CN118009864A - Rotor control method, device, electronic equipment and storage medium - Google Patents

Abstract

The embodiments of the present application propose a mover control method, device, electronic device and storage medium. The method first obtains the control distance corresponding to the target operation and obtains the reading distances of multiple encoder readers; then, controls the mover to move on the conveying track, and selects at least one encoder reader in turn as the target reader during the movement; next, obtains the real-time distance of the mover collected by the target reader, determines that the real-time distance of the target reader is consistent with the corresponding reading distance, and switches the target reader; finally, determines that the sum of the real-time distance of the target reader and the previous reading distance of the target reader is the control distance, and executes the target operation, so that the target operation can be performed on the target mover at the control distance more accurately.

Description

Movers control method, device, electronic equipment and storage medium

Technical Field

The present application relates to the field of control technology, and in particular to a mover control method, device, electronic device and storage medium.

Background technique

The use of magnetic grating detection technology to detect the position of the mover in real time has a wide range of applications in the field of industrial automation, such as assembly and packaging of items on the conveying logistics line and SMT of precision electronic components. In most of these applications, it is necessary to perform corresponding operations based on the real-time position of the mover during operation, so it is necessary to accurately measure the real-time position of the mover in order to accurately perform the corresponding operations.

In the related art, the setting position of the reading head and the reading head are usually used to detect the moving position of the mover in real time. When it is determined that the moving position reaches the target position, the corresponding control operation is performed on the mover. However, when the size specifications of the mover are fixed, it is easy for this detection method to cause the target position distance to exceed the detection of the reading head, resulting in the inability to accurately perform the corresponding control operation on the mover at the target position.

Summary of the invention

The embodiments of the present application provide a mover control method, device, electronic device and storage medium, which can improve the accuracy of detecting the movement of the mover to the target position.

To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a mover control method, the method comprising:

Obtain the control distance corresponding to the target operation and obtain the reading distances of multiple encoder readers;

Controlling the mover to move on the conveying track, and selecting at least one of the encoder reading heads as a target reading head in sequence during the movement;

Acquire the real-time distance of the mover collected by the target reading head, determine that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switch the target reading head;

The sum of the real-time distance of the target reading head and the previous reading distance of the target reading head is determined as the control distance, and the target operation is performed.

In some embodiments, a magnetic scale is provided on the mover, and before obtaining the reading distances of the plurality of encoder reading heads, the method further comprises:

Acquire the magnetic scale length of the magnetic scale, and acquire the action distance of the encoder reading head based on the magnetic scale length; the action distance includes a starting position and an end position;

sequentially setting the detection positions of the encoder heads so that the end position of each encoder head is at least within the working distance of the encoder head;

The reading distance of each encoder reading head is determined according to the detection position.

In some embodiments, determining the reading distance of each encoder reading head according to the detection position includes:

According to the position sequence of the encoder heads, the overlapping area of the working distances of adjacent encoder heads is selected to obtain a candidate range, and a candidate position is selected from each candidate range;

The reading distance is generated based on every two adjacent generation positions according to the starting position of the first encoder reader, the candidate position, and the end position of the last encoder reader, and the reading distance is associated with the encoder reader. The generation position includes the starting position, the candidate position, and the end position.

In some embodiments, sequentially selecting at least one of the encoder reading heads as a target reading head during the movement includes:

Adding the reading distances of the encoder reading heads one by one to obtain an effective distance until the effective distance is at least greater than or equal to the control distance;

The encoder reading heads corresponding to the effective distances are sequentially used as the target reading heads.

In some embodiments, acquiring the control distance corresponding to the target operation includes:

Obtaining the relative position of the mover and the magnetic scale;

Acquiring a mover length of the mover, and obtaining a control error based on a difference between the mover length, the relative position and the length of the magnetic scale;

The control distance is updated using the control error.

In some embodiments, obtaining the real-time distance of the mover acquired by the target reading head includes:

Acquire the first phase increment and the second phase increment collected in real time by the target reader;

generating a first waveform curve based on the first phase increment, and generating a second waveform curve based on the second phase increment;

Determining a running direction of the mover based on a waveform comparison result of the first waveform curve and the second waveform curve;

A preset unit momentum is obtained, and the real-time distance is determined based on the running direction, the curve parameters of the first waveform curve, the curve parameters of the second waveform curve, and the preset unit momentum.

In some embodiments, determining the running direction of the mover based on a waveform comparison result between the first waveform curve and the second waveform curve includes:

When it is determined that the first waveform curve exceeds the first preset angle of the second waveform curve, determining that the running direction is forward;

or,

When it is determined that the second waveform curve exceeds the second preset angle of the first waveform curve, it is determined that the running direction is reverse.

To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a mover control device, the device comprising:

An acquisition module is used to acquire the control distance corresponding to the target operation and to acquire the reading distances of multiple encoder readers;

A target reader determination module is used to control the movement of the mover on the conveying track and sequentially select at least one of the encoder readers as a target reader during the movement;

A switching module, used to obtain the real-time distance of the mover collected by the target reading head, determine that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switch the target reading head;

An execution module is used to determine the sum of the real-time distance of the target reading head and the previous reading distance of the target reading head as the control distance, and execute the target operation.

To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and the processor implements the actuator control method described in the first aspect when executing the computer program.

To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the actuator control method described in the first aspect is implemented.

The embodiment of the present application proposes a method, device, electronic device and storage medium for controlling a mover. The method first obtains the control distance corresponding to the target operation and obtains the reading distances of multiple encoder readers; then, controls the mover to move on the conveying track, and selects at least one encoder reader as the target reader in turn during the movement; next, obtains the real-time distance of the mover collected by the target reader, and determines that the real-time distance of the target reader is consistent with the corresponding reading distance, and switches the target reader; finally, determines that the sum of the real-time distance of the target reader and the reading distance of the previous target reader is the control distance, and executes the target operation. The embodiment of the present application uses multiple adjacently arranged encoder readers to perform real-time detection of the real-time distance of the mover's operation, avoiding the situation that the effective recognition range of a single reader cannot meet the distance requirements of the longer control distance, and selects the target reader one by one to detect the movement of the mover, and uses whether the real-time distance reaches the reading distance as the switching judgment index of the target reader, avoiding repeated detection of the moving distance of the mover between multiple adjacent readers, thereby effectively improving the real-time distance detection during the movement of the mover. At the same time, the sum of the real-time distance accurately detected by the current target reader and the reading distance of the previous target reader is used to determine in real time whether the control distance has been reached, so that the target operation can be performed on the target actuator more accurately at the control distance.

Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the structure of a magnetic drive detection system provided in an embodiment of the present application.

FIG. 2 is a flow chart of a mover control method provided in yet another embodiment of the present application.

FIG3 is a schematic diagram of the effective detection distance of an encoder reader provided in yet another embodiment of the present application.

FIG. 4 is a flow chart of step 201 in FIG. 2 .

FIG5 is a schematic diagram of a mover control error provided in yet another embodiment of the present application.

FIG. 6 is another schematic diagram of a mover control error provided in yet another embodiment of the present application.

FIG. 7 is a flow chart of determining a reading distance of a mover control method provided in yet another embodiment of the present application.

FIG. 8 is a flow chart of step 703 in FIG. 7 .

FIG. 9 is a schematic diagram of determining a reading distance provided by another embodiment of the present application.

FIG. 10 is a flow chart of step 202 in FIG. 2 .

FIG. 11 is a schematic diagram of a target reading head provided in yet another embodiment of the present application.

FIG. 12 is a flow chart of step 203 in FIG. 2 .

FIG. 13 is a flow chart of step 1203 in FIG. 12 .

FIG14 is a schematic diagram of an operation increment provided in yet another embodiment of the present application.

FIG. 15 is a diagram showing the operating curve of the actuator for switching multiple encoder heads provided in another embodiment of the present application.

FIG. 16 is another diagram showing the actuator operation curve of multi-encoder head switching provided in another embodiment of the present application.

FIG. 17 is another flow chart of a mover control method provided in yet another embodiment of the present application.

FIG. 18 is a schematic structural diagram of a mover control device provided in an embodiment of the present application.

FIG. 19 is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

First, some nouns involved in this application are analyzed:

Magnetic grating detection technology is a non-contact detection method for measuring, detecting and analyzing the magnetic field on the surface of an object. It is based on the principle of magnetic field interaction and uses magnetic grating structures and sensors to identify and measure the magnetic field characteristics of the target object. There are two common applications of magnetic grating detection technology: magnetic grating sensors and magnetic grating scanning. A magnetic grating sensor is a device that integrates a magnetic grating structure and a sensor. When the target object approaches the sensor, the magnetic field changes the characteristics of the sensor's voltage output, and by measuring this change, the magnetic field information of the target object can be obtained. Magnetic grating sensors can be used in applications such as measuring magnetic field distribution and detecting the position and posture of target objects.

The AB phase incremental curve refers to a curve showing the relative phase difference between two phases (A phase and B phase or U phase and V phase) in a DC or AC circuit over time. This incremental curve is often used to analyze and control the operation of power systems. In a DC circuit, the AB phase incremental curve shows the change of the relative phase difference between two voltage or current signals over time. The phase difference can be obtained by measurement or calculation and represented graphically. This curve is often used in control circuits to determine the stability and phase relationship of the circuit. In an AC circuit, the AB phase incremental curve is often used to show the change of the relative phase difference of voltage or current over time. It is obtained by continuously measuring and recording the phase difference and can be used to analyze and adjust the operation of the power system. In a power system, the change of the AB phase incremental curve can indicate the stability of the circuit, analyze the mutual influence of current and voltage, and detect possible faults.

A programmable logic controller (PLC) is a special-purpose digital computer used to automatically control industrial processes and mechanical equipment. It interacts with sensors, actuators, and other devices through input and output modules to monitor and control various signals and parameters in the system in real time.

The use of magnetic grating detection technology to detect the position of the mover in real time has a wide range of applications in the field of industrial automation, such as assembly and packaging of items on the conveying logistics line and SMT of precision electronic components. In most of these applications, it is necessary to perform corresponding operations based on the real-time position of the mover during operation, so it is necessary to accurately measure the real-time position of the mover in order to accurately perform the corresponding operations.

In the related art, the setting position of the reading head and the reading head are usually used to detect the moving position of the mover in real time. When it is determined that the moving position reaches the target position, the corresponding control operation is performed on the mover. However, when the size specifications of the mover are fixed, it is easy for this detection method to cause the target position distance to exceed the detection of the reading head, resulting in the inability to accurately perform the corresponding control operation on the mover at the target position.

In order to improve the accuracy of detecting the movement of the mover to the target position, the embodiment of the present application uses multiple adjacently arranged encoder heads to perform real-time detection of the real-time distance of the mover's operation, so as to avoid the effective recognition range of a single reading head being unable to meet the distance requirements of a longer control distance, and selects target reading heads one by one to detect the movement of the mover, and uses whether the real-time distance reaches the reading distance as a switching judgment indicator for the target reading head, so as to avoid repeated detection of the movement distance of the mover between multiple adjacent reading heads, thereby effectively improving the real-time distance detection during the movement of the mover. At the same time, the sum of the real-time distance accurately detected by the current target reading head and the reading distance of the previous target reading head is used to judge in real time whether the control distance has been reached, so that the target operation can be performed on the target mover more accurately at the control distance.

The following will further describe the mover control method, device, electronic device and storage medium provided in the embodiments of the present application. The mover control method provided in the embodiments of the present application can be applied to intelligent terminals, servers, computers, etc. connected to the magnetic levitation conveying system.

