as long as it can ensure that after the magnetic motion component reaches the first position, its motion condition can match the motion condition of the transmission and transportation equipment. The embodiments of the application do not make specific limitations.

[0111] For example, according to the transportation matching area formed by the relative arrangement between the magnetic motion component and the transmission and transportation equipment, the starting boundary of the transportation matching area at the intersection of the magnetic drive wire body is set as the first position. Whether the magnetic motion component reaches the first position corresponds to different processing modes of the magnetic motion component, so it is necessary to determine whether the magnetic motion component reaches the first position according to the position detection signal, so as to control the magnetic field of the magnetic drive wire body according to the determination result. Thus, the control flexibility of the magnetic motion component can be increased.

[0112] It can be understood that in the case where there are multiple transmission and transportation equipment, the magnetic motion component corresponds to different transmission and transportation equipment in different time periods, and the magnetic drive control module controls the motion of the magnetic motion component according to the motion acquisition signal of the motion acquisition module corresponding to different transmission and transportation equipment, that is, the magnetic drive control module controls the motion of the magnetic motion component with reference to different transmission and transportation equipment in different time periods. In order to facilitate the identification of the corresponding relationship between the magnetic motion component and different transmission and transportation equipment, a second position can also be set based on the magnetic drive wire body according to the transportation matching area formed by each transmission and transportation equipment and the magnetic drive wire body. The second position is used to represent the position at which the motion condition of the magnetic motion component ends to match the motion condition of the corresponding transmission and transportation equipment.

[0113] The second position and the first position are in one-to-one correspondence, and when there are multiple first positions, the second position corresponding to the current first position is located before the adjacent first position or overlaps with the adjacent first position. According to actual conditions, the second position can be located at the boundary of the transportation matching area, or can be located in the transportation matching area, or can be located outside the transportation matching area, as long as it can ensure that the magnetic motion component has passed the second position corresponding to the current first position before passing the adjacent first position. The embodiments of the present application do not make specific limitations here.

[0114] In order to facilitate those skilled in the art to understand the first position, the second position and the transportation matching area, the following is described by way of example.

[0115] In an optional embodiment, as shown in Figure 8 , the transportation matching area can be set for each transmission transportation device. According to the position information of the magnetic motion component, it is determined whether the magnetic motion component reaches the first position. The first position can be any position in the transportation matching area. When it is determined that the magnetic motion component reaches the first position (for example Figure 8 , the magnetic motion component D1 in the magnetic motion component D1 in the transportation matching area 1, and the magnetic motion component D2 in the transportation matching area 2), the movement of the magnetic motion component D1 is controlled by the corresponding transmission transportation device E1; according to the position information of the magnetic motion component, it is determined that the magnetic motion component does not reach the first position (for example Figure 8 , the magnetic motion component D3 is not located in the transportation matching area 3), the movement of the magnetic motion component D3 is not controlled by the corresponding transmission transportation device E3, and the magnetic drive control module 114 can also control the magnetic motion component D3 through other control parameters, that is, the magnetic motion component D3 is allowed to operate independently relative to the transmission transportation device E3, and is not controlled by the magnetic motion component D3 corresponding to the transmission transportation device E3. Through the above scheme, the flexibility and utilization of the magnetic motion component can be increased.

[0116] It can be understood that for the scene where multiple transportation matching areas exist, the multiple transportation matching areas are independent of each other and do not overlap, so as to facilitate the magnetic drive control module to judge the positional relationship between the magnetic motion component and the transportation matching area, thereby accurately controlling the magnetic motion component.

[0117] In specific implementation, the magnetic field of the magnetic drive line body is controlled according to the determination result, which can be realized by the following several implementation modes:

[0118] In a first optional embodiment, the motion acquisition signal comprises transmission position information of the transmission transport device, and the magnetic drive control module is further configured to, in a case where the determination result indicates that the magnetic motion component reaches the first position, determine a position change condition of the transmission transport device according to the transmission position information of the transmission transport device indicated by the motion acquisition signal, and control the magnetic field of the magnetic drive wire body to change according to the position change condition of the transmission transport device, so as to drive the magnetic motion component to move according to the position change condition of the transmission transport device.

[0119] The motion acquisition signal can be used to indicate the transmission position information of the transmission transport device. If the magnetic drive control module determines that the magnetic motion component has reached the first position according to the determination result, the position change condition of the transmission transport device at the current time is determined according to the transmission position information of the transmission transport device indicated by the motion acquisition signal, and then the magnetic field of the magnetic drive wire body is adjusted according to the position change condition of the transmission transport device, so as to drive the magnetic motion component to move according to the position change condition of the transmission transport device.

