Method for operating an automation system, control system and automation system

Abstract

The invention relates to a method for operating an automation system (1). The automation system comprises a drive system and an optical projection unit (100). The drive system comprises a movable mover (50), wherein the mover (50) is drivable by a drive (6). A control system (30) of the automation system (1) carries out the following steps: Determining position information of the mover (50); Associating an object to be displayed with the mover (50); Rendering a projection to be displayed by the optical projection unit (100) in connection with the position information of the mover (50) and the object to be displayed; Outputting the rendered projection to the optical projection unit (100) such that the optical projection unit (100) outputs the rendered projection on a surface (7) and / or on the mover (50) of the drive system or an upper structure thereof and / or on a transported good. Furthermore, the invention relates to the automation system (1) and the control system (30).

Description

TECHNICAL FIELD

[0001] The present invention relates to a method for operating an automation system, a control system and an automation system.

[0002] This patent application claims priority to German patent application DE 10 2022 111 680.8 of May 10, 2022, the disclosure of which is hereby incorporated by reference back in this case. BACKGROUND

[0003] Automation systems can comprise drive systems for moving objects. With the aid of the drive systems, movable elements of devices, machines, buildings or stages can be moved or positioned in at least one direction. The drive systems can comprise a permanent-magnet-excited electromagnetic motor with a stator and a mover which can be moved on the stator in at least one direction. Such a drive system can in particular be a planar drive system, wherein the stator is planar and the mover can be moved in at least two directions. Furthermore, the aforementioned drive systems can be used in automation technology, in particular in manufacturing technology, handling technology, process technology, stage and performance technology or building and catering technology.

[0004] In permanent-magnet-excited electromagnetic planar motors, the energized coil groups of the stator unit interact magnetically with the drive magnets of a plurality of magnet assemblies of the mover, thereby exerting a drive force on the mover. Planar drive systems are known from the prior art which have rectangular and longitudinally stretched coil groups and rectangular and longitudinally stretched magnet assemblies of the mover. Such a planar drive system is described, for example, in the publication DE 10 2017 131 304 A1. With the aid of such a planar drive system, linear and translational movements of the mover can be realized in particular. This means that, by means of such a planar drive system, the mover can be moved freely on the stator surface parallel to the stator surface and at least in a manner spaced at different distances from the stator surface perpendicular to the stator surface, below which the rectangular and longitudinally stretched coil groups are arranged. Furthermore, linear drive systems are known from the prior art.

[0005] If such a drive system, in particular a planar drive system, is used in automation technology, in particular in manufacturing technology, handling technology, process technology, stage and performance technology or building and catering technology, information relating to the operation of the drive system can be displayed to an operator or a monitor by means of a screen or a display. However, this makes it necessary for the operator or the monitor to frequently move his or her line of sight away from the drive system in order to observe the screen or the display. As a result, the operator or the monitor can not perceive all relevant information in time and can not react in time to the information displayed by means of the screen or the display. SUMMARY

[0006] It is therefore an object of the present application to provide an improved automation system. It is a further object of the present application to provide a method for operating such an automation system. It is a further object of the present application to provide a control system for implementing the described method. In this case, the information should be able to be perceived without the line of sight leaving the drive system.

[0007] The solution according to the present application to achieve the above objects is a method for operating an automation system, a control system and an automation system according to the independent patent claims. Advantageous refinements are given in the dependent claims.

[0008] According to one aspect, the present application comprises a method for operating an automation system. The automation system comprises a drive system and an optical projection unit. The drive system comprises a movable mover, which can be driven by a drive. A control system of the automation system implements the following described steps.

[0009] The position information of the mover is determined. Furthermore, an object to be displayed is associated with the position of the mover. Then, a projection to be displayed by the optical projection unit is rendered in connection with the position information of the mover and the object to be displayed. Finally, the rendered projection is output to the optical projection unit, so that the optical projection unit outputs the rendered projection on a surface and / or as a hologram in the vicinity of the drive system and / or the mover of this drive system.

[0010] The first two steps, i.e. the determination of the position information of the mover and the association of the object to be displayed with the mover, can be carried out successively in any order or simultaneously. This rendering can in particular comprise the composition of the projection to be displayed in connection with the position information and the object to be displayed.

[0011] The object to be displayed can for example comprise display information, wherein the display information can comprise information relating to an operator or a monitoring person. Since the object to be displayed is output on a surface and / or as a hologram in the vicinity of the drive system, the operator or the monitoring person can perceive the relevant information without having to move the line of sight from the drive system.

[0012] In this case, the drive system can be both a linear drive system and a planar drive system. If this drive system is a planar drive system, the surface for outputting the object to be displayed can at least partially comprise the stator surface of this planar drive system.

[0013] According to a second aspect, the present application comprises a control system for an automation system. The control system is adapted to carry out the steps of the method according to the present application. That is, the control system is adapted to determine position information of the mover and to associate an object to be displayed with the position of the mover. Furthermore, the control system is adapted to subsequently render a projection to be displayed by the optical projection unit in combination with the position information of the mover and the object to be displayed. Moreover, the control system is adapted to output the rendered projection to the optical projection unit. The optical projection unit can then output the rendered projection on a surface and / or as a hologram in a manner adjacent to the drive system and / or the mover of this drive system.

[0014] In this case, the control system can comprise at least one computing unit. The control system can also comprise, if necessary, a first control unit with a first computing unit and a second control unit with a second computing unit. In this case, the first control unit can in particular be used to control the drive system and to provide the position information of the mover, while the second control unit reads the position information, associates an object to be displayed with the mover, renders the projection to be displayed in combination with the position information of the mover and the object to be displayed, and outputs the rendered projection to the optical projection unit.