In order to better illustrate the mover control method provided in the embodiment of the present application, the present embodiment first describes the magnetic drive detection system using the mover control method. Referring to FIG1, it is a schematic diagram of the structure of a magnetic drive detection system provided in the embodiment of the present application. The magnetic drive detection system includes a detection processing module integrating multiple functional modules, multiple encoder readers, a client and a functional module, wherein the detection processing module is interconnected with at least one encoder reader, a client and a functional module. The encoder reader is arranged on the conveying track or beside the conveying track, and is used to detect the operation data of the mover on the conveying track in real time, and input the operation data into the detection processing module, so that the detection processing module analyzes and processes the operation data. If it is judged that the running distance of the mover reaches the control distance, the detection processing module transmits the control instruction request to the client and the functional module so as to perform corresponding operations on the mover. The encoder reader can be any one of a magnetic grating reader, a grating reader and an inductive reader. In addition, a magnetic scale is arranged on each mover, and the encoder reader identifies and senses the mover by identifying and sensing the magnetic scale.

Based on the above-mentioned magnetic drive detection system, the mover control method in the embodiment of the present application will be described in detail below. Referring to FIG. 2, an optional flow chart of the mover control method provided in the embodiment of the present application, the method in FIG. 2 may include but is not limited to steps 201 to 204. At the same time, it can be understood that this embodiment does not specifically limit the order of steps 201 to 204 in FIG. 2, and the order of steps can be adjusted or certain steps can be reduced or increased according to actual needs.

Step 201: Obtain a control distance corresponding to a target operation, and obtain reading distances of multiple encoder reading heads.

The following is a detailed description of step 201.

In some embodiments, after responding to an operation request for a target operation, the control distance corresponding to the target operation will be obtained first, so that the magnetic drive detection system can perform real-time detection of the running distance of the mover based on the control distance. When the running distance of the mover reaches the control distance, the corresponding target operation will be performed on the mover.

In some embodiments, the target operation can be customized by the client as shown in FIG. 1 , or can be pre-set by a functional module as shown in FIG. 1 . The functional module can be a flying camera function, a driver module, a PLC module, and the like.

Aerial cameras are drone cameras or aerial cameras that can shoot in the air. They combine the functions of aircraft and photographic equipment. Aerial cameras are usually carried on drones, which fly by remote control or preset routes and take photos or videos from high altitudes or special perspectives.

A driver is a device used to control and drive a motor or actuator. It converts the electrical energy provided by the power supply into signals and power suitable for the operation of the motor or actuator, and controls their movement or performs specific actions according to specific control algorithms.

In some embodiments, the encoder reader usually obtains the operating data of the mover by detecting the magnetic scale on the mover. As shown in Figure 3, it is a schematic diagram of the effective detection distance of an encoder reader provided by an embodiment of the present application. Taking an encoder reader and a mover as an example, a magnetic scale is arranged on the mover, and the encoder reader measures and reads the position information on the magnetic scale by detecting the magnetic field, and determines the corresponding mover by encoding the magnetic scale, and the magnetic scale is within the range of action of the encoder reader when it begins to enter the detection magnetic field and completely leaves the detection magnetic field. Therefore, the range of action of the encoder reader can be determined by determining the size and length of the magnetic scale. The magnetic scale equipped on the mover as shown in Figure 1 is consistent with the size of the mover. In this case, the range of action of the encoder reader can also be determined by determining the size of the mover.

In some embodiments, the starting point of the control distance is usually the first encoder head (encoder head 1 shown in FIG. 1) set in the magnetic drive detection system to detect the position of the mover, and based on this, it starts to detect whether the running distance of the mover has reached the control distance. Due to the inconsistency between the length of the magnetic scale and the mover, errors in the control distance are prone to occur, resulting in deviations in the position of performing the target operation. Therefore, the control distance needs to be adjusted according to the size of the magnetic scale and the mover.

4 , obtaining the control distance corresponding to the target operation includes the following steps 401 to 403 .

Step 401: Obtain the relative position between the mover and the magnetic scale.

Step 402: Obtain the mover length of the mover, and obtain the control error based on the difference between the mover length, the relative position and the magnetic scale length.

Step 403: Update the control distance using the control error.

Steps 401 to 403 are described in detail below.

In some embodiments, since the magnetic scale is not placed at the center of the mover, the center position of the mover and the magnetic scale may be inconsistent. Therefore, it is necessary to first obtain the relative position of the mover and the magnetic scale, and then obtain the mover length of the mover and the magnetic scale length of the magnetic scale. Finally, the control error is obtained based on the difference between the mover length, relative position and magnetic scale length, so as to facilitate the use of the control error to update the control distance, so that the target operation can be performed on the mover more accurately.

Referring to FIG5 , it is a schematic diagram of the mover control error provided by an embodiment of the present application. As shown in FIG5 , the magnetic scale equipped on the mover 1 is relatively long and is located at the front end of the mover 1. Taking the range of action of the encoder head 1 to the range of action of the encoder head 3 as an example of the control distance, the mover should run to the encoder head 3 before the corresponding target operation can be performed on the mover. However, due to the long magnetic scale, when the magnetic scale begins to enter the range of action of the encoder head 1, the mover 1 has not actually entered the range of action of the encoder head 1 at this time, but the encoder head 1 has begun to perform operation detection on the mover 1; if the original control distance is still maintained to control the mover, the mover 1 will not be able to reach the range of action of the encoder head 3 (that is, when the magnetic scale of the mover 1 reaches the range of action of the encoder head 3), it will be deemed to have reached the control distance to perform the corresponding target operation, and a distance error will occur in this case. Therefore, the error needs to be corrected. As shown in FIG5 , the relative length of the magnetic scale at the front end of the mover 1 is used as the control error (i.e., the difference between the mover length, relative position and magnetic scale length is used to obtain the control error). Then, the control error is added to the original control distance, i.e., control distance = control distance + control error. Thus, when the mover 1 actually runs into the action range of the encoder head 3, it is considered to have reached the control distance to accurately perform the corresponding target operation.