[0120] In a second optional embodiment, the magnetic drive control module is further configured to, in a case where the determination result indicates that the magnetic motion component reaches the first position, control the magnetic field of the magnetic drive wire body to change according to the transmission speed information corresponding to the transmission transport device, so as to drive the magnetic motion component to move according to the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0121] The magnetic drive control module controls the magnetic field of the magnetic drive wire body to change according to the transmission speed information of the transmission transport device in a case where it is determined that the magnetic motion component reaches the first position according to the determination result, and then controls the magnetic motion component to move according to the speed information. The speed information of the transmission transport device can be determined by the motion acquisition signal or by a preset first control parameter.

[0122] Specifically, in an optional embodiment, the first control parameter comprises a magnetic drive speed sub-parameter set according to the speed of the transmission transport device, so that the magnetic field of the magnetic drive wire body is controlled to change according to the magnetic drive speed sub-parameter when the magnetic motion component reaches the first position.

[0123] Alternatively, the magnetic drive control module can also determine the speed of the magnetic moving component according to the transmission speed information of the transmission transport device indicated by the motion acquisition signal. For example, if the transmission speed information of the transmission transport device indicated by the motion acquisition signal is v1, if the transmission speed information is the rotational speed information, the speed of the magnetic moving component can be determined as v2 through formula conversion, so that the speed of the magnetic moving component matches the speed of the transmission transport device. If the transmission speed information is the linear speed information, the speed of the magnetic moving component can be determined as v1, so that the speed of the magnetic moving component matches the speed of the transmission transport device.

[0124] Therefore, before the magnetic moving component cooperates with the transmission transport device for transportation, the speed of the magnetic moving component needs to be adjusted according to the motion of the transmission transport device, so that the speed of the transmission transport device matches the speed of the magnetic moving component, thereby achieving the precondition for the transmission transport device and the magnetic moving component to cooperate for transportation.

[0125] Then, the transmission transport device and the magnetic moving component can cooperate for transportation of the article. During the cooperation for transportation, the magnetic moving component and the transmission transport device can be at the same position. At this time, the spatial positions of the magnetic moving component and the transmission transport device are not completely coincident. Alternatively, the magnetic moving component and the transmission transport device can be located on the same horizontal line. Or, the magnetic moving component and the transmission transport device are not completely located on the same horizontal line (there is a slight deviation), but the distance between the magnetic moving component and the transmission transport device is less than or equal to a certain distance threshold.

[0126] It should be noted that the transmission speed information can include the transmission instantaneous speed, transmission acceleration, transmission jerk, transmission direction, etc. of the transmission transport device, so as to help the magnetic drive control module accurately understand the motion of the transmission transport device.

[0127] In a third optional embodiment, the magnetic drive control module is further configured to, after the judgment result indicates that the magnetic moving component has not reached the first position, control the magnetic field of the magnetic drive wire body to change according to the transmission speed information corresponding to the transmission transport device and the position information of the magnetic moving component indicated by the position detection signal, so that the motion speed of the magnetic moving component when reaching the first position matches the transmission speed information, wherein the transmission speed information is determined through the motion acquisition signal or through a preset first control parameter.

[0128] In a fourth optional embodiment, the magnetic drive control module is further configured to, after determining that the magnetic moving component has not reached the first position, control the magnetic field of the magnetic drive wire body to change according to a preset second control parameter, so as to drive the magnetic moving component to reach the first position; and after the magnetic moving component reaches the first position, control the magnetic field of the magnetic drive wire body to change according to the position information or the transmission speed information of the transmission and transportation equipment, so as to drive the magnetic moving component to move according to the position information or the transmission speed information, wherein the second control parameter is used to indicate the moving speed of the magnetic moving component.

[0129] If it is determined at t1 that the magnetic moving component has not reached the first position, the magnetic moving component is controlled to move according to a second control parameter, and after the magnetic moving component reaches the first position at t2, the magnetic moving component is controlled to move according to the transmission speed information indicated by the motion acquisition signal.

[0130] According to the above embodiments, different control strategies are adopted to control the movement of the magnetic moving component according to different positions of the magnetic moving component, which greatly increases the flexibility and utilization of the magnetic moving component and widens the application scenarios of the magnetic moving component.

[0131] It should be noted that when the magnetic moving component reaches the first position, if the motion acquisition signal indicates that the transmission and transportation equipment is in a stationary state, the magnetic drive control module will control the magnetic moving component to also be stationary, so as to match the movement of the transmission and transportation equipment.

[0132] In actual applications, the optional embodiments can be combined with each other and cross-referenced in the case of no conflict, thereby extending a plurality of possible embodiments, and the embodiments extended in this way can be considered as the embodiments disclosed and disclosed in the present application.

[0133] According to another aspect of the embodiments of the present application, a magnetic drive transportation equipment is also provided. The magnetic drive transportation equipment is used to control the magnetic field of the magnetic drive wire body to change, so that the movement of the magnetic moving component matches the movement of the transmission and transportation equipment. The following will be described in detail by specific embodiments with reference to the accompanying drawings.