[0015] The second control unit with the second computing unit can in turn comprise, if necessary, a further control unit and a further computing unit. This further control unit transmits information about the projection partial area on the mover to the second control unit and obtains adaptation information for this projection partial area from the second projection unit. This further computing unit is responsible for rendering the projection partial area and transmitting the rendered projection to a further projection unit.

[0016] According to a third aspect, the present application comprises an automation system with a drive system and an optical projection unit. The drive system comprises a movable mover. The mover can be driven by a drive. Furthermore, this automation system comprises a control system according to the present application.

[0017] In an embodiment of the method, the position information is determined in combination with the position of the mover relative to the automation system and / or the drive system. This can for example comprise determining the position of the mover relative to a stator unit of the drive system, in particular by means of a position sensor. If the mover comprises a magnet unit, the position sensor can have a magnetic field sensor. In this way, the object to be displayed can be output in a manner coordinated with the position of the mover.

[0018] In one embodiment of the method, the position of the mover is determined at least at a frequency that is twice, in particular three times, as high as the frequency at which the projection to be displayed is rendered. In this way, the object to be displayed can be output in a manner coordinated with the position of the mover sufficiently quickly, and the projection to be displayed can be moved along with the mover without a jerky or disturbing effect.

[0019] In one embodiment of the method, the communication within the control system is real-time. This in particular means that information can be exchanged within the control system quickly, so that the object to be displayed can be tracked even in the case of rapid movement of the mover, and so that the object to be displayed can be moved along with the mover without a shift.

[0020] In one embodiment of the method, the projection to be displayed is first calculated in the virtual graphics space in conjunction with the virtual object, and then rendered for the real space in conjunction with the view window of the graphics space. The output rendered projection by means of the view window enhances the detection and / or perception of the mover or its superstructure and / or the goods being transported and / or the surface (7) by means of information from the graphics space. In this way, the object to be displayed can be calculated and rendered efficiently.

[0021] The real space can be associated with the multi-dimensional graphics space by means of association rules. Objects arranged in the real space, such as components of the drive system, can be assigned to graphics in the graphics space by means of assignment rules. By means of the association rules between the real space and the graphics space, it can be determined how a virtual object of the graphics space is to be projected into the real space in order to be able to output a rendered view window.

[0022] The movement of an object arranged in the real space, such as the mover, can be transferred into the graphics space. In this case, it is also possible to move the virtual object assigned to the object in the real space in the graphics space. It is then also possible to change the projection to be displayed in accordance with the position of the virtual object, so that a movement can also be carried out in the rendered projection to be displayed.

[0023] By means of the association of the real space with the graphics space, a high degree of abstraction can be achieved, which enables the adaptation of the method according to the application to a plurality of application instances.

[0024] This graphics space can contain, for example, 3D models (or parts thereof) of machines, devices, buildings, stages, etc. By means of the control unit, real objects can be linked to virtual images in the graphics space. If an interaction with the virtual space takes place, the corresponding real object and possibly its virtual extension react in a corresponding manner.

[0025] The position and size of the graphics space and the graphics assigned to the object to be controlled can be determined automatically in accordance with the measured position and size of the object to be moved. This contributes to the generation of a graphics space that corresponds to the real space.

[0026] In one embodiment, the position information is determined depending on the position of the actor relative to the graphics space.

[0027] In one embodiment of the method, the graphics space contains different elements. One of these elements is selected as the object to be displayed in conjunction with information from the control system and / or automation system and taken into account when rendering the projection to be displayed. This can be advantageous if several elements can contain different information and thus also display different information.

[0028] In one embodiment of the method, the object to be displayed has a characteristic in the graphics space. The element is selected depending on this characteristic.

[0029] In one embodiment of the method, the virtual object is moved in the graphics space in conjunction with the position information of the actor. This makes it possible to simply track the object to be displayed when the actor moves.

[0030] In one embodiment of the method, the projection to be displayed is rendered in such a way that the object to be displayed moves with the actor and the relative position between the actor and the object to be displayed is fixed. This also makes it possible to simply track the object to be displayed when the actor moves.

[0031] In one embodiment of the method, the object to be displayed is projected onto the actor. In one embodiment of the method, the object to be displayed is projected next to the actor at a predetermined distance from the actor. In both cases, the operator or the monitoring person can easily recognize that the information transmitted by the object to be displayed simply corresponds to a specific actor.

[0032] In one embodiment of the method, the position information is determined anew, the projection to be displayed is rendered anew and the rendered projection is output at least after each change in the position of the actor. This also makes it possible to simply track the object to be displayed when the actor moves.

[0033] In one embodiment of the method, the object to be displayed is associated with an actual measured variable, in particular an actual measured variable of the drive system. In this case, the actual measured variable can in particular be a temperature, an energy consumption, a force or a weight of at least one actor or at least one motor element of the drive.

[0034] In one embodiment of the method, display information is read via the interface and the object to be displayed is set in connection with this display information. For example, actual measured variables or other information to be displayed can be read via the interface, which the control system cannot obtain otherwise. This makes the information to be displayed more flexible and, for example, additional information relating to the operator or the monitoring personnel can be read.

[0035] In one embodiment of the method, the position information comprises the distance between the mover surface and the surface. This distance is taken into account when rendering the projection to be displayed. If the drive system is a planar drive system, the distance can be determined, in particular, in accordance with the flying height of the mover. This makes it possible to adapt the projection to be displayed in accordance with the distance, for example, by focusing onto the mover surface.