Referring to FIG6 , it is another schematic diagram of the mover control error provided by the embodiment of the present application. As shown in FIG6 , the magnetic scale equipped on the mover 1 is relatively short and is located at the rear end of the mover 1. Taking the range of action of the encoder head 1 to the range of action of the encoder head 3 as an example of the control distance, the mover should run to the encoder head 3 before the corresponding target operation can be performed on the mover. However, since the magnetic scale is relatively short, when the magnetic scale begins to enter the range of action of the encoder head 1, at this time, in fact, a section of the mover 1 has already entered the range of action of the encoder head 1, but the encoder head 1 has just begun to perform operation detection on the mover 1; if the original control distance is still maintained to control the mover, the mover 1 will exceed the range of action of the encoder head 3 (that is, when the magnetic scale of the mover 1 reaches the range of action of the encoder head 3), it will be deemed to have reached the control distance to perform the corresponding target operation, and a distance error will occur in this case. Therefore, the error needs to be corrected. As shown in FIG5 , the relative length of the magnetic scale at the front end of the mover 1 is used as the control error (i.e., the difference between the mover length, relative position and magnetic scale length is used to obtain the control error), and then the control error is subtracted from the original control distance, i.e., control distance = control distance - control error. Thus, when the mover 1 actually runs into the action range of the encoder head 3, it can be identified as reaching the control distance to accurately perform the corresponding target operation.

Through the above steps 401 to 402, based on the inductive relationship between the encoder reader and the magnetic scale, the control distance is corrected by utilizing the relative position between the mover and the magnetic scale and the length relationship between the mover and the magnetic scale to obtain the actual control distance for the mover, thereby improving the accuracy of the target operation.

In some embodiments, before real-time detection of the mover is performed, the reading distance of each encoder head needs to be obtained. Since multiple encoder heads are provided in the magnetic drive detection system, and in order to ensure that every two adjacent encoder heads can continuously detect the operation of the same mover, it is necessary to set a suitable detection position for each encoder head. And in order to further ensure that adjacent encoder heads do not repeatedly measure the real-time operation of the same mover, it is necessary to pre-set a suitable reading distance for each encoder head within its working distance. The following will further describe how to set a suitable detection position and reading distance for each mover.

7 , before obtaining the reading distances of the plurality of encoder reading heads, the mover control method further includes the following steps 701 to 703 .

Step 701: Obtain the magnetic scale length of the magnetic scale, and obtain the working distance of the encoder reading head based on the magnetic scale length.

Step 702: sequentially set the detection positions of the encoder heads so that the end position of each encoder head is at least within the working distance of the encoder head.

Step 703: Determine the reading distance of each encoder reading head according to the detection position.

Steps 701 to 703 are described in detail below.

In some embodiments, referring to the relevant description of FIG. 3 , after obtaining the magnetic scale length of the magnetic scale, the magnetic scale length of the magnetic scale can be used to further determine the working distance of the encoder head, wherein the working distance includes a starting position and an end position. Next, the detection positions of multiple encoder heads are set based on the working distance to ensure that the setting distance between each two adjacent encoder heads does not exceed the working distance of a single encoder head, so that the end position of the working distance of each encoder head is between the working distances of the next encoder head. Thereby ensuring that every two adjacent encoder heads can continuously detect the operation of the same mover. Next, in order to ensure that adjacent encoder heads do not repeatedly measure the real-time operation of the same mover, the reading distance of each encoder head is determined according to the detection positions set by the multiple encoder heads to ensure that the reading distances of the adjacent encoder heads are continuous, that is, the end position of the reading distance of the previous encoder head is the starting position of the next encoder head. How to determine the reading distance of each encoder head will be further described below.

In some embodiments, determining the reading distance of each encoder read head according to the detection position includes the following steps 801 to 802.

Step 801: According to the position sequence of the encoder heads, the overlapping area of the working distances of adjacent encoder heads is selected to obtain a candidate range, and a candidate position is selected from each candidate range.

Step 802: Generate a reading distance based on every two adjacent generated positions according to the starting position, candidate position, and end position of the first encoder reader, and associate the reading distance with the encoder reader.

Steps 801 to 802 are described in detail below.

In some embodiments, after determining the detection position of each encoder head, the overlapping areas in the working distance of adjacent encoder heads are selected as candidate ranges according to the position sequence of the encoder heads, and a candidate position is arbitrarily selected from each candidate range, that is, the candidate position can be any point in the candidate range (including the two end points of the candidate range). Next, after determining all candidate positions, the generated position is obtained according to the starting position of the first encoder head, the candidate position, and the end position of the last encoder head, and then the reading distance corresponding to each encoder head is generated based on every two adjacent generated positions, and each reading distance is associated one by one with the encoder head where it is located. In addition, due to the different setting distances of each encoder head, the inconsistent overlapping areas of every two adjacent encoder heads, and the arbitrariness of the selection of candidate positions, the reading distances corresponding to different encoder heads are also different.

Referring to Figure 9, it is a schematic diagram of determining a reading distance provided by an embodiment of the present application. Taking the five encoder heads shown in Figure 9 as an example, after determining the detection positions and action distances of the five encoder heads, any candidate position is selected from the overlapping area of the action distances of every two adjacent encoder heads (including the overlapping area of encoder head 1 and encoder head 2, the overlapping area of encoder head 2 and encoder head 3, the overlapping area of encoder head 3 and encoder head 4, and the overlapping area of encoder head 1 and encoder head 2), and then the distance between the starting position of encoder head 1 and the first candidate position is used as the reading distance of encoder head 1, the distance between the first candidate position and the second candidate position is used as the reading distance of encoder head 2, the distance between the second candidate position and the third candidate position is used as the reading distance of encoder head 3, the distance between the third candidate position and the fourth candidate position is used as the reading distance of encoder head 4, and the distance between the fourth candidate position and the end position of encoder head 5 is used as the reading distance of encoder head 5.

Through the above steps 801 to 802, candidate positions are selected in the overlapping area between every two encoder heads to ensure that the reading distances of adjacent encoder heads are continuous, so that multiple continuous encoder heads and their reading distances can be used to effectively and continuously and accurately detect the running distance of the mover, so as to overcome the situation where accurate detection cannot be performed after the control distance exceeds the detection area of a single encoder head, thereby improving the reliability of the mover control.