[0134] It can be understood that the content of the magnetic drive transportation equipment described below can be mutually corresponding and referred to with the content of the motion control equipment described above.

[0135] The present application also provides a magnetic drive transportation equipment, as shown in Figure 9 FIG. 9 is a structural block diagram of a magnetic drive transportation equipment according to an embodiment of the present application. The magnetic drive transportation equipment 92 is connected with the transmission and transportation equipment 94. The magnetic drive transportation equipment 92 includes:

[0136] The motion acquisition module 922 is configured to acquire a motion state of the transmission transportation device 94, and generate a motion acquisition signal.

[0137] The magnetic drive wire body 924 is connected with the magnetic drive control module 926, and is configured to drive the magnetic motion component 928 to move through a magnetic field.

[0138] The magnetic motion component 928 is movably connected with the magnetic drive wire body 924, and is configured to move under the drive of the magnetic field generated by the magnetic drive wire body 924.

[0139] The magnetic drive control module 926 is connected with the motion acquisition module 922, and is configured to control the magnetic field of the magnetic drive wire body 924 to change according to the motion acquisition signal, so that the motion state of the magnetic motion component 928 matches the motion state of the transmission transportation device 94.

[0140] With the above magnetic drive transportation device, the motion state of the transmission transportation device is first acquired by the motion acquisition module, and a motion acquisition signal is generated. The magnetic drive control module is connected with the motion acquisition module, and controls the magnetic field of the magnetic drive wire body to change according to the motion acquisition signal. Then, the magnetic drive wire body drives the magnetic motion component to move through the magnetic field, so that the motion state of the magnetic motion component matches the motion state of the transmission transportation device. With the above magnetic drive transportation device, the motion acquisition module, the magnetic drive control module, the magnetic drive wire body and the magnetic motion component work cooperatively, so that the motion states of different types of transportation devices are matched, thereby solving the problem of how to improve the debugging efficiency between multiple types of transportation devices in the related art. The beneficial effect of improving the debugging efficiency between multiple types of transportation devices is achieved.

[0141] In an optional embodiment, as shown in Figure 10 The magnetic drive transportation device 92 includes a motion acquisition module 922, a magnetic drive wire body 924, a magnetic drive control module 926, a magnetic motion component 928 and a position detection module 925. The position detection module 925 is connected with the magnetic drive control module 926, and is configured to detect position information of the magnetic motion component 928, and generate a position detection signal. The magnetic drive control module 926 is further configured to monitor the motion state of the magnetic motion component 928 according to the position detection signal when controlling the magnetic field of the magnetic drive wire body 924 to change according to the motion acquisition signal.

[0142] In an optional embodiment, the magnetic drive control module is further configured to determine whether the magnetic motion component reaches a first position according to the position detection signal before controlling the magnetic field of the magnetic drive wire body to change according to the motion acquisition signal, and control the magnetic field of the magnetic drive wire body according to the determination result.

[0143] In an optional embodiment, the motion acquisition signal comprises transmission position information of the transmission transportation device, and the magnetic drive control module is further configured to, in a case where the determination result indicates that the magnetic motion component reaches the first position, determine a position change of the transmission transportation device according to the transmission position information of the transmission transportation device indicated by the motion acquisition signal, and control the magnetic field of the magnetic drive wire body to change so as to drive the magnetic motion component to move according to the position change of the transmission transportation device.

[0144] In an optional embodiment, the magnetic drive control module is further configured to, in a case where the determination result indicates that the magnetic motion component reaches the first position, control the magnetic field of the magnetic drive wire body to change so as to drive the magnetic motion component to move according to the transmission speed information corresponding to the transmission transportation device, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0145] In an optional embodiment, the magnetic drive control module is further configured to, in a case where the determination result indicates that the magnetic motion component does not reach the first position, control the magnetic field of the magnetic drive wire body to change so as to drive the magnetic motion component to reach the first position at a movement speed matching the transmission speed information corresponding to the transmission transportation device and the position information of the magnetic motion component indicated by the position detection signal, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0146] In an optional embodiment, with continued reference to Figure 10 , the number of the motion acquisition modules 922 is multiple, and the motion control device further comprises a signal processing module 923 connected with the multiple motion acquisition modules 922 and connected with the magnetic drive control module 926, configured to receive the motion acquisition signals of the multiple motion acquisition modules 922, and send the motion acquisition signals of the multiple motion acquisition modules 922 to the magnetic drive control module 926 one by one when the motion acquisition signals of the multiple motion acquisition modules 922 are received.

[0147] In an optional embodiment, with continued reference to Figure 10 , the signal processing module 923 comprises a signal selection unit 9232 configured to receive the motion acquisition signals of the multiple motion acquisition modules 922 in time division manner, and send the motion acquisition signals of the multiple motion acquisition modules 922 to the magnetic drive control module 926 in time division manner.