[0036] In one embodiment of the method, the automated system comprises a further optical projection unit. Before rendering the projection to be displayed, it is determined in connection with the position information whether the rendered projection should be projected by the optical projection unit and / or the further optical projection unit. This information is taken into account during the rendering process. This also makes it possible to carry out more complex displays with the aid of multiple optical projection units.

[0037] In one embodiment of the method, the rendered projection is projected in the transition region by the optical projection unit and the further optical projection unit.

[0038] In one embodiment of the automated system, the drive system is a planar drive system. This planar drive system comprises at least one stator unit having a plurality of coil groups for generating a stator magnetic field, a stator surface located above the stator unit, and a mover. This surface corresponds to the stator surface. Furthermore, the mover has a plurality of magnet units for generating a mover magnetic field. The coil groups and the magnet units form a drive. By interaction of the stator magnetic field and the mover magnetic field, the mover can be moved parallel to the stator surface above the stator surface.

[0039] In one embodiment of the automated system, a data link between the drive system, the control system and the optical projection unit is provided by means of a real-time communication bus. BRIEF DESCRIPTION OF DRAWINGS

[0040] The application will be explained in more detail below with reference to the drawings. In which:

[0041] Figure 1 is a cross section of the automated system,

[0042] Figure 2 is Figure 1 is a top view of the automated system shown,

[0043] Figure 3for the moving of the mover Figure 1 and 2 another top view of the automated system shown in

[0044] Figure 4 for Figures 1 to 3 another top view of the automated system shown in

[0045] Figure 5 for another automated system; and

[0046] Figure 6 for creating a rendered projection. DETAILED DESCRIPTION

[0047] In the following description of drawings like elements are provided with like reference signs. Reference signs shown in individual drawings can not be explained in connection with this drawing. In this case, the explanations for these reference signs explained in connection with other drawings can be used for describing the elements provided with these reference signs. Furthermore, in the following description of drawings features and characteristics can be considered optional. In this case, these features and characteristics considered optional are not necessarily required and can also be omitted, if appropriate.

[0048] Figure 1 A cross section of an automated system 1 with a drive system 5 and an optical projection unit 100 is shown, wherein the drive system 5 comprises a movable mover 50. The mover 50 can be driven by means of a drive 6. Furthermore, the automated system 1 has a control system 30. The control system 30 is adapted to carry out the steps explained below. The control system 30 is adapted to determine position information of the mover 50 and to associate an object to be displayed with the mover 50. Furthermore, the control system 30 is adapted to render a projection to be displayed by the optical projection unit 100 in connection with the position information of the mover 50 and the object to be displayed. Furthermore, the control system 30 is adapted to output the rendered projection to the optical projection unit 100, so that the optical projection unit 100 outputs the rendered projection on a surface 7 and / or as a hologram 8 on the mover 50 of the drive system 5 in the vicinity of the mover.

[0049] In this case, the object to be displayed can in particular comprise information to be displayed together with a display type, wherein the position at which the object to be displayed should be displayed has not yet been determined. In addition to the object to be displayed, the projection to be displayed can also comprise the position at which the object to be displayed should be displayed in the automated system.

[0050] The optical projection unit 100 can for example comprise a projector for outputting a two-dimensional multicolor image with a predetermined resolution. Alternatively or additionally, the optical projection unit 100 can comprise a laser source for outputting a two-dimensional monochrome or multicolor image. Alternatively or additionally, the optical projection unit 100 can also generate a three-dimensional multicolor image, also referred to as a hologram 8, by means of holographic projection.

[0051] Alternatively, but also as Figure 1 shown, the drive system 5 is a planar drive system 10. The planar drive system 10 comprises at least one stator unit 13 having a plurality of coil sets 14 for generating a stator magnetic field each, a stator surface 15 above the stator unit 13 and a mover 50. In this case, the surface 7 corresponds to the stator surface 15. The mover 50 has a plurality of magnet units 51 for generating a mover magnetic field. The coil sets 14 and the magnet units 51 form the drive 6. By interaction of the stator magnetic field and the mover magnetic field, the mover 50 can be moved above the stator surface 15 parallel to the stator surface 15. The stator unit 13 having a plurality of coil sets 14 for generating a stator magnetic field is shown only for one stator module 12, wherein the planar drive system 10 comprises a plurality of stator modules 12. Each stator module 12 can be configured in the same way. Furthermore, a plurality of stator units 13 having coil sets 14 can be arranged within one stator module 12. Depending on the case, also more magnet units 51 and more coil sets 14 can be arranged, so that Figure 1 the mover 50 in the drawing plane can be moved both to the right and to the left and also into or out of the drawing plane.

[0052] Instead of the planar drive system 10 shown in Figure 1 , the drive system 5 can comprise another drive system, for example a linear conveyor system. All properties and features explained below for the planar drive system 10 can also be used accordingly for the linear conveyor system or in a drive system 5 with a different design.

[0053] The stator module 12 can optionally comprise a magnetic field sensor 16, wherein the position of the magnet units 51 and thus of the mover 50 can be detected by means of the magnetic field sensor 16. Alternative position sensors can also be provided, which are able to detect the position of the mover 50 on the basis of another measurement principle. The magnetic field sensor 16 can be a Hall sensor, in particular a 3D Hall sensor.

