Method for operating a planar drive system and planar drive system

Abstract

The invention relates to a planar drive system (1) having at least one stator module (10) and a rotor (100), wherein the stator module (10) comprises at least one stator unit (11) having at least one coil arrangement (12), wherein the coil arrangement (12) can be energized and is designed to generate a stator magnetic field over a stator face (13) as a result of the energization, wherein the stator module comprises at least one magnetic field sensor (14), wherein the rotor (100) has a magnet arrangement (114) and can be moved over the stator face (13) by means of an interaction between a rotor magnetic field of the magnet arrangement (114) and the stator magnetic field, wherein the rotor (100) can serve as an input mechanism and / or as an output mechanism, wherein a control unit (20) is designed to compare a position of the rotor magnetic field detected by means of the magnetic field sensor with a position expected as a result of the energization of the coil arrangement (12) and to ascertain a deviation of the position from the expected position as an external movement and to identify an input therefrom, and / or wherein the control unit (20) is designed to control an output via a preset movement of the rotor (100) and for this purpose to energize the coil arrangement (12) such that the rotor (100) moves as defined by the preset movement.

Description

Technical Field

[0001] The present invention relates to a method for operating a planar drive system and a planar drive system.

[0002] This patent application claims priority to German patent application DE 10 2021 127 039.1, the disclosure of which is incorporated herein by reference. Background Technology

[0003] Planar drive systems are particularly useful in automation engineering, especially in manufacturing, operations, and process engineering. With a planar drive system, movable elements of a facility or machine can be moved or positioned in at least two linearly independent directions. A planar drive system may include a perpetually excited electromagnetic planar motor with a planar stator and a rotor that can move on the stator in at least two directions.

[0004] In a perpetually exciter electromagnetic planar motor, driving force is applied to the rotor through the magnetic interaction between the energized coil assembly of the stator unit and the driving magnets of multiple magnet assemblies of the rotor. Planar drive systems with rectangular and elongated coil assemblies and rectangular and elongated magnet assemblies of the rotor are known in the prior art. For example, such a planar drive system is described in publication DE 102017 131 304A1. With this planar drive system, the rotor can move particularly linearly and translationally. This means that, with this planar drive system, the rotor can move freely parallel to the stator surface and perpendicular to the stator surface at least at a distance different from the stator surface, below which the rectangular and elongated coil assembly is arranged. Furthermore, this planar drive system is capable of tilting and rotating the rotor by several degrees. Here, the last mentioned movement can be performed at any point on the stator surface. In particular, the rotor can rotate outward by up to 20° from the normal position.

[0005] The control unit controls this planar drive system. It converts the rotor's preset trajectory into energizing information for the coil device and then controls the energizing of the coil device. Here, the actual rotor position, determined by a position sensor, can be used to adjust the current to the coil device. Inputs are given to and outputs are received from the planar drive system via the control unit. The control unit may have a user interface, such as buttons, a computer mouse, and a screen, for inputting and outputting information. Summary of the Invention

[0006] The object of this invention is to provide a method having alternative input and output options for a planar drive system. Another object is to provide a planar drive system having alternative input and output options.

[0007] The objective is achieved by means of the method and planar drive system described in the independent patent claims. Advantageous design solutions are described in the dependent patent claims.

[0008] A planar drive system includes at least one stator module and a rotor, wherein the stator module includes at least one stator unit having at least one coil arrangement. The coil arrangement can be energized and is designed to generate a stator magnetic field on the stator surface due to the energization. The stator module also includes at least one magnetic field sensor. The rotor has a magnet arrangement and is movable on the stator surface by means of the interaction between the rotor magnetic field and the stator magnetic field of the magnet arrangement. The rotor can also be used as an input mechanism and / or an output mechanism. A control unit is designed to compare the position of the rotor magnetic field detected by means of the magnetic field sensor with the expected position due to the energization of the coil arrangement, and determine the deviation of the position from the expected position as an external movement, thereby identifying the input. Alternatively or additionally, the control unit is designed to control the output via a preset movement of the rotor and to energize the coil arrangement for this purpose, causing the rotor to move as defined by the preset movement.

[0009] Therefore, the rotor of a planar drive system serves as both an input and / or output mechanism. If the planar drive system is used in automation engineering, particularly manufacturing, operational, and process engineering, personnel operating and / or monitoring the system can more easily perform their tasks. For example, personnel unfamiliar with control unit programming can alter the rotor's movement or use rotor movement to execute inputs to the control unit. Thus, for example, programming aids for the control system can be omitted, short-term adaptations in the production process can be performed, or transportation services can be provided as needed. Furthermore, outputs can be made directly through the rotor, eliminating the need for a monitoring screen and requiring personnel to keep their eyes on the planar drive system.

[0010] The input mechanism of the control unit for the planar drive system is used, for example, to transmit control commands for controlling the planar drive system, particularly for controlling the movement of the rotor, from the machine operator to the control unit. Input mechanisms in the form of computer keyboards, computer mice, touch displays, etc., are known in the prior art. According to the invention, it is particularly proposed that input to the control unit be made by means of a rotor as an input mechanism. The output mechanism of the control unit for the planar drive system is used, for example, to transmit status or process information of the planar drive system control, particularly status or process information regarding the control of rotor movement, from the control unit to the machine operator. Output mechanisms in the form of computer screens, lighting signals, etc., are known in the prior art. According to the invention, output from the control unit can be made via the rotor as an output mechanism. Therefore, the rotor of the planar drive system can be used for human-machine communication or machine-human communication. The rotor can detect signals from its environment, particularly tactile signals that may be generated by the machine operator, such as tactile signals in the form of rotor taps. In this case, the rotor is used as an input mechanism for human-machine communication, thereby realizing the information flow from the human to the machine. The rotor can also be used to output information, such as status information, thereby realizing the information flow from the machine to the human. Here, the rotor can perform specific movements to convey the status to the machine operator. Additionally, the rotor may be equipped with other actuators, such as lighting mechanisms, which additionally or alternatively enable information output. The rotor thus also serves as the output mechanism for machine-to-human communication.