[0148] In an optional embodiment, the signal selection unit comprises a plurality of signal input units, at least one signal output unit, and a plurality of switching sub-units; wherein: the plurality of signal input units are connected to the plurality of motion acquisition modules one-to-one; one signal output unit is connected to at least one signal input unit through the switching sub-unit, and at least one signal output unit is connected to the magnetic drive control module; the plurality of switching sub-units correspond to the plurality of motion acquisition modules, and each switching sub-unit switches between the connected state and the disconnected state according to the time sequence of the motion acquisition signal sent by the corresponding motion acquisition module.

[0149] In an optional embodiment, continuing to refer to Figure 10 , the signal processing module 923 further comprises a signal integration unit 9234, which is configured to receive the motion acquisition signals of the plurality of motion acquisition modules 922, sort the motion acquisition signals of the plurality of motion acquisition modules 922, and then send the sorted motion acquisition signals to the magnetic drive control module 926.

[0150] In an optional embodiment, the signal integration unit comprises a plurality of signal input units, at least one signal output unit, and at least one signal buffering sub-unit; wherein: the plurality of signal input units are connected to the plurality of motion acquisition modules one-to-one; at least one signal output unit is connected to the plurality of signal input units through at least one signal buffering sub-unit, and at least one signal output unit is connected to the magnetic drive control module; at least one signal buffering sub-unit corresponds to the plurality of motion acquisition modules, and the signal buffering sub-unit is configured to buffer and sort the motion acquisition signals of the plurality of motion acquisition modules, and then send the sorted motion acquisition signals to the connected signal output unit.

[0151] In an optional embodiment, the number of signal processing modules is a plurality, and at least part of the signal processing modules are connected to a plurality of motion acquisition modules; the connection relationship between the plurality of signal processing modules comprises one of the following: a series connection relationship and a parallel connection relationship.

[0152] In an optional embodiment, in the case where the connection relationship between the plurality of signal processing modules is the series connection relationship, the plurality of signal processing modules transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the series connection relationship.

[0153] In an optional embodiment, in the case where the connection relationship between the plurality of signal processing modules is the parallel connection relationship, the plurality of signal processing modules are arranged according to a plurality of levels, and the signal processing modules in the same parallel branch transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

[0154] In one optional embodiment, the number of magnetic moving parts is multiple; the magnetic drive control module is used to determine the control object from the multiple magnetic moving parts according to the transmission and transport equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive line according to the motion acquisition signal; or, the magnetic drive control module is used to determine the control object and the transmission and transport equipment corresponding to the control object from the multiple magnetic moving parts, and control the magnetic field change of the magnetic drive line after receiving the motion acquisition signal of the transmission and transport equipment corresponding to the control object.

[0155] In this embodiment, the transmission transport device 94 and the magnetic drive transport device 92 cooperate to transport goods. The connection structure of each component in the magnetic drive transport device 92 is as follows: Figure 11 As shown, the system includes: a magnetic drive control module 926, a magnetic motion component 928, and a magnetic drive line 924. The magnetic drive line 924 extends along the transport direction, and a transmission transport device 94 (not shown) is arranged around it. The magnetic motion component 928 is movably connected to the magnetic drive line 924, and the magnetic drive control module 926 controls the magnetic motion component 928 to move along the magnetic drive line 924. A motion acquisition module 922 is used to acquire the motion status of the transmission transport device 94 and generate corresponding motion acquisition signals. The motion acquisition signals indicate whether the transmission transport device 94 is in a driving state or a stationary state. The motion acquisition module 922 is electrically connected to the magnetic drive control module 926. The motion acquisition module 922 can periodically send the acquired motion acquisition signals to the magnetic drive control module 926 according to a transmission cycle, or it can send the acquired motion acquisition signals to the magnetic drive control module 926 after the magnetic drive control module 926 sends an acquisition command.

[0156] The working principle of the above-mentioned magnetic drive transport equipment is further explained below:

[0157] 1. Working principle of the magnetic drive control module controlling the movement of magnetic moving parts: The magnetic drive control module generates thrust by controlling the magnetic field between the magnetic moving parts and the magnetic drive coil, thereby driving the magnetic moving parts to move. Specifically, the magnetic moving parts include magnetic units, which enable the magnetic moving parts to have a magnetic field. The magnetic units include magnetizing components (such as permanent magnets) or excitation units (such as magnetic fields generated by energized coils; in order to maintain the magnetic field of the magnetic moving parts, they need to be continuously energized).