[0054] The control system 30 can optionally comprise a first control unit 31 with a first computing unit 33 and a second control unit 32 with a second computing unit 34. In this case, the first control unit 31 can in particular be used to control the drive system 5 and to provide position information of the mover, for example by means of the magnetic field sensor 16. The second control unit 32 can read the position information, associate the object to be displayed with the mover 50, render the projection to be displayed in combination with the position information of the mover 50 and the object to be displayed, and output the rendered projection to the optical projection unit 100. To this end, the first control unit 31, the second control unit 32, the stator module 12 and the optical projection unit 100 are connected to one another by means of a communication bus 35. The communication bus 35 can optionally be real-time in order not to interrupt the method steps. Furthermore, the communication bus 35 can also comprise a known bus, such as EtherCAT. Figure 1 It is further shown that the communication bus 35 is connected with all stator modules 12. As an alternative, if the stator modules 12 also have a communication link between one another, it is also possible to connect the communication bus 35 only with one stator module 12. As an alternative Figure 1 (not shown in the figure), the control system 30 can also only comprise one computing unit, wherein this computing unit can assume the tasks of the first computing unit 33 and the second computing unit 34 in this case.

[0055] As an alternative to the optical projection unit 100, it is also possible to use a display unit, for example a liquid crystal display, which is controlled by the control system 30 and which displays the projection to be displayed. Figure 1As an alternative to the illustrated solution, the stator module 12 can comprise four stator units 13 each, wherein the four stator units 13 are arranged in pairs in a square within the stator module 12. Furthermore, the stator units 13 can comprise coil groups 14, wherein the coil groups 14 can be arranged in different orientations. The coil groups 14 serve to generate a stator magnetic field. The coil groups 14 can be designed as rectangular and longitudinally stretched coil groups 14. Three individual rectangular and longitudinally stretched coils can be arranged in each stator unit 13 of the stator module 12. In another embodiment, another number of individual rectangular and longitudinally stretched coils can likewise form a coil group 14. Furthermore, a plurality of coil groups 14 can be stacked on top of each other, which coil groups have a rotational 90° orientation with respect to their longitudinal extension. This grid of individual rectangular and longitudinally stretched coils of the coil groups 14 can be built up multiple times on top of each other. The coil groups 14, upon corresponding energization, can interact with the magnet units 51 and thereby move the mover 50 over the stator surface 15 within the planar drive system 10. The movement plane of the mover 50 is thus defined by the stator surface 15. The coil groups 14 can be arranged parallel to the outer edges of the stator module 12. If the outer edges of the stator module 12 are at a 90° angle to each other, two different orientations of the coil groups 14 can be employed and required for the movement of the mover 50. The magnet units 51 can be arranged parallel to the mover outer edges of the mover 50. Furthermore, the magnet units 51 can also be arranged in a ring around the mover outer edges within the mover 50 and interact with the coil groups 14 to move the mover parallel to the outer edges of the stator module 12. Furthermore, two movements parallel to the outer edges can be superimposed, so that the mover 50 can be moved in all directions parallel to the stator surface 15. The layout of the four stator units 13 within the stator module 12 corresponds to the stator module 12 for a planar drive system 10 marketed by Beckhoff Automation GmbH & Co KG under the name XPlanar. As an alternative, more or fewer stator units 3 can also be arranged in one stator module 2. Each stator module 2 can comprise, for example, only one stator unit 3 or more than four stator units 3, as described, for example, in the publication DE 10 2017 131 304 A1.

[0056] Other drawings can contain combinations of the illustrated Figure 1 described figures. In the further description, these figures can no longer be mentioned, since the components of the planar drive system 1 described by means of these figures have been described in connection with Figure 1 the further description.

[0057] Figure 2 For Figure 1A top view of the illustrated automation system 1 is shown, wherein the optical projection unit 100 is not shown. On the mover surface 52 or on a superstructure thereof and / or on the transported goods a rendering projection 110 is shown in the form of a rectangle, wherein the rectangle is intended to represent a wildcard for the information to be output. In addition, an alternative rendering projection 111 on the stator surface 15 is shown. The rendering projection 110 as well as the alternative rendering projection 111 can be output. In addition, the stator surface 15 comprises six stator modules 12, wherein also another number of stator modules 12 can be provided.

[0058] The rendering projection 110 as well as the alternative rendering projection 111 can be rendered in such a way that the object to be displayed is associated with an actual measured variable, in particular an actual measured variable of the drive system 5. The rendering projection 110 and / or the alternative rendering projection 111 can display, for example, the load of the mover 50 in particular in that the rendering projection 110 and / or the alternative rendering projection 111 contains a numerical value of the mover mass or in that the rendering projection 110 and / or the alternative rendering projection 111 contains a color coding for the load of the mover 50 (e.g. green for unloaded, red for fully loaded, yellow for loaded but not reaching the capacity limit). The operator or monitor of the automation system 1 can easily perceive the information reproduced by the rendering projection 110 or the alternative rendering projection 111 without having to remove his gaze from the automation system 1.

[0059] Figure 2 A further optional display scheme is shown. The stator surface 15 is divided into a first area 21 and a second area 22, wherein the first area 21 can be illuminated, for example, in a color different from the second area 22. This can reflect, for example, the temperature of the stator module 12 or of a portion of the stator module 12. The temperature in the first area 21 can be elevated, for example, so that the first area can be illuminated in red. The temperature of the second area is not elevated, so that it can be illuminated in green or even not illuminated. In this case, the mover 50 can move mainly in the second area 22, which facilitates the inspection by the operator or monitor without having to remove his gaze from the automation system 1.

[0060] The object to be displayed can be, in particular, a physical measured variable, for example the temperature of the stator module 12 or of the coil group 14, the energy consumption during the drive of the mover 50, the force acting on the mover 50 or the load weight of the mover 50. In addition, the object to be displayed can also comprise a value calculated from a physical measured variable.