Through the above steps 701 to 703, the effective distance of the encoder head is used to determine the appropriate detection position of each encoder head, so that there is an overlapping area between the effective areas of every two adjacent encoder heads, so as to ensure that every two adjacent encoder heads can continuously detect the operation of the same mover; and based on the detection position of the encoder head, the appropriate reading distance of each encoder head is further determined to ensure that adjacent encoder heads will not repeatedly measure the real-time operation of the same mover, thereby improving the accuracy and reliability of detecting the operation of the mover.

Step 202: Control the mover to move on the conveying track, and select at least one encoder reader in sequence as a target reader during the movement.

Step 202 is described in detail below.

In some embodiments, after responding to an operation request of a target operation and obtaining a control distance of the target operation and a reading distance of multiple encoder readers, the mover is controlled to move on the conveying track, and during the movement of the mover, at least one encoder reader is sequentially selected as a target reader for real-time reading the operation data of the mover according to the running direction of the mover. How to select a target reader will be further described below.

10 , at least one encoder reader is selected in sequence as a target reader during the movement process, including the following steps 1001 to 1002 .

Step 1001: Add the reading distances of the encoder reading head one by one to obtain the effective distance until the effective distance is at least greater than or equal to the control distance.

Step 1002: The encoder reader corresponding to the effective distance is used as the target reader in sequence.

Steps 1001 to 1002 are described in detail below.

In some embodiments, after obtaining the control distance, the reading distances of the encoder readers will be added one by one, starting from the first encoder reader, according to the running direction of the mover to obtain the effective distance for detecting the mover, until the effective distance is at least greater than or equal to the control distance, that is, at least one encoder reader corresponding to the effective distance will be used as the target reader in turn.

Referring to Figure 11, it is a schematic diagram of a target reader provided by an embodiment of the present application. Taking the five encoder readers in Figure 11 as an example, the reading distance of encoder reader 1 is the first distance, the reading distance of encoder reader 2 is the second distance, the reading distance of encoder reader 3 is the third distance, the reading distance of encoder reader 4 is the fourth distance, and the reading distance of encoder reader 5 is the fifth distance, and the running direction of the mover is from encoder reader 1 to encoder reader 5, and when the control distance is greater than the sum of any two reading distances, it will be accumulated from the first distance of encoder reader 1 until it is accumulated to the third distance of encoder reader 3, and then it exceeds the control distance, so encoder reader 1, encoder reader 2 and encoder reader 3 are used as target readers in turn, so as to detect the running distance of the mover in turn using the target readers.

Step 203: Acquire the real-time distance of the mover collected by the target reading head, determine whether the real-time distance of the target reading head is consistent with the corresponding reading distance, and switch the target reading head.

Step 203 is described in detail below.

In some embodiments, within the reading distance of each target reading head, the real-time distance of the moving element acquired by the target reading head is obtained, and when it is determined that the real-time distance of the moving element read by the target reading head reaches the reading distance corresponding to the target reading head, the next target reading head is switched. How to obtain the real-time distance of the moving element acquired by the target reading head will be further described below.

12 , obtaining the real-time distance of the mover collected by the target reader includes the following steps 1201 to 1204 .

Step 1201: Acquire the first phase increment and the second phase increment collected in real time by the target reader.

Step 1202: Generate a first waveform curve based on a first phase increment, and generate a second waveform curve based on a second phase increment.

Step 1203: Determine the running direction of the mover based on the waveform comparison result between the first waveform curve and the second waveform curve.

Steps 1201 to 1203 are described in detail below.

In some embodiments, the first phase increment and the second phase increment collected by the target reader in real time according to the running state of the mover are acquired in real time, and then a first waveform curve is generated based on the continuously collected first phase increment, and a second waveform curve is generated based on the continuously collected second phase increment. Then, the running direction of the mover can be further determined based on the waveform comparison result between the first waveform curve and the second waveform curve.

In some embodiments, the first phase increment and the second phase increment may be an A phase signal and a B phase signal, so the first waveform curve is the corresponding A phase increment curve, and the second waveform curve is the B phase increment curve. When the target reader detects the moving element in operation, the pulses of the output A phase signal and the B phase signal begin to change, and the phase relationship between the A phase signal and the B phase signal is different according to the different moving element running directions detected. The following will further describe how to determine the moving element running direction based on the waveform comparison results.

13 , based on the waveform comparison result of the first waveform curve and the second waveform curve, determining the running direction of the mover includes the following steps 1301 to 1302 .

Step 1301: When it is determined that the first waveform curve exceeds the first preset angle of the second waveform curve, the running direction is determined to be a forward direction.

Step 1302: Alternatively, when it is determined that the second waveform curve exceeds the second preset angle of the first waveform curve, the running direction is determined to be reverse.

Steps 1301 to 1302 are described in detail below.

In some embodiments, after obtaining the first waveform curve and the second waveform curve according to the continuous first phase increment and the second phase increment, the phase relationship between the first waveform curve and the second waveform curve is determined. When it is determined that the phase of the first waveform curve exceeds the phase of the second waveform curve by a first preset angle, the running direction of the mover is determined to be forward; when it is determined that the phase of the second waveform curve exceeds the phase of the first waveform curve by a second preset angle, the running direction of the mover is determined to be reverse. In this embodiment, there is no restriction on the setting of the first preset angle and the second preset angle, that is, the first preset angle can be input according to user needs or obtained according to historical data; similarly, the second preset angle can also be input according to user needs or obtained according to historical data, and the second preset angle can be equivalent to the first preset angle.

In some embodiments, when the first phase increment is an A-phase signal and the second phase increment is a B-phase signal, when it is determined that the phase of the first waveform curve exceeds the phase of the second waveform curve by 90 degrees, the running direction of the mover is determined to be forward; when it is determined that the phase of the second waveform curve exceeds the phase of the first waveform curve by 90 degrees, the running direction of the mover is determined to be reverse.