[0158] The magnetic drive line body is composed of a plurality of stator modules, the stator modules provide thrust and limit for the magnetic moving component, the stator module includes an excitation unit (such as a coil), the excitation unit corresponds to the magnetized part of the magnetic moving component and there is a certain gap between the two. The energization of the excitation unit of the stator module is controlled by the magnetic drive control module. When the excitation unit is energized, the excitation unit generates a magnetic field. The magnetic field generated by the energized stator module interacts with the magnetic field of the magnetic moving component to form a thrust. The thrust acts on the magnetic moving component, causing the magnetic moving component to change position relative to the stator module. The excitation unit that is not energized does not generate a magnetic field and cannot generate a thrust with the magnetic moving component. Therefore, the selected excitation unit and the magnetic moving component are related to the position of the magnetic drive line body. After the magnetic drive control module obtains the motion collection signal of the transmission and transportation equipment, it determines the corresponding magnetic moving component of the transmission and transportation equipment, and then adjusts the current flowing through the excitation unit of the stator module that is movably connected to the magnetic moving component, so as to control the movement of the magnetic moving component through the changing magnetic field.

[0159] 2. The working principle of the magnetic drive control module for adjusting and controlling the movement of the magnetic moving component according to the movement of the transmission and transportation equipment: After the magnetic drive control module obtains the motion collection signal sent by the motion collection module, it controls the movement of the magnetic moving component to match the movement of the transmission and transportation equipment based on the motion collection signal. Specifically, if the motion collection signal indicates that the transmission and transportation equipment is in a transmission state, the movement of the magnetic moving component is controlled based on the first motion parameter corresponding to the motion collection signal. The first motion parameter can be the transmission position information or the speed information of the transmission and transportation equipment. The magnetic drive control module can control the on-off timing between the plurality of stator modules, the on-off timing of the coils in each stator module, and the current size of each stator module, thereby controlling the movement of the magnetic moving component. If the motion collection signal indicates that the transmission and transportation equipment is in a stationary state, the magnetic moving component is controlled to be stationary based on the second motion parameter corresponding to the motion collection signal.

[0160] Therefore, the movement of the transmission and transportation equipment can be known through the motion collection module, and the movement of the magnetic moving component can be controlled based on the motion collection signal collected by the motion collection module, so that the movement of the magnetic moving component is associated with the movement of the transmission and transportation equipment, thereby realizing the synchronous movement of the magnetic moving component and the transmission and transportation equipment. This can be beneficial for the magnetic drive transportation equipment and the transmission and transportation equipment to cooperate in transporting goods. For example, the magnetic moving component can transfer the transported goods to the transmission and transportation equipment, thereby changing the transportation track of the goods. Of course, the above example objects can also be exchanged, i.e. the magnetic moving component can take the goods from the transmission and transportation equipment to complete the transportation of the goods. Therefore, the efficiency of transporting goods can be improved.

[0161] The application also provides an article transportation system 120, as shown inFigure 12 As shown, comprising:

[0162] The motion acquisition module 1202 is configured to acquire the motion state of the transmission transportation device 1210 and generate a motion acquisition signal;

[0163] The magnetic drive wire body 1204 is connected with the magnetic drive control module 1206, and is configured to drive the magnetic motion component 1208 to move through a magnetic field;

[0164] The magnetic motion component 1208 is movably connected with the magnetic drive wire body 1204, and is configured to move under the drive of the magnetic field generated by the magnetic drive wire body 1204;

[0165] The magnetic drive control module 1206 is connected with the motion acquisition module 1202, and is configured to control the change of the magnetic field of the magnetic drive wire body 1204 according to the motion acquisition signal, so that the motion state of the magnetic motion component 1208 matches the motion state of the transmission transportation device 1210;

[0166] The transmission transportation device 1210 is distributed around the magnetic drive wire body 1204, and is configured to cooperate with the magnetic motion component 1208 in the motion state matching to transport the goods.

[0167] In the above-mentioned goods transportation system 120, the motion acquisition module 1202 is configured to acquire the motion state of the transmission transportation device 1210 and generate a motion acquisition signal indicating the motion state of the transmission transportation device 1210. The magnetic drive control module 1206 is connected with the motion acquisition module 1202, receives the motion acquisition signal sent by the motion acquisition module 1202, and controls the magnetic field of the magnetic drive wire body 1204 to change according to the motion acquisition signal. Then, the magnetic drive wire body 1204 drives the magnetic motion component 1208 to move according to the motion state of the transmission transportation device 1210 through the magnetic field, so that the motion state of the magnetic motion component 1208 matches the motion state of the transmission transportation device 1210. In the case that the motion state of the transmission transportation device 1210 matches the motion state of the magnetic motion component 1208, the transmission transportation device 1210 cooperates with the magnetic motion component 1208 to transport the goods. In the above-mentioned goods transportation system 120, the motion acquisition module 1202, the magnetic drive control module 1206, the magnetic drive wire body 1204, the magnetic motion component 1208 and the transmission transportation device 1210 work together, so that the motion states of different types of transportation devices match, thereby solving the problem of how to improve the debugging efficiency between different types of transportation devices in the related art, and achieving the beneficial effect of improving the debugging efficiency between different types of transportation devices.