[0061] In addition to or as an alternative to the first region 21 or the second region 22, an overview map or a boundary can be projected onto the stator surface 15 by means of the optical projection unit 100. In this case, the operator or the monitoring person can easily check whether the boundary or the boundary predetermined by the overview map is adhered to. In addition, the operator or the monitoring person can also operate the input device and thereby control the movement of the mover 50 in adherence to the boundary or the boundary predetermined by the overview map, since the boundary or the boundary can be perceived visually.

[0062] The automated system 1 designed in the manner shown in Fig. Figure 1 and 2 can be operated in the following manner: First, the position information of the mover 50 is determined and the object to be displayed is associated with the position of the mover 50. These steps can be carried out simultaneously or in any order successively. Subsequently, a projection to be displayed by the optical projection unit 100 is rendered in combination with the position information of the mover 50 and the object to be displayed and the rendered projection 110 or the alternative rendered projection 111 is output to the optical projection unit 100, so that the optical projection unit 100 outputs the rendered projection 110, 111 on the surface 7 and / or on the mover 50 or its superstructure and / or the cargo being transported by the drive system 5.

[0063] The position information can optionally be determined in combination with the position of the mover 50, for example by means of the magnetic field sensor 16. In this case, the position of the mover 50 can be determined relative to the automated system 1 or relative to the drive system 5, for example the planar drive system 10, and in particular relative to a component of the drive system 5, for example the stator unit 13.

[0064] In one embodiment, the position of the mover 50 is determined at least at a frequency that is twice, in particular three times, as high as the frequency at which the rendered projection 110, 111 is rendered. This enables real-time conversion, since the position information is determined at a higher temporal resolution compared to the image reproduction rate of the optical projection unit 100. This in particular enables all movements of the mover 50 to be converted into an adapted rendered projection 110 or alternative rendered projection 111, in which the object to be displayed moves directly with the mover 50.

[0065] In one embodiment, the rendered projection 110 or the alternative rendered projection 111 is rendered in such a way that the object to be displayed moves with the mover 50 and the relative position between the mover 50 and the object to be displayed is fixed. This means that the mover 50 can move on the stator surface 15 as shown in Fig. Figure 2 and the rendered projection 110 or the alternative rendered projection 111 moves with the mover 50 in such a way that the rendered projection 110 or the alternative rendered projection 111 is always in the same position relative to the mover 50.

[0066] Figure 3 Fig. 2 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figure 1 Fig. 3 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. 2 Fig. 4 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Fig. 5 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same.

[0067] Fig. 6 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figure 2 Fig. 7 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. 3 Fig. 8 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Fig. 9 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same.

[0068] Fig. 10 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Fig. 11 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same.

[0069] Fig. 12 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figure 3 Fig. 13 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figure 2 Fig. 14 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Fig. 15 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same.

[0070] Fig. 16 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figure 1 Fig. 17 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Fig. 18 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same.

[0071] Fig. 19 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Fig. 20 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same.

[0072] Fig. 21 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figure 4 Fig. 22 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figures 1 to 3 Fig. 23 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figure 2 Fig. 24 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. Figure 2 Fig. 25 shows a top view of the automation system 1 according to Fig. 1, in which the mover 50 is moved, and the rendering projection 110 or the alternative rendering projection 111 is moved with the mover 50 in order to keep the relative position the same. 3The illustrated figures are arranged differently. For the mover 50, only the rendering projection 110 is shown, which is displayed on the mover surface 52 or its superstructure and / or on the transported goods. Furthermore, a further mover 60 is arranged above the stator surface 15, which is comparable in structure to the mover 50. Thus, this further mover 60 has a further mover surface 62 comprising a superstructure and / or transported goods and further magnet units that can be driven by the coil group 14. However, in Figure 4 In the illustrated figure, these further magnet units are not visible. A further rendering projection 120 is arranged on the further mover surface 62 or its superstructure and / or on the transported goods. All features and method steps explained in connection with the rendering projection 110 of the mover 50 can be repeated for the further mover 60, so that a further rendering projection 120 can be created and displayed.

[0073] In Figure 4 In the illustrated figure, the further mover 60 is arranged partly in the first region 21 of the stator surface 15. If the first region 21 is colored red, for example, due to its temperature, the operating personnel or monitoring personnel can immediately recognize this situation. In this case, the operating personnel or monitoring personnel can decide whether intervention is required or whether the movement of the further mover 60 in the first region can be (still) tolerated. This can be done without taking one's eyes off the automated system 1.

[0074] Figure 5 For a side view of a further automated system 1, this further automated system is comparable to the Figures 1 to 4 illustrated automated system 1, as long as no differences are described in the following. The drive system 5 is again a planar drive system 10 and has three stator modules 12 arranged side by side. It is still open whether how many stator modules 12 are arranged in succession into the drawing plane. Furthermore, the mover 50 comprising the rendering projection 110 and the further mover 60 comprising the further rendering projection 120 are shown. The control system 30 is shown simplified and can be designed in the manner explained in connection with Figure 1 the illustrated automated system 1.

[0075] The automated system 1 comprises a further optical projection unit 101. This further optical projection unit is also connected to the control system 30 via this or a further communication bus 35. Before rendering the projection to be displayed, it is determined in connection with the position information whether the rendering projection 110, 120 should be projected by the optical projection unit 100 and / or the further optical projection unit 101. Just as for the Figure 5As the illustrated diagram shows, the rendering projection 110 has to be displayed by the optical projection unit 100, because the actor 50 is located outside the display area (shown in dashed lines) of the further optical projection unit 101. The further rendering projection 120 can be displayed by the optical projection unit 100 and the further optical projection unit 101, so that the optical projection unit 100 and / or the further optical projection unit 101 can be selected to display the further rendering projection 120. This is taken into account when rendering the projections to be displayed. In this case, the further optical projection unit 101 can be designed in a similar manner as the optical projection unit 100.