Through the above steps 1301 to 1302, the different phase relationships between the first waveform curve and the second waveform curve are utilized to accurately determine the running direction of the mover, thereby facilitating a more accurate measurement of the real-time distance of the mover during the running process.

Step 1204: Obtain a preset unit momentum, and determine the real-time distance based on the running direction, the curve parameters of the first waveform curve, the curve parameters of the second waveform curve, and the preset unit momentum.

Step 1204 is described in detail below.

In some embodiments, after determining the first waveform curve, the second waveform curve and the running direction of the mover, the running increment of the mover can be determined based on the curve parameters of the first waveform curve, the curve parameters of the second waveform curve and the running direction of the mover. Referring to Figure 14, it is a schematic diagram of the running increment provided in an embodiment of the present application. As shown in Figure 14, it can be determined that the phase of the first waveform curve exceeds the phase of the second waveform curve by 90 degrees, so it can be determined that the running direction of the mover is positive, so the counter output is a positive increment, and then the curve parameters of the first waveform curve (including level and jump edge) and the curve parameters of the second waveform (including level and jump edge) are used to generate a positive increment, and the increment count table diagram based on the positive increment is shown in Figure 14. Next, by obtaining a preset unit momentum and multiplying the preset unit momentum by the positive increment, the real-time distance of the mover running within the reading distance of the target reader can be obtained. In this embodiment, the setting of the preset unit momentum is not restricted, that is, it can be set according to user needs or according to the parameters of the encoder reader.

In some embodiments, the specific generation rules of the increment are as follows: 1. The increment generation timing in the positive direction is: the rising edge of the first waveform and the logic low of the second waveform, the rising edge of the second waveform and the logic high of the first waveform, the falling edge of the second waveform and the logic low of the first waveform, and the falling edge of the first waveform and the logic high of the second waveform. 2. The increment generation timing in the reverse direction is: the falling edge of the first waveform and the logic low of the second waveform, the falling edge of the second waveform and the logic high of the first waveform, the rising edge of the second waveform and the logic low of the first waveform, and the rising edge of the first waveform and the logic high of the second waveform.

Through the above steps 1201 to 1204, the running direction of the mover is determined by comparing the first waveform curve and the second waveform curve, so that the running increment of the mover can be accurately generated by using the running direction, the waveform parameters of the first waveform curve and the waveform parameters of the second waveform curve and combined with the preset unit momentum. The real-time distance of the mover running within the reading distance of the target reading head can be accurately measured.

Step 204: Determine the sum of the real-time distance of the target reader and the previous reading distance of the target reader as the control distance, and perform the target operation.

Step 204 is described in detail below.

In some embodiments, when any target reader measures the real-time distance of the mover within its corresponding reading distance and the accumulated reading distances of all target readers that the mover has run before do not reach the control distance, the next target reader is switched to perform operation detection of the mover.

In some embodiments, when the running distance of the mover is detected, the running trajectory curve of the mover can be output to the client for display. As shown in Figure 15, it is a display diagram of the moving part running curve of a multi-encoder head switch provided in an embodiment of the present application. As shown in Figure 15, the moving part runs through the reading distance of encoder head 1 and the reading distance of encoder head 2 as an example. The running distance curve of the mover that can be obtained by encoder head 1 is the first oblique line, of which the first part is the reading distance of encoder head 1. When the moving part runs to the reading distance of encoder head 1 (that is, the dot moment of the two oblique lines in Figure 15), it will be switched to encoder head 2 to perform real-time distance detection on the moving part. By displaying the real-time distance of the moving part collected by multiple encoder heads during operation to the client, it is convenient for management personnel to perform real-time control according to the running data of the moving part, etc.

In some embodiments, as shown in the display diagram of Figure 15, since the running distance data collected by multiple encoder heads all start from 0, and there are parts that are repeatedly collected by two adjacent encoder heads, the viewing is not intuitive enough. Therefore, another display diagram is also provided in this embodiment. Referring to Figure 16, it is another display diagram of the moving part running curve of a multi-encoder head switching provided in an embodiment of the present application. In Figure 16, the real-time distance of the moving part collected by encoder head 2 within the reading distance is spliced to the reading distance of encoder head 1, thereby generating a smooth real-time distance curve of the moving part running, so as to show it to the management personnel more clearly, making it easier for the management personnel to perform real-time control according to the running data of the moving part, etc.

In some embodiments, when the sum of the real-time distance of the mover measured by a certain target reading head and the reading distance of the previous target reading head reaches the control distance, the corresponding target operation can be accurately performed on the mover.

Referring to FIG. 17 , another flow chart of a method for controlling a mover provided by an embodiment of the present application is shown. When the mover control process is started, it is first determined whether the detection and processing module is powered on. If the detection and processing module is not powered on, the magnetic drive detection system does not work; if the detection and processing module is powered on, the mover with the magnetic scale attached is controlled to start moving, and the position feedback of the mover is started in real time through the encoder reader 1. When the real-time distance of the position feedback mover reaches the reading distance of the encoder reader 1, the encoder reader 2 is switched to start real-time position feedback of the mover. When the real-time distance of the position feedback mover reaches the reading distance of the encoder reader 2, the operation data of the mover is transmitted from the output end to the client in the form of AB phase pulses. The client determines whether the running distance of the mover reaches the control distance. If the control distance is reached, the corresponding target operation is performed, and the above operation is repeated for other moving movers.