[0168] In an optional embodiment, the present application provides an optional goods transportation system, which has the structure as shown in Figure 13As shown, the article transportation system 120 comprises a motion acquisition module 1202, a magnetic drive line body 1204, a magnetic drive control module 1206, a magnetic motion component 1208 and a position detection module 1205, as shown in Figure 13 As shown, the position detection module 1205 is connected with the magnetic drive control module 1206, for detecting the position information of the magnetic motion component 1208, and generating a position detection signal; the magnetic drive control module 1206 is further configured to control the magnetic field change of the magnetic drive line body 1204 according to the motion acquisition signal, and monitor the motion of the magnetic motion component 1208 according to the position detection signal.

[0169] In an optional embodiment, the magnetic drive control module is further configured to determine whether the magnetic motion component reaches the first position according to the position detection signal before controlling the magnetic field change of the magnetic drive line body according to the motion acquisition signal, and control the magnetic field of the magnetic drive line body according to the determination result.

[0170] In an optional embodiment, the motion acquisition signal comprises the transmission position information of the transmission transportation device, and the magnetic drive control module is further configured to, in the case that the determination result indicates that the magnetic motion component reaches the first position, determine the position change of the transmission transportation device according to the transmission position information of the transmission transportation device indicated by the motion acquisition signal, and control the magnetic field change of the magnetic drive line body according to the position change of the transmission transportation device, so as to drive the magnetic motion component to move according to the position change of the transmission transportation device.

[0171] In an optional embodiment, the magnetic drive control module is further configured to, in the case that the determination result indicates that the magnetic motion component reaches the first position, control the magnetic field change of the magnetic drive line body according to the transmission speed information corresponding to the transmission transportation device, so as to drive the magnetic motion component to move according to the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0172] In an optional embodiment, the magnetic drive control module is further configured to, after the determination result indicates that the magnetic motion component does not reach the first position, control the magnetic field change of the magnetic drive line body according to the transmission speed information corresponding to the transmission transportation device and the position information of the magnetic motion component indicated by the position detection signal, so as to drive the magnetic motion component to reach the first position at a speed matching the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter.

[0173] In an optional embodiment, the magnetic drive control module is further configured to, after the determination result indicates that the magnetic motion component does not reach the first position, control the magnetic field change of the magnetic drive line body according to the transmission speed information corresponding to the transmission transportation device and the position information of the magnetic motion component indicated by the position detection signal, so as to drive the magnetic motion component to reach the first position at a speed matching the transmission speed information, wherein the transmission speed information is determined by the motion acquisition signal or by a preset first control parameter. Figure 13, the number of the motion acquisition modules 1202 is multiple, the article transportation system 120 further comprises a signal processing module 1203, the signal processing module 1203 is connected with multiple the motion acquisition modules 1202, and is connected with the magnetic drive control module 1206, for receiving the motion acquisition signal of multiple the motion acquisition modules 1202, and when receiving the motion acquisition signal of multiple the motion acquisition modules 1202, the motion acquisition signal of multiple the motion acquisition modules 1202 is sent to the magnetic drive control module 1206 one by one.

[0174] In an optional embodiment, continuing to refer to Figure 13 , the signal processing module 1203 comprises a signal selection unit 12032, the signal selection unit 12032 is used for receiving the motion acquisition signal of multiple the motion acquisition modules 1202, and the motion acquisition signal of multiple the motion acquisition modules 1202 is sent to the magnetic drive control module 1206 in time sharing.

[0175] In an optional embodiment, the signal selection unit comprises multiple signal input parts, at least one signal output part and multiple switching sub-units, wherein: multiple the signal input parts are connected with multiple the motion acquisition modules one by one; one the signal output part is connected with at least one the signal input part through the switching sub-unit, and at least one the signal output part is connected with the magnetic drive control module; multiple the switching sub-units correspond to multiple the motion acquisition modules, and each the switching sub-unit is switched between the connected state and the disconnected state according to the time sequence of the motion acquisition signal sent by the corresponding motion acquisition module.

[0176] In an optional embodiment, continuing to refer to Figure 13 , the signal processing module 1203 further comprises a signal integration unit 12034, the signal integration unit 12034 is used for receiving the motion acquisition signal of multiple the motion acquisition modules 1202, and the motion acquisition signal of multiple the motion acquisition modules 1202 is sent to the magnetic drive control module 1206 in turn after sorting.