[0076] In one embodiment, as shown in Figure 5 In the automation system 1, the further rendering projection 120 is projected by the optical projection unit 100 and the further optical projection unit 101 in the transition area 102, as shown. If the actor 50 and not the further actor 60 is located in the transition area 102, the rendering projection 110 can also be projected by the optical projection unit 100 and the further optical projection unit 101. This enables a transition of the actor 50 or the further actor 60 between the display areas of the optical projection units 100 and 101 without interrupting the projections.

[0077] If a plurality of optical projection units 100, 101 are provided, the calculations for all optical projection units 100, 101 can be taken over by the second control unit 32 or an intrinsic second control unit 32 is provided for each optical projection unit 100, 101. Furthermore, the optical projection unit 100 or the further optical projection unit 101 can have a further number of stator modules 12 in the respective display area.

[0078] Figure 6 A schematic diagram of the automation system 1, in which the drive system 5 can be a planar drive system 10 with an actor 50 or a further actor 60, in which the control system 30 has a first control unit 31 and a second control unit 32, and in which an optical projection unit 100 and possibly a further optical projection unit 101 are provided. Furthermore, the automation system 1 also has a virtual graphics space 200, which can be realized by means of a third control unit 37. As an alternative, the virtual graphics space 200 can also correspond to the first control unit 31 or the second control unit 32.

[0079] The virtual object 201 can comprise the actor 50 or another actor 60 and, in addition to the physical design of the actor 50 or another actor 60, information to be displayed in combination with the actor 50 or another actor 60. The real space can be designed, for example, as a virtual window 202 on the graphics space 200. The detection and / or perception of the actor 50 or another actor 60 and / or the surface 7 can be enhanced by the outputted rendered projection 110, 111 through the window 202. The virtual window 202 can be forwarded to the second control unit 32 in order to generate a rendered projection 110 or an alternative rendered projection 111 or another rendered projection 120 in combination with the virtual window 202. The position of the actor 50 or another actor 60 relative to the graphics space 200 can be determined.

[0080] In this case, the graphics space serves to merge the display of the actual drive system 5 with other information likewise to be displayed, and can thus comprise an augmented reality (AR) of the automation system 1.

[0081] In one embodiment, the graphics space 200 comprises different elements. One of these elements is selected as the object to be displayed by means of information from the control system 30 and / or the automation system 1 and taken into account in rendering the projection to be displayed. This makes it possible to take a plurality of elements to be displayed into account in the graphics space 200, of which only one is ultimately selected for display. This makes it possible to implement an efficient calculation method when the selected element is to be changed, since all elements have sufficient information.

[0082] In one embodiment, the object to be displayed corresponds to a property in the graphics space 200. The element is selected in accordance with this association. This makes it possible to further simplify the calculation. In this case, this property can be related to the type of display. The object to be displayed can correspond to a "load" property, for example, which is to be output as a numerical value. In another example, the object to be displayed corresponds to a "temperature" property, which can be displayed in different colors by means of the lighting described above.

[0083] In one embodiment, the virtual object 201 is moved in the graphics space 200 in combination with the position information of the actor 50 or another actor 60. This also makes it possible to further simplify the calculation.

[0084] If a plurality of optical projection units 100, 101 are provided, the calculation for all optical projection units 100, 101 can be undertaken by the second control unit 32 or a separate second control unit 32 connected to the graphics space 200 is used for each optical projection unit 100, 101.

[0085] The first control unit 31 can send at least one data regarding a speed and / or position preset to the drive system 5. After moving the mover 50 in conjunction with this speed and / or position preset, the drive system can send the current speed and / or position data of the mover 50 to the first control unit 31. In this case, the speed and / or position data of the mover 50 can be determined, for example, by means of a magnetic field sensor 16 or another position sensor, or can be calculated from the data of such a position sensor or magnetic field sensor. The communication between the drive system 5 and the first control unit 31 can be implemented by means of a communication bus 35, which can be implemented, for example, in the form of a real-time field bus, such as EtherCAT.

[0086] The bus driver associated with the communication bus 35 of the automation system 1, for example a field bus driver, can forward the data received from the drive system 5 as properties of the virtual object 201 directly to a software module of the graphics space 200 by means of a calculation unit that calculates and manages the graphics space. This software module can be run, for example, on the third control unit 37 or, as an alternative, on the second control unit 32. If the speed and / or position data have changed compared to the last receipt, the virtual object 201 will move directly in the graphics space 200 in accordance with the speed and / or position data.

[0087] The optical projection unit 100 projects the information from the graphics space 200 at a predetermined repetition rate, which is in particular not disturbing for the natural perception of the drive system 5 or the movers 50 and 60. The communication speed and data rate of the communication bus or another communication bus 35 between the second control unit 32 and the optical projection unit 100 can at least correspond to the predetermined repetition rate. If the repetition rates of the optical projection unit 100 and of the further optical projection unit 101 differ, one intrinsic second control unit 32 can be provided for the optical projection unit 100 and for the further optical projection unit 101, respectively. In this case, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 is output taking into account the repetition rate of the associated optical projection unit 100 or further optical projection unit 101.

[0088] The second control unit 32 can receive data from the graphics space 200 at least at the repetition rate of the optical projection unit 100 or of the further optical projection unit 101, render an image data stream therefrom and transmit it directly to the optical projection unit 100 or to the further optical projection unit 101, for which a predetermined communication protocol can be used.