[0011] The deviation between the position and the expected position can include position tracking error, i.e., the actual deviation of the position. Furthermore, if the rotor is held in place by means of a coil assembly and additional energization is applied to the coil load due to external movement to maintain the position, the deviation between the position and the expected position can also be used alternatively or additionally to calculate the force acting on the rotor. The magnitude of the energization can then be used to deduce the external force.

[0012] According to the present invention, a method for operating a planar drive system is implemented as follows, wherein a rotor can be used as an input mechanism. Input is identified by detecting the position of the rotor's magnetic field using a magnetic field sensor and comparing it with a position expected due to energizing a coil device. The deviation between the position and the expected position is determined as external movement.

[0013] The deviation from the expected position can typically be attributed to the rotor moving within a planar drive system where the coil assembly is not energized to cause this. Therefore, this can be identified as an input and used to control other functions of the planar drive system.

[0014] In one embodiment of this method, movement parallel to the stator plane is identified when comparing the current position with the expected position. Therefore, the input can be made such that the rotor moves parallel to the stator plane. For example, movement along a direction parallel to the stator plane can be triggered by the input such that the rotor should move in that direction by means of the coil arrangement. Here, movement parallel to the stator plane yields the first input option.

[0015] In one embodiment of the method, a movement perpendicular to the stator plane is identified when comparing the current position with the expected position. This can be used, for example, to confirm that the rotor should not continue moving initially and to release the rotor again and move it parallel to the stator plane by means of the coil arrangement after a second movement, identified as input, perpendicular to the stator plane. Here, the movement perpendicular to the stator plane becomes the second input option.

[0016] In one embodiment of the method, rotation of the rotor about a first axis parallel to the stator plane is identified when comparing the current position with the expected position. Here, rotation about a second axis yields a third input option.

[0017] In one embodiment of the method, the rotation of the rotor about a second axis perpendicular to the stator plane is identified when comparing the current position with the expected position. Here, the rotation about the second axis yields a fourth input option.

[0018] Here, if evaluating the corresponding deviation between the assessed position and the expected position, the first, second, third, and fourth input options can be used in parallel. Each input option can include calculations of the position tracking error and / or the external forces acting on the rotor. Furthermore, any combination of calculations of the position tracking error and / or the external forces acting on the rotor can be considered for different input options.

[0019] In one embodiment of the method, one or more coil devices are energized according to external movement, causing the rotor and / or other rotors to perform a predetermined movement. This can be done, for example, such that the rotor can be moved in different directions by an operator and other rotors can be moved in said directions by energizing the coil devices. Here, the rotor serves as a remote control device for other rotors.

[0020] In one embodiment of this method, the rotor is first held at a predetermined height by means of the interaction between the stator magnetic field and the rotor magnetic field, and the movement of the rotor parallel to the stator plane along a movement trajectory is performed as external movement. The rotor then moves along the movement trajectory by means of energizing the coil device. Thus, complex movement trajectories for the rotor can be input by the operator, without the operator needing in-depth programming knowledge.

[0021] In one embodiment of the method, the external movement of the rotor determines whether the rotor moves away from the stator surface. The coil assembly is energized, causing the rotor to move toward the stator surface and be attracted by magnetic force. This can be used, for example, for rotor anti-theft protection, as unauthorized removal of the rotor can be prevented. In this embodiment, in particular, the force acting on the rotor can be evaluated, and a magnetic force attracting the rotor toward the stator surface is generated only if the force acting on the rotor, determined from a comparison of the current position with the expected position, exceeds a preset value.

[0022] When evaluating the force acting on the rotor by comparing the current position with the expected position, the movement of the rotor toward the stop can also be identified, where the contact stop can then be used as input.

[0023] Alternatively, other input units may be provided besides the input via the rotor. For example, input may be made via a touchscreen, a 6D pen, and / or a sensing device for detecting human behavior, such as a microphone and voice recognition device for inputting voice commands or a camera with image recognition.

[0024] A method for operating a planar drive system can be performed as follows, wherein a rotor can be used as an output mechanism. Output is made via a preset movement of the rotor, wherein a coil device is energized, causing the rotor to move as defined by the preset movement. Information can be output to the operator via the preset movement.

[0025] In one embodiment of the method, the preset movement of the rotor during output includes reciprocating movement in a direction parallel to the stator plane. This achieves the first output option.

[0026] In one embodiment of the method, the preset movement of the rotor during output includes reciprocating movement in a direction perpendicular to the stator plane. This achieves the first output option.

[0027] In one embodiment of the method, the predetermined movement of the rotor during output includes rotational vibration about a first axis parallel to the stator plane. This achieves a third output option.

[0028] In one embodiment of the method, the rotational vibration has a frequency that produces an audible tone, particularly a tone frequency in the frequency range between 20 Hz and 20 kHz. Therefore, the fourth output option can also be a sound output option.