[0177] In an optional embodiment, the signal integration unit comprises multiple signal input parts, at least one signal output part and at least one signal buffer sub-unit, wherein: multiple the signal input parts are connected with multiple the motion acquisition modules one by one; at least one the signal output part is connected with multiple the signal input parts through at least one the signal buffer sub-unit, and at least one the signal output part is connected with the magnetic drive control module; at least one the signal buffer sub-unit corresponds to multiple the motion acquisition modules, and the signal buffer sub-unit is used for buffering and sorting the motion acquisition signal of multiple the motion acquisition modules, and sending to the connected signal output part in turn.

[0178] In an optional embodiment, the number of the signal processing modules is multiple, and at least part of the signal processing modules are connected with multiple motion acquisition modules; the connection relationship between the multiple signal processing modules comprises one of the following: a series connection relationship and a parallel connection relationship.

[0179] In an optional embodiment, in the case where the connection relationship between the multiple signal processing modules is the series connection relationship, the multiple signal processing modules pass the received motion acquisition signals in the direction close to the magnetic drive control module according to the series connection relationship.

[0180] In an optional embodiment, in the case where the connection relationship between the multiple signal processing modules is the parallel connection relationship, the multiple signal processing modules are arranged according to multiple levels, and the signal processing modules in the same parallel branch pass the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

[0181] In an optional embodiment, the number of the magnetic motion components is multiple; the magnetic drive control module is configured to determine a control object from the multiple magnetic motion components according to the transmission and transportation equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, or the magnetic drive control module is configured to determine a control object and the transmission and transportation equipment corresponding to the control object from the multiple magnetic motion components, and control the magnetic field change of the magnetic drive wire body after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

[0182] The specific examples in the embodiment can refer to the examples described in the above embodiments and exemplary embodiments, and the embodiment will not be described here.

[0183] In addition, it should be noted that the use of the words "first", "second", etc. to define parts only facilitates the differentiation of the corresponding parts, and the above words have no special meaning unless otherwise stated, and therefore should not be understood as limiting the scope of protection of the present application.

[0184] The above only describes optional embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A motion control device, characterized in that, The motion control device is connected with the transmission conveying device and the magnetic driving conveying mechanism respectively, the magnetic driving conveying mechanism comprises a magnetic motion component and a magnetic driving line body, the magnetic motion component is movably connected with the magnetic driving line body, and the magnetic driving line body is used for driving the magnetic motion component to move through a magnetic field; The motion control device comprises: a motion acquisition module, configured to acquire a motion state of the transmission conveying device and generate a motion acquisition signal; a magnetic driving control module, connected with the motion acquisition module, configured to control a magnetic field change of the magnetic driving line body according to the motion acquisition signal, so that the motion state of the magnetic motion component matches the motion state of the transmission conveying device.

2. The motion control apparatus of claim 1, wherein, The motion control device further comprises: a position detection module, connected with the magnetic driving control module, configured to detect position information of the magnetic motion component and generate a position detection signal; The magnetic driving control module is further configured to monitor the motion state of the magnetic motion component according to the position detection signal when controlling the magnetic field change of the magnetic driving line body according to the motion acquisition signal.

3. The motion control apparatus of claim 2, wherein, The magnetic driving control module is further configured to judge whether the magnetic motion component reaches a first position according to the position detection signal before controlling the magnetic field change of the magnetic driving line body according to the motion acquisition signal, and control the magnetic field of the magnetic driving line body according to a judgment result.

4. The motion control apparatus of claim 3, wherein, The motion acquisition signal comprises transmission position information of the transmission conveying device, and the magnetic driving control module is further configured to determine a position change state of the transmission conveying device according to the transmission position information of the transmission conveying device indicated by the motion acquisition signal when the judgment result indicates that the magnetic motion component reaches the first position, and control the magnetic field change of the magnetic driving line body according to the position change state of the transmission conveying device, so as to drive the magnetic motion component to move according to the position change state of the transmission conveying device.

5. The motion control apparatus of claim 3, wherein, The magnetic driving control module is further configured to control the magnetic field change of the magnetic driving line body according to corresponding transmission speed information of the transmission conveying device, so as to drive the magnetic motion component to move according to the transmission speed information when the judgment result indicates that the magnetic motion component reaches the first position, wherein the transmission speed information is determined through the motion acquisition signal or through a preset first control parameter.

6. The motion control apparatus of claim 3, wherein, The magnetic driving control module is further configured to control the magnetic field change of the magnetic driving line body according to corresponding transmission speed information of the transmission conveying device and position information of the magnetic motion component indicated by the position detection signal, so as to drive the magnetic motion component to reach the first position at a motion speed matching the transmission speed information when the judgment result indicates that the magnetic motion component does not reach the first position, wherein the transmission speed information is determined through the motion acquisition signal or through a preset first control parameter.