The mover control method, device, electronic device and storage medium proposed in the embodiments of the present application, the method first obtains the control distance corresponding to the target operation, then obtains the relative position of the mover and the magnetic scale, and obtains the mover length of the mover, and obtains the control error based on the difference between the mover length, the relative position and the magnetic scale length, and uses the control error to update the control distance; in addition, first obtains the action distance of the encoder reader based on the length of the magnetic scale, and then sets the detection position of the encoder reader in sequence, so that the end position of each encoder reader is at least within the action distance of the encoder reader, and according to the position sequence of the encoder readers, selects the overlapping area of the action distances of adjacent encoder readers to obtain a candidate range, and selects a candidate position from each candidate range, and generates the reading distance of each encoder reader two by two according to the starting position of the first encoder reader, the candidate position, and the end position of the last encoder reader in sequence; then based on multiple The encoder reader reads the distance, controls the movement of the mover on the conveying track, and adds the reading distances of the encoder reader one by one to obtain the effective distance, until the effective distance is at least greater than or equal to the control distance, and sequentially uses the encoder reader corresponding to the effective distance as the target reader; and in the operation process, obtains the first phase increment and the second phase increment collected in real time by the target reader, generates a first waveform curve based on the first phase increment, and generates a second waveform curve based on the second phase increment, determines the running direction of the mover based on the waveform comparison result of the first waveform curve and the second waveform curve, obtains the preset unit momentum, determines the real-time distance based on the running direction, the curve parameters of the first waveform curve, the curve parameters of the second waveform curve and the preset unit momentum, and when it is determined that the real-time distance of the target reader is consistent with the corresponding reading distance, switches the target reader; finally, determines that the sum of the real-time distance of the target reader and the reading distance of the previous target reader is the control distance, and executes the target operation.

The embodiment of the present application firstly corrects the control distance based on the inductive relationship between the encoder head and the magnetic scale, and uses the relative position between the mover and the magnetic scale and the length relationship between the mover and the magnetic scale to obtain the actual control distance for the mover, thereby improving the accuracy of the target operation. The real-time distance of the mover's operation is detected in real time by using multiple adjacent encoder heads to avoid the effective recognition range of a single reading head being unable to meet the distance requirements of the longer control distance. At the same time, the action distance of the encoder head is used to determine the appropriate detection position of each encoder head, so that there is an overlapping area between the action areas of every two adjacent encoder heads, so as to ensure that every two adjacent encoder heads can continuously detect the operation of the same mover; and based on the detection position of the encoder head, the appropriate reading distance of each encoder head is further determined to ensure that adjacent encoder heads will not repeatedly measure the real-time operation of the same mover, thereby improving the accuracy and reliability of detecting the operation of the mover. In the actual detection, the target readers are selected one by one to detect the movement of the mover, and whether the real-time distance reaches the reading distance is used as the switching judgment indicator of the target reader, so as to avoid repeated detection of the moving distance of the mover between multiple adjacent reading heads, thereby effectively improving the real-time distance detection during the movement of the mover. At the same time, the sum of the real-time distance accurately detected by the current target reader and the reading distance of the previous target reader is used to judge in real time whether the control distance has been reached, so that the target operation can be performed on the target mover more accurately at the control distance.

The embodiment of the present application further provides a mover control device, which can implement the above mover control method. Referring to FIG. 13 , the device 1800 includes:

An acquisition module 1810 is used to acquire a control distance corresponding to a target operation and to acquire reading distances of multiple encoder reading heads;

The target reader determination module 1820 is used to control the movement of the mover on the conveying track and sequentially select at least one encoder reader as the target reader during the movement;

The switching module 1830 is used to obtain the real-time distance of the mover collected by the target reading head, determine that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switch the target reading head;

The execution module 1840 is used to determine the sum of the real-time distance of the target reading head and the previous reading distance of the target reading head as the control distance, and execute the target operation.

In some embodiments, the acquisition module 1810 is further configured to:

Get the relative position between the mover and the magnetic scale;

The mover length of the mover is obtained, and the control error is obtained based on the difference between the mover length, the relative position and the magnetic scale length;

The control distance is updated using the control error.

In some embodiments, the mover control device further includes a reading distance determination module 1850, and the reading distance determination module 1850 is used to:

Obtain the magnetic scale length of the magnetic scale, and obtain the working distance of the encoder reader based on the magnetic scale length; the working distance includes the starting position and the end position;

The detection positions of the encoder reading heads are sequentially set so that the end position of each encoder reading head is at least within the working distance of the encoder reading head;

The reading distance of each encoder read head is determined based on the detection position.

In some embodiments, the reading distance determination module 1850 is further configured to:

According to the position sequence of the encoder heads, the overlapping area of the working distances of adjacent encoder heads is selected to obtain a candidate range, and a candidate position is selected from each candidate range;

According to the starting position, candidate position and end position of the first encoder reader, a reading distance is generated based on every two adjacent generated positions, and the reading distance is associated with the encoder reader. The generated positions include the starting position, candidate position and end position.

In some embodiments, the target reader determination module 1820 is further configured to:

Add the reading distances of the encoder readers one by one to obtain the effective distance until the effective distance is at least greater than or equal to the control distance;

The encoder reader corresponding to the effective distance is used as the target reader in turn.

In some embodiments, the switching module 1830 is further configured to:

Obtain the first phase increment and the second phase increment collected by the target reader in real time;

generating a first waveform curve based on the first phase increment, and generating a second waveform curve based on the second phase increment;

Determining the running direction of the mover based on a waveform comparison result between the first waveform curve and the second waveform curve;

A preset unit momentum is obtained, and a real-time distance is determined based on the running direction, the curve parameters of the first waveform curve, the curve parameters of the second waveform curve, and the preset unit momentum.

In some embodiments, the switching module 1830 is further configured to:

When it is determined that the first waveform curve exceeds the first preset angle of the second waveform curve, the running direction is determined to be a forward direction;

or,

When it is determined that the second waveform curve exceeds the second preset angle of the first waveform curve, it is determined that the running direction is reverse.

In the above embodiments, the description of each embodiment has its own emphasis. For the part that is not described in detail in a certain embodiment, the specific implementation of the mover control device is basically the same as the specific implementation of the mover control method described above, and will not be repeated here.