[0029] In one embodiment of the method, the predetermined movement of the rotor at output includes rotational vibration about a second axis perpendicular to the stator plane. This achieves the fifth output option.

[0030] In addition to or in addition to the output via the rotor, other output units may be provided. For example, output can be made by means of output units arranged on the rotor, such as optical signals or speakers, wherein data transmission and energy transfer from the stator module to the rotor are performed as necessary, and the rotor has corresponding control devices. Here, different optical signals, such as different colors and / or different tones or sound sequences, can be used for different outputs. Attached Figure Description

[0031] The invention will be explained in more detail with reference to the accompanying drawings. Herein lies:

[0032] Figure 1 This illustrates a planar drive system;

[0033] Figure 2 A flowchart for identifying input is shown;

[0034] Figure 3 A top view of the planar drive system is shown;

[0035] Figure 4 A side view of the planar drive system is shown.

[0036] Figure 5 A side view of the planar drive system is shown.

[0037] Figure 6 A top view of the planar drive system is shown;

[0038] Figure 7 A top view of the planar drive system is shown:

[0039] Figure 8 A side view of the planar drive system is shown.

[0040] Figure 9 This diagram illustrates the flowchart used to execute the output.

[0041] Figure 10 Showing an isometric view of the planar drive system; and

[0042] Figure 11 A side view of the planar drive system is shown. Detailed Implementation

[0043] In the following text, the same reference numerals may be used for the same features. Furthermore, for clarity, it may be stated that not all elements are shown in every drawing. Furthermore, for clarity, it may be stated that not every element has its own reference numeral in every drawing.

[0044] Figure 1 A planar drive system 1 with six stator modules 10 is shown, wherein the stator modules 10 are arranged such that a rectangle of three stator modules 10 is formed in pairs. Other arrangements of the stator modules 10 are also possible; more or fewer stator modules 10 may also be arranged. In the stator module 10 shown in the upper right, the internal structure of the stator module 10 is sketched, wherein the stator module 10 includes four stator units 11, wherein these four stator units 11 are arranged in a square two-to-two manner within the stator module 10. Furthermore, for two stator units 11, it is shown that the stator unit 11 includes a coil device 12, wherein the coil device 12 is shown in different orientations. The coil device 12 is used to generate a stator magnetic field. In the illustrated embodiment, the coil device 12 is designed as a rectangular and elongated coil device 12. Three separate rectangular and elongated coils of the coil device 12 are shown in each stator unit 11 of the stator module 10. Similarly, in embodiments not shown, different numbers of separate rectangular and elongated coils may form the coil device 12. Here, the longitudinal extension of the coil arrangement is oriented parallel to one of the edges of the corresponding stator unit 11. Below each of the illustrated coil arrangements 12, there are additional coils, which are oriented with a 90° rotation relative to their longitudinal extension. The grid composed of the elongated and rectangular coils of the coil arrangements 12 can be arranged in multiple layers, one above the other. In fact, the stator units 11 and the coil arrangements 12 are not visible because they are surrounded by the housing of the stator modules 10. Six stator modules 10 form a continuous stator surface 13 above the stator units 11. Furthermore, a rotor 100 is arranged, wherein the rotor has a plurality of magnet units 114 for generating a rotor magnetic field. The coil arrangements 12 can interact with the magnet units 114 when respectively energized, and thereby the rotor 100 moves within the planar drive system 1 above the stator surface 13. Thus, the stator surface 13 defines the plane of movement for the rotor 100. Figure 1The view is simplified because multiple coil units 12 are arranged in each stator unit 11, each coil unit being at a 90° angle to the others, but only one layer of coil units 12 is shown. Magnet units 114 are arranged circumferentially within the rotor 100 and can interact with the coil units 12 to move the rotor 100. Here, the movement of the rotor can occur, in particular, in a plane extending through the first direction 21 and the second direction 22. Furthermore, the movements can be superimposed, allowing the rotor 100 to move in all directions parallel to the stator plane 13. Additionally, other rotors 105 are shown, constructed similarly to rotor 100, and thus can also interact with the coil units 12 to produce movement of other rotors 105. The arrangement of the four stator units 11 within the stator module 10 corresponds to the stator module 10 for a planar drive system 1 sold by the applicant under the name XPlanar. Alternatively, it may be proposed to arrange more or fewer stator units 11 within a single stator module 10. For example, each stator module 10 may include only one stator unit 11 or may include more than four stator units 11.

[0045] Similarly in Figure 1 The diagram shows a control unit 20 connected to one of the stator modules 10. It can be suggested that the stator modules 10 can forward communication signals to each other. Alternatively, each stator module 10 may also be connected to the control unit 20. Figure 1 (Not shown in the diagram). The control unit 20 is designed to output control commands to the stator module 10, wherein the stator module 10 is designed to: energize the coil device 12 according to the control signal, and thereby control the movement of the rotor 100 parallel to the stator surface 13. The coil device 12 can also be energized so that the rotor 100 moves perpendicular to the stator surface 13.

[0046] Figure 1 A magnetic field sensor 14 in one of the stator modules 10 is also shown, wherein other stator modules 10 may also have a magnetic field sensor 14. With the aid of the magnetic field sensor 14, the position of the rotor 100 or other rotors 105 can be determined and relayed to the control unit 20. The magnetic field sensor 14 can be configured, for example, as a Hall sensor, particularly a 3D Hall sensor.

