Method for controlling a planar drive system, rotor, stator unit and planar drive system

Abstract

The invention relates to a method (100) for controlling a plane drive system (200), said method (100) comprising: in a sending step (101), a communication message is sent by a main control unit (201) to a secondary control unit (401) via a communication system (500), wherein the communication message comprises an activation instruction for activating an automation process to be carried out by the rotor (400) and is adapted to drive the secondary control unit (401) to control the automation process; and in a receiving step (103), receiving a response message sent by the secondary control unit (401) to the primary control unit (201) via the communication system (500), said response message comprising state information about a state of the automated process controlled by the secondary control unit (401). The invention also relates to a rotor (400), a stator unit (300) and a planar drive system (200).

Description

Technical Field

[0001] The present invention relates to a method for controlling a planar drive system, a rotor and a stator unit of a planar drive system, and a planar drive system, wherein the planar drive system is suitable for implementing the method for controlling a planar drive system.

[0002] This patent application claims the priority of DE 10 2022 111 832.0 filed on May 11, 2022, the disclosure of which is hereby incorporated by retroactive reference into the present application.

[0003] Planar drive systems can be used primarily in automation technology, in particular in manufacturing technology, handling technology and process technology. With the aid of a planar drive system, movable elements of a device or machine can be moved or positioned in at least two linearly independent directions. A planar drive system can include a permanently excited electromagnetic planar motor having a planar stator and a rotor that can be moved on this stator in at least two directions.

[0004] In a permanently excited electromagnetic planar motor, a driving force is applied to the rotor by causing magnetic coupling between the magnetic field of the rotor and the magnetic field of the stator unit. In this case, the magnetic field of the rotor can be generated by permanent magnets arranged on the rotor. The magnetic field of the stator unit can be generated by energizing a plurality of stator coils. By correspondingly manipulating the energization of different stator coils, the rotor can be driven by magnetic coupling with the rotor magnetic field. Since the magnetic field of the rotor and the controllable magnetic field of the stator unit both have components parallel to the surface of the stator unit, the rotor can move in any direction parallel to the surface of the stator unit. By coupling the components of the magnetic fields of the rotor and the stator unit that are perpendicular to the surface of the stator unit, the rotor can be placed in a suspended state above the surface of the stator unit or maintained in this state. Background Art

[0005] For such planar drive systems, which are primarily used for conveying goods to be conveyed, it may be advantageous to carry out processes related to the respective goods directly on the respective rotor during the conveying of the goods. These processes may, for example, include reorienting the goods to be conveyed or processing the respective goods to be conveyed on the rotor.

[0006] A method for controlling a planar drive system and a planar drive system are known from publication WO 2022 / 079070 A1. Summary of the invention

[0007] It is therefore an object of the present invention to provide an improved method of controlling a planar drive system, a rotor, a stator unit and a planar drive system which are suitable for implementing the method according to the present invention.

[0008] The solution for achieving the above-mentioned object of the present invention is a method for controlling a planar drive system, a rotor, a stator unit and a planar drive system according to the independent claims. Preferred embodiments refer to the dependent claims.

[0009] According to one aspect of the present invention, a method for controlling a planar drive system is provided, wherein the planar drive system comprises a main control unit for controlling the planar drive system, a stator unit having a plurality of stator coils for generating a stator magnetic field, and at least one rotor having a plurality of magnet units for generating a rotor magnetic field, wherein the rotor can be driven on the stator unit by magnetic coupling between the stator magnetic field and the rotor magnetic field, wherein a sub-control unit for controlling an automated process that can be implemented by the rotor is constructed on the rotor, wherein the planar drive system further comprises a communication system for wireless data communication between the main control unit and the sub-control unit of the rotor, and wherein the method comprises:

[0010] In the sending step, the main control unit sends a communication message to the sub-control unit through the communication system, wherein the communication message includes a start instruction for starting an automation process to be implemented by the rotor and is suitable for driving the sub-control unit to control the automation process; and

[0011] In the receiving step, a response message sent by the sub-control unit to the main control unit through the communication system is received, wherein the response message includes status information about the status of the automation process controlled by the sub-control unit.

[0012] This achieves the technical advantage of providing an improved method for controlling a planar drive system. To this end, at least one rotor of the planar drive system is provided with a sub-control unit, which is suitable for controlling an automation process that can be implemented on or by the rotor. In addition, the planar drive system also has a main control unit, which is suitable for controlling the entire planar drive system, including the drive device of at least one rotor, by correspondingly controlling the stator unit of the planar drive system. The main control unit is also suitable for causing the sub-control unit to start the automation process that can be controlled by the sub-control unit of the rotor and to control it accordingly via the communication system of the planar drive system.

[0013] In this case, the secondary control unit is suitable for controlling the automation process independently of the main control unit. Here, the independent control of the automation process by the secondary control unit means that the main control unit is only suitable for causing the secondary control unit to start implementing the automation process by means of corresponding communication messages and the start instructions contained therein. However, the main control unit is not suitable for intervening in the implementation of the automation process or starting or ending the automation process without the secondary control unit. The secondary control unit is suitable for independently starting the automation process after receiving the start instruction, controlling this automation process and, as the case may be, ending the automation process when the process goal to be achieved is achieved, or interrupting this automation process when a functional failure is found or it is recognized that the goal to be achieved by the automation process cannot be achieved.