[0089] The application can be used in an industrial environment, for example as a machine, process line, machining system, in a building and / or on a stage and connected with the automation system 1.

[0090] The examples explained below can be used in connection with the graphic space 200 explained above and for the technical solutions shown. Figure 6 The examples explained below can be used in connection with the graphic space 200 explained above and for the technical solutions shown. Figures 1 to 5 The examples explained below can be used in connection with the graphic space 200 explained above and for the technical solutions shown.

[0091] Furthermore, the object to be displayed can comprise at least one photo file, wherein the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can comprise an image of this photo file. As an alternative, the object to be displayed can comprise a video file, wherein the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can comprise a video sequence of this video file. Furthermore, the object to be displayed can also comprise a graphic file, which can also be displayed in the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 in this case. Furthermore, the object to be displayed can also comprise a file or a database containing table data. In this case, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain a table or a chart, wherein this chart can be created from the table data.

[0092] The object to be displayed can contain Boolean information, for example determined from data of the automation system 1. In this case, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain a light surface for displaying the Boolean information. Furthermore, the object to be displayed can contain numerical or text information from the automation system 1, which can be reproduced in the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 in the form of a code or a barcode or a QR code.

[0093] In connection with fault information from the automation system 1, the object to be displayed can be changed specifically. This can in particular include the projection content to be displayed and its properties, such as size, position, orientation, color and / or focus. As an alternative or in addition, the object to be displayed can be changed specifically in connection with the date of production data from the automation system 1 or at least one company resource planning system (ERP system). This can also include the projection content and its properties, such as size, position, orientation, color and / or focus.

[0094] By means of at least one production information of the automation system 1 or of at least one ERP system, the projection to be displayed can comprise these data. These information can also be provided in a machine-readable manner by coding for external systems. Furthermore, the color and / or the size and / or the transparency and / or the font form and / or the graphic content of the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can be adapted in accordance with these data.

[0095] With the aid of at least one positional information of at least one mover 50 or another mover 60, the projection to be displayed may include upcoming and / or past route usage on at least one stator module 12 or a portion of the stator surface 15. This could be, for example, similar to Figure 2 The first region 21 and the second region 22 described herein are displayed in a color-coded manner. In addition, the rendering projection 110 or the alternative rendering projection 111 or another rendering projection 120 can display the initialization position and / or setting position on at least one stator module 12 by at least one position information of at least one mover 50 or another mover 60.

[0096] Using at least one Boolean and / or digital information from the automation system 1, the projection to be displayed may include route restrictions and / or route guidance. In this case, the operator or monitor of the automation system 1 can easily visually check whether these route restrictions and / or route guidance have been followed without taking their eyes off the automation system 1.

[0097] Using at least one position information of at least one mover 50 or another mover 60, the projection to be displayed may include at least one optimized path on at least one stator module 12.

[0098] The object to be displayed may include the remaining time for mover 50 or another mover 60 of the automation system 1, calculated based on speed information and route spacing. This remaining time may specifically represent the time required to traverse a predetermined stator module 12. The projection to be displayed may contain the remaining time in the form of color and / or text and / or graphic encoding.

[0099] With the aid of at least one Boolean and / or digital information from at least one automated system 1, the rendering projection 110 or alternative rendering projection 111 or another rendering projection 120 may include security technology-related areas, such as a first area 21 or a second area 22.

[0100] With the aid of at least one Boolean and / or digital information from at least one automation system 1, rendering projection 110 or alternative rendering projection 111 or another rendering projection 120 may contain the current state and / or operating state of at least one automation system 1 and / or a component of automation system 1 (e.g., stator module 12 and / or mover 50 or another mover 60).

[0101] Using at least one digital information from at least one automated system 1, the rendering projection 110, alternative rendering projection 111, or another rendering projection 120 may contain at least one coordinate.

[0102] By means of at least one Boolean information from at least one automation system 1, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain a graphical grouping, for example by boxing at least two movers 50, 60 and / or two stator modules 12.

[0103] By means of at least one thermal information from at least one drive element of the drive system 5, for example a stator module 12 and / or at least one mover 50, 60 or at least one automation system 1, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain at least one temperature information displayed in color and / or text.

[0104] By means of at least one energy information from at least one drive element of the drive system 5, for example a stator module 12 and / or at least one mover 50, 60 or at least one automation system 1, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain the current energy consumption and / or the energy reserves for moving and / or carrying the mover 50 and / or the mover 60.

[0105] By means of at least one Boolean and / or numerical information from at least one automation system 1, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain motion parameters, for example tracking errors and / or absolute positions and / or relative positions and / or velocities and / or accelerations and / or wobbles of the mover 50 or the further mover 60.

[0106] By means of at least one numerical information from at least one automation system 1, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain force parameters, for example forces acting on the mover 50 or the mover 60 or a drive element of the drive system 5, like a stator module 12, and / or torques acting on the mover 50 or the mover 60 or a drive element of the drive system 5, like a stator module 12, and / or centrifugal forces acting on the mover 50 or the mover 60 or a drive element of the drive system 5, like a stator module 12.

[0107] By means of at least one numerical information from at least one automation system 1, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain motion parameters, for example acting forces and / or torques and / or centrifugal forces.

[0108] By means of at least one numerical information from at least one automation system 1, the rendering projection 110 or the alternative rendering projection 111 or the further rendering projection 120 can contain at least one target position of the mover 50 or the further mover 60.

[0109] With at least one digital or text information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can comprise at least one processing station and / or a parking station and / or a loading station for the mover 50 or the further mover 60.

[0110] With digital coordinate information, for example with x- and y-coordinates or x-, y- and z-coordinates of the automation system 1 and / or information from at least one external data source, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can comprise at least one map and / or a navigation route.