[0047] Figure 1 The planar drive system 1 shown can be used in automation engineering, particularly in manufacturing, operational, and process engineering, to transport objects. Here, for example, the object can be arranged on the rotor 100.

[0048] Rotor 100 can Figure 1The planar drive system 1 shown is used as the input mechanism. In this case, the control unit 20 is designed to: compare the position of the rotor magnetic field detected by means of the magnetic field sensor 14 with the expected position due to power supply to the coil device 12, and determine the deviation between the position and the expected position as external movement, thereby identifying the input. Here, in particular, it can be proposed to detect the point of application, direction, and value of the force acting on the rotor 100 from the outside by means of the described deviation identification. The control unit 20 can associate a specific event with the parameters thus determined. The deviation between the position and the expected position can also be called the position tracking error. The control unit 20 can detect the position tracking error of each individual movement axis of each individual rotor 100, 105, where the movement axis can include linear movement parallel to the first direction 21 and the second direction 22 and a third direction perpendicular to the first direction 21 and the second direction 22, as well as rotation about a third direction parallel to the first direction 21 and the second direction 22 and a third direction perpendicular to the first direction 21 and the second direction 22. To determine the position tracking error, for example, the magnetic field sensor 14 can be used, and the rotor magnetic field induced by the magnet unit 114 can be evaluated.

[0049] Typically, the goal of a controlled system is to minimize position tracking error. In principle, this can also be implemented in the described planar drive system 1. If the control unit detects a position tracking error, the current set in the coil group 12 below the relevant rotors 100, 105 is changed. From this current set in the coil group 12, the forces and torques acting on the relevant rotors 100, 105 can be determined. Therefore, the system can not only identify the influence on the rotors from the outside via the position tracking error, but also determine the value of the acting force by adjusting the coil current. The planar drive system 1 or control unit 20 is also designed to determine the direction of the acting force from the aforementioned parameters.

[0050] Rotor 100 can Figure 1 In the planar drive system 1 shown, it is used as an output mechanism. In this case, the control unit 20 is designed to control the output via a preset movement of the rotor 100, and to energize the coil device 12 for this purpose, so that the rotor 100 moves as defined by the preset movement.

[0051] exist Figure 1An optional input unit 25 connected to the control unit 20 is also shown. Input via the input unit 25 may be provided in addition to input via the rotor 100. For example, input may be made via a touchscreen, a 6D pen, and / or a sensing device for detecting human behavior, wherein the sensing device for detecting human behavior may include, for example, a microphone and voice recognition device for inputting voice commands, or a camera with image recognition. The touchscreen, 6D pen, and / or the sensing device for detecting human behavior may be arranged within the input unit 25.

[0052] Figure 1 An optional output unit 26 connected to the control unit 20 is also shown. Furthermore, the output unit 26 may also be arranged on the rotor 100. Figure 1 (Not shown in the image). Output can be made via output unit 26, in addition to or in addition to the output via rotor 100. For example, output can be made by means of output unit 26 arranged on rotor 100, i.e., optical signals or speakers, wherein data transmission and energy transfer from stator module 10 to rotor 100 are performed as necessary and rotor 100 has corresponding control devices. Here, different optical signals can be used for different outputs, i.e., different colors and / or different tones or tone sequences.

[0053] Other accompanying figures may include combinations Figure 1 Explanatory reference numerals. Where necessary, these reference numerals will not be discussed in detail in further description, as the components of the planar drive system 1 described by these reference numerals have already been incorporated. Figure 1 An explanation was provided.

[0054] Figure 2 A first flowchart 200 of a method for operating a planar drive system 1 is shown, wherein input is identified by means of a rotor 100. In a determination step 201, the deviation of the position of the rotor 100 from the expected position of the rotor 100 due to energizing the coil unit 12 is determined. In particular, in determination step 201, it is determined whether the position of the rotor magnetic field detected by means of a magnetic field sensor 14 is compared with the expected position of the rotor magnetic field due to energizing the coil unit 12. If the positions are consistent, normal operation 202 is performed without input, and determination step 201 is performed again after a preset time. If the rotor magnetic field position detected by means of the magnetic field sensor 14 in determination step 201 is different from the expected rotor magnetic field position due to energizing the coil unit 12, input is identified in identification step 203. In an optional reaction step 204, a reaction can then be performed, which may be energizing the drive coil 12 to perform a specific movement of the rotor 100.

[0055] The deviation of the position from the expected position can here include position tracking error, i.e., the actual deviation of the position. Furthermore, instead of calculating the force acting on the rotor 100, if the rotor 100 is held in its position by means of the coil device 12 and additional energization is applied to the coil device 12 due to external movement to maintain the position, the deviation of the position from the expected position can be used. A conclusion about the external force can then be drawn from the energization level. This can be performed, in particular, in decision step 201.

[0056] Figure 3 A top view of the planar drive system 1 is shown, in which the rotor 100 can be moved along a first direction 21 and a second direction 22 by means of drive coils 12. The control unit 20 is also designed to: detect the position of the rotor's magnetic field by means of a magnetic field sensor 14, compare it with a position expected due to energizing the coil assembly 12, and determine the external movement along the first external movement direction 121 and the second external movement direction 122 from the deviation between the position and the expected position. Here, the first external movement direction 121 is oriented in the same direction as the first direction 21, and the second external movement direction 122 is oriented in the same direction as the second direction 22. The deviation can again be determined as a position tracking error or as a force.