7. The motion control apparatus of claim 1, wherein, The number of the motion acquisition modules is multiple, and the motion control device further comprises: The signal processing module is connected with the plurality of motion acquisition modules and the magnetic drive control module, is used for receiving the motion acquisition signals of the plurality of motion acquisition modules, and sends the motion acquisition signals of the plurality of motion acquisition modules to the magnetic drive control module one by one when the motion acquisition signals of the plurality of motion acquisition modules are received.

8. The motion control apparatus of claim 7, wherein, The signal processing module comprises: The signal selection unit is used for receiving the motion acquisition signals of the plurality of motion acquisition modules in time and sending the motion acquisition signals of the plurality of motion acquisition modules to the magnetic drive control module in time.

9. The motion control apparatus of claim 8, wherein, The signal selection unit comprises a plurality of signal input parts, at least one signal output part and a plurality of switching subunits; wherein: The plurality of signal input parts are connected with the plurality of motion acquisition modules one by one; One signal output part is connected with at least one signal input part through the switching subunit, and at least one signal output part is connected with the magnetic drive control module; The plurality of switching subunits correspond to the plurality of motion acquisition modules, and each switching subunit switches between the connected state and the disconnected state according to the time sequence of sending the motion acquisition signals of the corresponding motion acquisition module.

10. The motion control apparatus of claim 7, wherein, The signal processing module comprises: The signal integration unit is used for receiving the motion acquisition signals generated by the plurality of motion acquisition modules, sorting the motion acquisition signals of the plurality of motion acquisition modules and then sending the motion acquisition signals to the magnetic drive control module in turn.

11. The motion control apparatus of claim 10, wherein, The signal integration unit comprises a plurality of signal input parts, at least one signal output part and at least one signal buffer subunit; wherein: The plurality of signal input parts are connected with the plurality of motion acquisition modules one by one; At least one signal output part is connected with the plurality of signal input parts through at least one signal buffer subunit, and at least one signal output part is connected with the magnetic drive control module; At least one signal buffer subunit corresponds to the plurality of motion acquisition modules, and the signal buffer subunit is used for buffering and sorting the motion acquisition signals of the plurality of motion acquisition modules and then sending the motion acquisition signals to the connected signal output part in turn.

12. The motion control apparatus of claim 7, wherein, The number of the signal processing modules is a plurality, and at least part of the signal processing modules are connected with the plurality of motion acquisition modules; the connection relationship between the plurality of signal processing modules comprises one of the following: a series connection relationship and a parallel connection relationship.

13. The motion control apparatus of claim 12, wherein, In the case where the connection relationship between the plurality of signal processing modules is the series connection relationship, the plurality of signal processing modules transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the series connection relationship.

14. The motion control apparatus of claim 12, wherein, In the case where the connection relationship between the plurality of signal processing modules is the parallel connection relationship, the plurality of signal processing modules are arranged according to a plurality of levels, and the signal processing modules in the same parallel branch transmit the received motion acquisition signals in the direction close to the magnetic drive control module according to the level.

15. The motion control apparatus of claim 1 or 2, wherein, The number of the magnetic moving components is multiple; the magnetic drive control module is used to determine the control object from the multiple magnetic moving components according to the transmission and transportation equipment indicated by the received motion acquisition signal, and control the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, or the magnetic drive control module is used to determine the control object and the transmission and transportation equipment corresponding to the control object from the multiple magnetic moving components, and control the magnetic field change of the magnetic drive wire body after receiving the motion acquisition signal of the transmission and transportation equipment corresponding to the control object.

16. A magnetic drive transport apparatus, characterized by, The magnetic drive transportation equipment is connected with the transmission and transportation equipment, and the magnetic drive transportation equipment comprises: a motion acquisition module, used to acquire the motion state of the transmission and transportation equipment and generate a motion acquisition signal; a magnetic drive wire body, connected with the magnetic drive control module, used to drive the magnetic moving component to move through the magnetic field; The magnetic moving component is movably connected with the magnetic drive wire body and is used to move under the drive of the magnetic field generated by the magnetic drive wire body; The magnetic drive control module is connected with the motion acquisition module and is used to control the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, so that the motion state of the magnetic moving component matches the motion state of the transmission and transportation equipment.

17. An article transport system characterized by, It comprises: a motion acquisition module, used to acquire the motion state of the transmission and transportation equipment and generate a motion acquisition signal; a magnetic drive wire body, connected with the magnetic drive control module, used to drive the magnetic moving component to move through the magnetic field; The magnetic moving component is movably connected with the magnetic drive wire body and is used to move under the drive of the magnetic field generated by the magnetic drive wire body; The magnetic drive control module is connected with the motion acquisition module and is used to control the magnetic field change of the magnetic drive wire body according to the motion acquisition signal, so that the motion state of the magnetic moving component matches the motion state of the transmission and transportation equipment. The transmission and transportation equipment is distributed around the magnetic drive wire body and is used to cooperate with the magnetic moving component with matched motion state for article transportation.

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