[0111] With at least one digital information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can comprise at least one drive element of the drive system 5, for example the stator module 12 and / or the mover 50 and / or the further mover 60, wherein the movement of the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can be output in real time or at a reduced or accelerated speed with respect to position data and / or orientation data.

[0112] List of reference signs

[0113] 1 automation system

[0114] 5 drive system

[0115] 6 drive

[0116] 7 surface

[0117] 8 hologram

[0118] 10 planar drive system

[0119] 12 stator module

[0120] 13 stator unit

[0121] 14 coil set

[0122] 15 stator surface

[0123] 16 magnetic field sensor

[0124] 21 first region

[0125] 22 second region

[0126] 30 control system

[0127] 31 first control unit

[0128] 32 second control unit

[0129] 33 first computing unit

[0130] 34 second computing unit

[0131] 35 communication bus

[0132] 36 interface

[0133] 37 third control unit

[0134] 50 mover

[0135] 51 magnet unit

[0136] 52 mover surface

[0137] 60 further mover

[0138] 62 further mover surface

[0139] 100 optical projection unit

[0140] 101 further optical projection unit

[0141] 102 transition area

[0142] 110 rendered projection

[0143] 111 alternative rendered projection

[0144] 120 further rendered projection

[0145] 200 graphics space

[0146] 201 virtual object

[0147] 202 viewport

Claims

1. A method for operating an automated system (1), wherein the automated system (1) includes a drive system (5) having a mover (50) and an optical projection unit (100), wherein a control system (30) of the automated system (1) performs the following steps: - Determine the position information of the mover (50); - Associate the mover (50) with an object to be displayed, including display information; - The projection to be displayed by the optical projection unit (100) is rendered by combining the position information of the mover (50) and the position information of the object to be displayed, wherein the projection to be displayed generates an image; - Output the rendered projections (110, 111) to the optical projection unit (100), such that the optical projection unit (100) outputs the rendered projections (110, 111) on the surface (7) and / or on the mover (50) of the drive system (5) or its upper structure and / or on the transported goods. Its features are, The driving system (5) is a planar driving system, which includes a planar stator and a mover (50) movable in at least two directions, wherein the mover (50) can be driven by a driver (6) of the stator, wherein the position information includes the distance between the mover surface (52) and the surface (7), and wherein the distance is taken into account when rendering the projection to be displayed.

2. The method according to claim 1, wherein the position information is determined in conjunction with the position of the mover (50) relative to the automation system (1) and / or the drive system (5). The position of the mover (50) is determined at a frequency at least twice the frequency at which the projection to be displayed is rendered.

3. The method according to claim 1 or 2, wherein the projection to be displayed is first calculated in a virtual graphics space (200) in conjunction with at least one virtual object (201), and then rendered against a real space in conjunction with a window (202) of the graphics space (200), wherein the rendered projection (110, 111) output by the window (202) enhances the detection and / or perception of the mover (50) or its superstructure and / or the transported goods and / or the surface (7) with the aid of information from the graphics space (200), wherein the position information is determined based on the position of the mover (50) relative to the graphics space (200).

4. The method according to claim 3, wherein the graphics space (200) comprises different elements, wherein one of the elements is selected as an object to be displayed by means of information from the control system (30) and / or the automation system (1) and the selected element is taken into account when rendering the projection to be displayed.

5. The method according to claim 4, wherein the object to be displayed has a corresponding characteristic in the graphics space (200), and the element is selected according to the characteristic.

6. The method according to claim 3, wherein the virtual object (201) is moved in the graphics space (200) in conjunction with the position information of the mover (50).

7. The method according to claim 1 or 2, wherein the projection to be displayed is rendered such that the object to be displayed moves with the mover (50), and the relative position between the mover (50) and the object to be displayed is fixed.

8. The method according to claim 6, wherein at least after each position change of the mover (50), the position information is re-measured, the projection to be displayed is rendered, and the rendered projection is output.

9. The method according to claim 1 or 2, wherein the object to be displayed is associated with the actual measured variable of the drive system (5).

10. The method according to claim 1 or 2, wherein the display information is read through the interface (36) and the object to be displayed is set in combination with the display information.

11. The method according to claim 1 or 2, wherein the automation system (1) includes another optical projection unit (101), wherein before rendering the projection to be displayed, it is determined, in conjunction with the position information, whether the rendered projection should be projected by the optical projection unit (100) and / or the other optical projection unit (101), and the information is taken into account when rendering the projection to be displayed.

12. The method of claim 11, wherein the rendering projection is projected onto the transition region by the optical projection unit (100) and the other optical projection unit (101).

13. An automation system (1) having a drive system (5) and an optical projection unit (100), wherein the drive system (5) is a planar drive system comprising a planar stator and a mover (50) capable of moving in at least two directions, wherein the mover (50) is capable of being driven by a driver (6) of the stator, wherein the automation system (1) further comprises a control system (30) configured to implement the steps of the method according to any one of claims 1 to 12.

14. The automation system (1) according to claim 13, wherein the stator of the planar drive system (10) comprises at least one stator unit (13) having a plurality of coil groups (14) for generating a stator magnetic field, a stator surface (15) located above the stator unit (13), and the mover (50), wherein the surface (7) corresponds to the stator surface (15), wherein the mover (50) has a plurality of magnet units (51) for generating a mover magnetic field, the coil groups (14) and the magnet units (51) forming the driver (6), wherein the mover (50) is capable of moving parallel to the stator surface (15) above the stator surface (15) by the interaction of the stator magnetic field and the mover magnetic field.

Images