[0057] Figure 4 A side view of the planar drive system 1 is shown. The control unit 20 is further designed to: detect the position of the rotor's magnetic field by means of the magnetic field sensor 14, compare it with the expected position due to energizing the coil device 12, and determine the external movement along a third external movement direction 123 from the deviation between this position and the expected position. The third external movement direction 123 here is oriented in the same direction as the third direction 23 perpendicular to the first direction 21 and the second direction 22. The deviation can again be determined as a position tracking error or force. The position tracking error here can be directly derived from the position measurement of the magnet unit 114 by means of the magnetic field sensor 14. The force can be determined from the fact that energizing the coil device 12 is required to hold the rotor 100 in place. Therefore, a force is then generated by means of the coil device 12, the force pointing in the opposite direction to the external movement.

[0058] Figure 3 and Figure 4The design can also be combined such that inputs triggered by the operator of the planar drive system can be identified as movement of the rotor 100 along a first external movement direction 121, a second external movement direction 122, and a third external movement direction 123. Alternatively or additionally, rotational movement of the rotor 100 about an axis parallel to the first direction 21 and / or the second direction 22 and / or the third direction 23 can be detected and interpreted as input. If, for example, the magnet unit 114 moves closer to the stator module 10 and further away from the stator module 10 during rotation about an axis parallel to the first direction 21, this can be determined by means of the position of the magnet unit 114 via the magnetic field sensor 14. Furthermore, the aforementioned force assessment can also be performed here, wherein an additional force acting on the rotor 100 is generated by means of the coil device 12, the additional force being oriented in the opposite direction to rotation.

[0059] For example, the detection of position tracking error in the third direction 23 can be designed as follows: The operator of the planar drive system presses down on the rotor 100 from above, thereby moving the rotor in the opposite direction of the third external movement 123. Thus, the rotor 100 is pressed away from its starting position, for example, downwards, i.e., in the direction toward the stator module 10. This is detected as a position deviation or position tracking error in the third direction 23. The current in the coil group 12 can now be adapted to bring the rotor 100 back to the target height. This can be done similarly for the first direction 21 and the second direction 22. If the input is in the form of a touch, there is no need for prolonged adaptation of the current in the coil group 12, as the contact only lasts for a short time. After the touch, the position tracking error is re-detected by the adapted current, but no longer by applying the existing force to the rotor 100, and the current in the coil group 12 is re-adapted to bring the rotor back to the target height.

[0060] Instead, pressing only detects short position tracking errors and does not apply current. After pressing, the rotor 100 is then automatically returned to the target height by the previously set current of the coil group 12.

[0061] By detecting existing position tracking errors over time, for example, different lengths of contact can be detected, such as a light tap different from a longer press. Similarly, it can be detected whether, for example, the rotor 100 has been loaded. If a persistent position tracking error occurs that must be compensated for by the current in the adapter coil group 12, the event, i.e., the loading of the rotor 100, can be associated with the position tracking error by incorporating a time component.

[0062] Alternatively, the set force can also be evaluated. Here, the set force corresponds to the combination of a specific position (or combination of different positions) of the rotor in the first direction 21 and / or the second direction 22 and / or the third direction 23 with the current set in the influence region of the coil group 12 on the rotor 100. For example, an initially empty rotor 100 can be loaded with a product. This results in a position tracking error in the third direction 23. A new force is set by energizing the coil group 12.

[0063] Therefore, as mentioned earlier, by evaluating the duration of the current change in coil group 12, it is possible to detect and distinguish between the transient position tracking error resulting from the input via rotor 100 and the long-term increase in the set force. If both are satisfied, the event "rotor 100 is loaded" can be obtained.

[0064] Then, the position tracking errors (or combinations of different position tracking errors) in the first direction 21 and / or the second direction 22 and / or the third direction 23 can also be associated with the event accordingly. For example, a position tracking error in the second direction 22 could mean that the rotor 100 has been struck. The detected strike of the rotor can then be associated with a specific event within the control unit 20, as illustrated below.

[0065] Figures 2 to 4 The input detection method described herein can be associated with any event by means of control unit 20, which may be stored in control unit 20 or pre-confirmed by the machine operator in control unit 20. The event may include specific control commands for rotor 100 or other rotor 105, and specific control or programmable steps within a control program running in control unit 20, as well as specific operational or working steps that trigger other machine elements in conjunction with but independently of the planar drive system 1. For example, the selection of detected position tracking errors and associated events will be described subsequently. However, this enumeration is not exhaustive, and there is no fixed association between the described position tracking errors and corresponding events. Any combination and event is conceivable within the scope of the system according to the invention and is included within the scope of protection.

[0066] For example, a position tracking error in a third direction that exceeds a defined limit can be associated with the event "rotor 100 is lightly tapped at the center". This event can then be associated with a command within the scope of human-computer interaction, such as rotor 100 traveling a predetermined distance in a predetermined direction, for example, traveling one meter in the first direction 21.

[0067] For example, a force acting in the first direction 21 for more than a predetermined time period (e.g., three seconds) can be associated with the event "rotor 100 is pushed". The event can be associated, for example, with the command "move rotor 100 along the first direction 21".

[0068] The positive position tracking error on the rotation axis parallel to the second direction 22 can be associated with the event "rotor 100 is tapped on the right half". For example, the event can be associated with the command "stop rotor 100" so that rotor 100 does not move further thereafter.