In the embodiment of the present application, the mover control device first corrects the control distance based on the inductive relationship between the encoder head and the magnetic scale, using the relative position between the mover and the magnetic scale and the length relationship between the mover and the magnetic scale, so as to obtain the actual control distance for the mover, thereby improving the accuracy of the target operation. The real-time distance of the mover's operation is detected in real time by using multiple adjacent encoder heads to avoid the effective recognition range of a single head failing to meet the distance requirements of the longer control distance. At the same time, the action distance of the encoder head is used to determine the appropriate detection position of each encoder head, so that the action areas of every two adjacent encoder heads overlap, so as to ensure that every two adjacent encoder heads can continuously detect the operation of the same mover; and based on the detection position of the encoder head, the appropriate reading distance of each encoder head is further determined to ensure that adjacent encoder heads will not repeatedly measure the real-time operation of the same mover, thereby improving the accuracy and reliability of detecting the operation of the mover. In the actual detection, the target readers are selected one by one to detect the movement of the mover, and whether the real-time distance reaches the reading distance is used as the switching judgment indicator of the target reader, so as to avoid repeated detection of the moving distance of the mover between multiple adjacent reading heads, thereby effectively improving the real-time distance detection during the movement of the mover. At the same time, the sum of the real-time distance accurately detected by the current target reader and the reading distance of the previous target reader is used to judge in real time whether the control distance has been reached, so that the target operation can be performed on the target mover more accurately at the control distance.

The present application also provides an electronic device, including:

at least one memory;

at least one processor;

at least one program;

The program is stored in the memory, and the processor executes the at least one program to implement the above-mentioned mover control method of the present application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a car computer, etc.

Please refer to FIG. 19 , which schematically shows the hardware structure of an electronic device according to another embodiment. The electronic device includes:

The processor 1901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

The memory 1902 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 1902 can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1902, and the processor 1901 is used to call and execute the mover control method of the embodiment of this application;

Input/output interface 1903, used to implement information input and output;

Communication interface 1904, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.);

A bus 1905 that transmits information between various components of the device (e.g., the processor 1901, the memory 1902, the input/output interface 1903, and the communication interface 1904);

The processor 1901 , the memory 1902 , the input/output interface 1903 and the communication interface 1904 are connected to each other in communication within the device via the bus 1905 .

An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the above-mentioned mover control method is implemented.

The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules/units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And/or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and/or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character "/" generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

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

The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

The preferred embodiments of the present application are described above with reference to the accompanying drawings, but the scope of the rights of the present application is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present application should be within the scope of the rights of the present application.

Claims (10)

1. A mover control method, characterized in that the method comprises: Obtain the control distance corresponding to the target operation and obtain the reading distances of multiple encoder readers; Controlling the mover to move on the conveying track, and selecting at least one of the encoder reading heads as a target reading head in sequence during the movement; Acquire the real-time distance of the mover collected by the target reading head, determine that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switch the target reading head; The sum of the real-time distance of the target reading head and the previous reading distance of the target reading head is determined as the control distance, and the target operation is performed. 2. The mover control method according to claim 1, characterized in that a magnetic scale is provided on the mover, and before obtaining the reading distances of the plurality of encoder reading heads, the method further comprises: Acquire the magnetic scale length of the magnetic scale, and acquire the action distance of the encoder reading head based on the magnetic scale length; the action distance includes a starting position and an end position; sequentially setting the detection positions of the encoder heads so that the end position of each encoder head is at least within the working distance of the encoder head; The reading distance of each encoder reading head is determined according to the detection position. 3. The mover control method according to claim 2, characterized in that the step of determining the reading distance of each encoder reading head according to the detection position comprises: According to the position sequence of the encoder heads, the overlapping area of the working distances of adjacent encoder heads is selected to obtain a candidate range, and a candidate position is selected from each candidate range; The reading distance is generated based on every two adjacent generation positions according to the starting position of the first encoder reader, the candidate position, and the end position of the last encoder reader, and the reading distance is associated with the encoder reader. The generation position includes the starting position, the candidate position, and the end position. 4. The mover control method according to claim 1, characterized in that the step of sequentially selecting at least one encoder reader as a target reader during the movement process comprises: Adding the reading distances of the encoder reading heads one by one to obtain an effective distance until the effective distance is at least greater than or equal to the control distance; The encoder reading heads corresponding to the effective distances are sequentially used as the target reading heads. 5. The mover control method according to claim 2, characterized in that the step of obtaining the control distance corresponding to the target operation comprises: Obtaining the relative position of the mover and the magnetic scale; Acquiring a mover length of the mover, and obtaining a control error based on a difference between the mover length, the relative position and the length of the magnetic scale; The control distance is updated using the control error. 6. The mover control method according to claim 2, characterized in that the step of obtaining the real-time distance of the mover collected by the target reader comprises: Acquire the first phase increment and the second phase increment collected in real time by the target reader; generating a first waveform curve based on the first phase increment, and generating a second waveform curve based on the second phase increment; Determining a running direction of the mover based on a waveform comparison result of the first waveform curve and the second waveform curve; A preset unit momentum is obtained, and the real-time distance is determined based on the running direction, the curve parameters of the first waveform curve, the curve parameters of the second waveform curve, and the preset unit momentum. 7. The mover control method according to claim 6, characterized in that the determining the running direction of the mover based on the waveform comparison result of the first waveform curve and the second waveform curve comprises: When it is determined that the first waveform curve exceeds the first preset angle of the second waveform curve, determining that the running direction is forward; or, When it is determined that the second waveform curve exceeds the second preset angle of the first waveform curve, it is determined that the running direction is reverse. 8. A mover control device, characterized in that the device comprises: An acquisition module is used to acquire the control distance corresponding to the target operation and to acquire the reading distances of multiple encoder readers; A target reader determination module is used to control the movement of the mover on the conveying track and sequentially select at least one of the encoder readers as a target reader during the movement; A switching module, used to obtain the real-time distance of the mover collected by the target reading head, determine that the real-time distance of the target reading head is consistent with the corresponding reading distance, and switch the target reading head; An execution module is used to determine the sum of the real-time distance of the target reading head and the previous reading distance of the target reading head as the control distance, and execute the target operation. 9. An electronic device, characterized in that it comprises a memory and a processor, wherein the memory stores a computer program, and characterized in that the processor implements the mover control method according to any one of claims 1 to 7 when executing the computer program. 10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the mover control method according to any one of claims 1 to 7.