[0069] Negative position tracking error on the rotation axis parallel to the second direction 22 can be associated with the event "rotor 100 is tapped on the left half". For example, the event can be associated with the command "continue moving rotor 100".

[0070] Conversely, a force exerted by a third party on 23 for a prolonged period (longer than a predetermined time, such as three or five seconds) can be associated with the event "Rotor 100 has been loaded". The event "Rotor 100 has been loaded" can be associated with the command "Rotor 100 should move to the predetermined position of planar drive system 1".

[0071] Any position tracking error or force can be associated with any event, combined with an assessment of duration if necessary. These events can then be associated with any command in human-machine communication. As an input mechanism, the rotor 100 thus becomes a flexible, programmable, and universal element for this communication.

[0072] Figure 5 A side view of the planar drive system 1 is shown, in which the magnetic field sensor 14 has detected movement of the rotor 100 in the first external movement direction 121 and / or the third external movement direction 123 caused by the lack of power supply to the coil device 12. Movement in the second external movement direction 122 can also be detected. It can be proposed that this movement be detected as an attempt to remove the rotor 100 from the planar drive system 1. Then, on the one hand, within the scope of anti-theft protection, it can be proposed that the control unit 20 outputs a control command to the relevant stator module 10, causing the coil device 12 to be energized such that the rotor 100 moves toward the stator module 10 and is attracted by the stator module 10 with a preset force, thereby preventing theft. This is in Figure 6 The middle part is indicated on the right. Alternatively, it can be proposed that, during operation, the rotor 100 be extracted and the coil assembly 12 be energized, causing the rotor 100 to switch to a state of no force and be extracted without overcoming any force. It can also be proposed that the extracted rotor be simultaneously deregistered from the planar drive system 1 in software, so that the control unit 20 no longer considers the rotor 100. For example, both alternatives can be triggered in reaction step 204.

[0073] Figure 6 A top view of a planar drive system 1 is shown, the planar drive system including a rotor 100 as an input mechanism. Figures 1 to 4 The input options for interpretation. Here, the movement trajectory 120 of rotor 100 can be recorded as an external input. This can be achieved by combining... Figure 3 The interpretation options are performed, particularly the external movement along the first external movement direction 121 and the second external movement direction 122. Specifically, it can be proposed that the coil device 12 is energized, causing the rotor 100 to switch to a state of being unloaded and floating above or on the stator surface 13 in terms of movement along the first direction 21 and the second direction 22. The rotor 100 is then manually moved, and the magnetic field of the magnet device 114 is determined by means of the magnetic field sensor 14, from which the movement trajectory 120 is determined. The coil device 12 can then be energized, causing the rotor 100 to move along the movement trajectory 120. Thus, the rotor 100 serves as an input mechanism for trajectory detection. The rotor 100 used for trajectory detection, as well as any other rotor, can subsequently travel over the trajectory detected in a single operation. For example, switching between trajectory detection mode and normal operation mode can be performed by tapping the rotor 100, and identification is performed as described above.

[0074] In addition, Figure 6 An alternative design is shown in which other rotors 105 can be used as input mechanisms. These other rotors 105 are moved by an operator of the planar drive system 1, similar to a joystick, along a first external movement direction 121 and a second external movement direction 122, and the input thus made can be used to energize the coil device 12 to move the rotor 100 along the movement trajectory 120.

[0075] It is also possible to identify the external movement of the rotor 100 or other rotor 105 along a first external movement direction 121 and / or along a second external movement direction 122 and / or a third external movement direction 123, wherein a preset movement of the rotor 100 is triggered by energizing the coil device 12.

[0076] Figure 7A top view of a planar drive system 1 is shown, which includes additional input options for a rotor 100. If the rotor 100 is arranged on the stator plane 13, external input can be achieved by rotating the rotor 100 about a first axis 131, which is parallel to the stator plane 13, thus defining two first axes 131 for the rotor 100. In particular, if the coil group 12 is energized such that the rotor 100 is parallel to the stator plane 13, even a few degrees of rotation about the first axis 131 can be detected and identified as external input by means of a magnetic field sensor 14. Here, for example, it can be proposed that the rotor 100 has a first quadrant 101, a second quadrant 102, a third quadrant 103, and a fourth quadrant 104, where tapping the rotor 100 in the first to fourth quadrants 101, 102, 103, and 104 respectively triggers different rotations about the first axis 131, thus enabling four different inputs. A tap in the first quadrant 101 can be interpreted, for example, as an input that the rotor 100 should travel to a first predetermined position in the planar drive system 1 and energize the coil device 12 accordingly. A tap in the second quadrant 102 can be interpreted, for example, as an input that the rotor 100 should travel to a second predetermined position in the planar drive system 1 and energize the coil device 12 accordingly. A tap in the third quadrant 103 can be interpreted, for example, as an input that the rotor 100 should travel a predetermined path in a predetermined direction and energize the coil device 12 accordingly. A tap in the fourth quadrant 104 can be interpreted, for example, as an input that the rotor 100 should perform a further predetermined movement and the coil device 12 should be energized accordingly. Obviously, predetermined movements beyond this range are also possible. The movement can be controlled accordingly during the reaction step.

[0077] Figure 7 The second axis 132, perpendicular to the stator plane 13, is also shown. Rotation of the rotor 100 about the second axis 132 can also be interpreted as an input and processed according to the described method, wherein the rotation is not triggered by energizing the coil device 12.

[0078] Combination Figure 6 and Figure 7 The input for interpretation can be combined in the following ways: for example, by first tapping one of the first to fourth quadrants 101, 102, 103, 104, or by centering and tapping rotor 100 to activate the combination. Figure 6The pattern is explained, and then the coil assembly 12 is energized, causing the rotor 100 to switch to being unloaded and floating above or on the stator surface 13 in terms of movement along the first direction 21 and the second direction 22. The rotor 100 can now be used as an input mechanism for inputting the movement trajectory 120, and subsequently deactivated by continuing to tap one of the first to fourth quadrants 101, 102, 103, 104, or by tapping the rotor 100 in the center. Figure 6 The explained pattern. Then, by energizing the coil group 12, the rotor 100 can again move along the first direction 21 and / or the second direction 22. (Combined) Figure 6 The pattern of explanation can be called a learning pattern, for example.

[0079] By combining Figures 3 to 7 The explained input method, which uses the rotors 100 and 105 as input mechanisms via a planar drive system, allows control of the movement of rotor 100 without the need to write program code for control unit 20. This simplifies the operation of planar drive system 1, as rotor 100 can be controlled, for example, by means of the intuitive gestures or operations of the machine operator.

[0080] Figure 8 A side view of the planar drive system 1 is shown, in which rotor 100 is used to transport personnel 140. This specifically means that the interaction between the rotor magnetic field and the drive magnetic field is large enough to support the weight of personnel 140. Personnel 140 can control rotor 100 through weight transfer. Figure 8 In the left portion, a person 140 with weight transferred to the right is shown, causing the rotor 100 to tilt to the right and rotate a few degrees about the first axis 131. This can be achieved by identifying the deviation between the position of the rotor 100 determined by the magnetic field sensor 14 and the expected position by energizing the coil device 12 as an input, using the method already described. Here, the input may include a signal indicating that the rotor 100 moves to the right, i.e., moves in the direction of weight transfer of the person 140, and the coil device 12 should be energized accordingly. In the case of multiple rotors 100, it is also proposed to control the energization of the coil device 12 to prevent collisions between the rotors 100, and in particular, to prevent collisions between multiple rotors 100 and the person 140.

[0081] Figure 9A second flowchart 210 shows a method for operating the planar drive system 1, wherein output is performed by means of the rotor 100. In another determination step 211, it is determined that output should be performed. This would be, for example, if a product being transported on the rotor 100 is identified as damaged, for example, by means of a camera. If no output is performed, further adjustment operation 212 is performed in the absence of output, and the other determination step 211 is performed again after a predetermined time. In the output step 213, output is performed by energizing the coil device 12 to cause the rotor 100 to perform a preset movement. In an optional reaction step 214, a reaction can then be performed, which could be additionally energizing the drive coil 12 to perform a specific movement of the rotor 100. For example, when a faulty product should first be signaled and then removed from the production process by means of the rotor 100.

[0082] Figure 10 An isometric view of the planar drive system 1 is shown, in which output step 213 is performed. It can be proposed that output is performed by moving the rotor 100 parallel to the stator plane 13, i.e., along a first movement direction 125 parallel to the first direction 21 and / or along a second movement direction 126 parallel to the second direction 22. Similarly, a movement including a superposition of the first and second movement directions 125 is also possible. Specifically, the predetermined movement of the rotor 100 during output can be a reciprocating movement along a direction parallel to the stator plane 13, i.e., along the first direction 21 or the second direction 22, or a superposition of the first and second directions 22. Alternatively or additionally, output can be performed by moving the rotor 100 perpendicular to the stator plane 13, i.e., along a third movement direction 127 parallel to the third direction 23. Specifically, it can be proposed that the movement of the rotor 100 during output is a reciprocating movement in the third direction 23 perpendicular to the stator plane 13. Alternatively or additionally, it may be proposed that the predetermined movement of rotor 100 during output includes rotational vibration about a first axis 131 parallel to stator plane 13. Alternatively or additionally, it may be specified that the predetermined movement of rotor 100 during output includes rotational vibration about a second axis 132 perpendicular to stator plane 13. These movements can be visually perceived by the operator.

[0083] In the sense of the conventions of machine-to-human communication, all movements thus performed by rotor 100 as an output mechanism can be signaled as confirmation of specific facts. Therefore, output includes the notification of specific facts. These facts, namely links to specific events within the control flow and / or specific states of the planar drive system or its components, can be stored in control unit 20, or the machine operator can confirm these links in advance in control unit 20.

[0084] For example, alternating upward (away from stator module 10) and downward (towards stator module 10) movement of rotor 100 in a third direction 23 could mean that rotor 100 should not be loaded. Reciprocating movement of rotor 100 in a first direction 21 and / or a second direction 22 could include outputting an error message to the rotor. For example, circular motion of rotor 100 could mean that cleaning of rotor 100 should be performed.

[0085] Figure 11 A side view of the planar drive system 1 is shown, wherein output is achieved by means of rotational vibration about a first axis 131, wherein the rotational vibration has a frequency such that a higher pitch is formed by the rotational vibration, specifically a pitch in the frequency range of 20 Hz to 20 kHz. This pitch can then be output as a sound wave 150. Therefore, sound output is feasible. By means of sound output, specific facts can also be communicated in the sense of the conventions of machine-to-human communication. Specifically, it can be proposed that the coil group 12 is energized, such that the resulting rotational vibration generates sound wave 150.

[0086] Explanation of reference numerals in the attached figures

[0087] 1 Plane Drive System

[0088] 10 Stator Module

[0089] 11 Stator Units

[0090] 12 Coil Device

[0091] 13 Stator Surface

[0092] 14 Magnetic field sensor

[0093] 20 Control Units

[0094] 21 First Direction

[0095] 22 Second Direction

[0096] 23 Third Direction

[0097] 25 Input Units

[0098] 26 Output Units

[0099] 100 rotors

[0100] 101 First Quadrant

[0101] 102 Second Quadrant

[0102] 103 Third Quadrant

[0103] 104 Fourth Quadrant

[0104] 105 Other rotors

[0105] 114 Magnet Units

[0106] 120 movement trajectory

[0107] 121 First external movement direction

[0108] 122 Second external movement direction

[0109] 123 Third external movement direction

[0110] 125 First direction of movement

[0111] 126 Second direction of movement

[0112] 127 Third direction of movement

[0113] 131 First Axis

[0114] 132 Second Axis

[0115] 140 personnel

[0116] 150 sound waves

[0117] 200 First Flowchart

[0118] 201 Judgment Steps

[0119] 202 Normal Operation

[0120] 203 Identification Steps

[0121] 204 Reaction Steps

[0122] 210 Second Flowchart

[0123] 211 Other determination steps

[0124] 212 Other routine operations

[0125] 213 Output Steps

[0126] 214 Other reaction steps

Claims

1. A method for operating a planar drive system (1), The planar drive system (1) described therein has at least one stator module (10) and a rotor (100). The stator module (10) includes at least one stator unit (11) having at least one coil device (12), wherein the coil device (12) is energized and designed to generate a stator magnetic field on the stator surface (13) due to the energization. The rotor (100) has a magnet device (114) and is capable of moving on the stator surface (13) by means of the interaction between the rotor magnetic field of the magnet device (114) and the stator magnetic field. The rotor (100) can be used as an input mechanism. Its features are, The stator module (10) has at least one magnetic field sensor (14), wherein the magnetic field sensor (14) detects the rotor magnetic field to determine the position of the rotor. The input is identified by comparing the expected position of the rotor due to energizing the coil device (12) with the detected position of the rotor, and evaluating the deviation of the position from the expected position as a position tracking error and detecting it over time, and / or determining the magnitude of the additional energizing of the coil device (12) and evaluating it as an external force and detecting it over time, performing the additional energizing to maintain the expected position of the rotor due to energizing the coil device (12), wherein the position tracking error and / or the external force are evaluated in combination with the corresponding duration as external movement and associated with a preset input result.

2. The method according to claim 1, wherein, Movement parallel to the stator surface (13) is identified when comparing the position with the expected position.

3. The method of claim 1, wherein a movement perpendicular to the stator surface (13) is identified when comparing the position and the expected position.

4. The method of claim 1, wherein the rotation of the rotor (100) about a first axis (131) parallel to the stator plane (13) is identified when comparing the position and the expected position.

5. The method of claim 1, wherein the rotation of the rotor (100) about a second axis (132) perpendicular to the stator plane (13) is identified when comparing the position and the expected position.

6. The method according to any one of claims 1 to 5, wherein one or more coil devices (12) are energized according to the input result, such that the rotor (100) and / or other rotors (105) perform a predetermined movement.

7. The method according to claim 6, wherein the rotor (100) is determined from the external movement of the rotor (100) to move away from the stator surface (13), wherein the coil device (12) is energized to move the rotor (100) toward the stator surface (13) and is attracted by magnetic force.

8. The method according to claim 6, wherein the rotor (100) is determined from the external movement of the rotor (100) to be removed from the stator surface (13), wherein the coil device (12) is energized such that the rotor (100) is switched to be unforced in the first direction (21), the second direction (22) and the third direction (23).

9. The method according to claim 1, wherein the rotor (100) is additionally capable of serving as an output mechanism, wherein output is made via a predetermined movement of the rotor (100), wherein the coil device (12) is energized such that the rotor (100) moves in a manner defined by the predetermined movement.

10. The method according to claim 9, wherein the preset movement of the rotor (100) at output includes reciprocating movement in a direction parallel to the stator surface (13).

11. The method according to claim 9, wherein the preset movement of the rotor (100) at output includes reciprocating movement in a direction perpendicular to the stator surface (13).

12. The method according to any one of claims 9 to 11, wherein the predetermined movement of the rotor (100) at output includes rotational vibration about a first axis (131) parallel to the stator surface (13).

13. The method of claim 12, wherein the rotational vibration has a frequency such that the rotational vibration forms an audible tone in the frequency range between 20 Hz and 20 kHz.

14. The method according to any one of claims 9 to 11, wherein the predetermined movement of the rotor (100) at output comprises rotational vibration about a second axis (132) perpendicular to the stator plane (13).

15. A planar drive system (1) having at least one stator module (10) and a rotor (100), wherein the stator module (10) includes at least one stator unit (11) having at least one coil device (12), wherein the coil device (12) is energized and the coil device is designed to generate a stator magnetic field on a stator surface (13) due to energization, wherein the stator module (10) includes at least one magnetic field sensor (14), wherein the rotor (100) has a magnet device (114) and is movable on the stator surface (13) by means of the interaction between the stator magnetic field and the rotor magnetic field of the magnet device (114), wherein the rotor (100) is usable as an input mechanism, wherein a control unit (20) is designed to perform the method according to any one of claims 1 to 14.

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