[0014] The sub-control unit of the rotor is also suitable for sending a response message to the main control unit via the communication system, wherein the response message includes status information related to the status of the automation process controlled by the sub-control unit. By outputting the response message, the automation process of the rotor controlled by the sub-control unit can be integrated into the control of the entire planar drive system by the main control unit. To this end, this status information may include process data of the automation process or start, stop or interruption information of the automation process controlled by the sub-control unit. The status information of the automation process can be integrated into the control of the planar drive system by the main control unit, specifically in that other processes implemented by controlling the planar drive system are controlled while taking into account the status information of the automation process implemented by the rotor.

[0015] This makes it possible to achieve the technical advantage of transferring individual sub-processes of a main process to be carried out by the entire planar drive system to different rotors in a decentralized manner.

[0016] By controlling the automation processes of the rotor by means of a secondary control unit built on the rotor, the control of the entire planar drive system by the main control unit can be simplified in that only the control processes required for controlling the automation processes to be implemented on the rotor are implemented by the secondary control unit. The main control unit therefore does not have to execute these control processes.

[0017] Furthermore, the amount of data for data communication between the main control unit and the process device that implements the automation process can be reduced. In order to control the automation process, data communication only needs to be carried out between the sub-control unit and the process device that implements the automation process. If this process device is also built on the rotor, the data communication required for controlling the automation process can also be realized only on the rotor.

[0018] In this case, the data communication between the rotor and the main control unit can be simplified to the secondary control unit sending a response message including the status information contained therein to the main control unit. For the purpose of this application, the data communication between the main control unit and the rotor refers in particular to the data communication between the main control unit and the secondary control unit built on the rotor.

[0019] The reduced amount of data in the data communication between the main control unit and the rotor or the sub-control unit built on the rotor can improve and accelerate the control of the planar drive system. Specifically, the bandwidth of the data communication within the planar drive system saved in this way can be used for other functions of the planar drive system.

[0020] According to one embodiment, the communication system comprises a plurality of communication units distributedly arranged on the stator unit and a rotor communication unit distributedly arranged on the rotor, wherein the sending step implemented by the main control unit comprises:

[0021] In the determining step, at least one communication unit arranged adjacent to the position of the rotor on the stator unit is determined; and

[0022] In the manipulating step, a communication unit adjacent to the rotor position is manipulated to send a communication message.

[0023] This allows the technical advantage of precise data communication between the main control unit of the planar drive system and the secondary control unit built on the rotor. In order to control the rotor, the main control unit knows the position of the rotor on the stator unit at any time. For this purpose, the planar drive system has a plurality of magnetic field sensors built into the stator unit, which can be used to detect the rotor magnetic field of the rotor and determine the position of the rotor on the stator unit.

[0024] Thus, in the case where the position of the rotor is known, only the communication units in the stator unit arranged adjacent to the position of the rotor can be selected for sending information messages to the secondary control unit via the primary control unit. According to the invention, the communication units adjacent to the position of the rotor are characterized in that the distance of these communication units from the determined rotor position does not exceed a predefined maximum distance.

[0025] Therefore, the corresponding communication message is sent to the rotor only via the communication unit of the stator unit which is arranged adjacent to the rotor in the corresponding position. This makes it possible to improve the data communication between the main control unit and the sub-control unit on the rotor. In particular, in the case of a plurality of rotors controlled by the main control unit on the stator unit, it can be ensured by selecting the communication unit for sending the communication message that the sent communication message is sent only to the corresponding addressed sub-control unit of the rotor. This makes it possible to avoid sending messages to non-addressed sub-control units via the main control unit.

[0026] According to one embodiment, the receiving step implemented by the main control unit includes:

[0027] In a further determining step, at least one communication unit arranged adjacent to the position of the rotor on the stator module is determined; and

[0028] In the reading step, the communication unit adjacent to the rotor position is read to receive a response message.

[0029] This provides the technical advantage of precise data communication between the secondary control unit built on the rotor and the main control unit of the planar drive system. For this purpose, after sending a response message via the secondary control unit of the rotor, the communication unit built in the stator unit adjacent to the current position of the rotor is read out by the main control unit.

[0030] Thereby, it is not necessary to read out the communication units in all stator units in order to receive the response messages of the sub-control units. In particular, in the case of using a plurality of rotors with respective sub-control units that send response messages to the main control unit, the advantage of selecting the communication units of the stator units adjacent to the respective positions of the rotors is that different response messages sent by the sub-control units of different rotors can be clearly associated with the respective rotors. In this way, it is possible to avoid misinterpretation of the received response messages due to incorrect association of information with the respective sub-control units of the rotors and the automation processes implemented on or by these rotors.

[0031] According to one embodiment, data communication between the main control unit and the sub-control unit is implemented during driving the rotor from a first position to a second position on the stator unit, wherein the sending step implemented by the main control unit includes:

[0032] In a first communication unit determination step, at least one first communication unit arranged adjacent to a first position of the rotor on the stator unit is determined; and

[0033] In a first partial transmission step, a first communication unit adjacent to a first position of the rotor is operated to transmit a first partial communication message, wherein the first partial communication message is a portion of the communication message; and

[0034] In a second communication unit determining step, at least one second communication unit arranged adjacent to a second position of the rotor on the stator unit is determined; and

[0035] In the second partial sending step, a second communication unit adjacent to the second position of the rotor is controlled to send a second partial communication message, wherein the second partial communication message is another part of the communication message; and / or wherein the receiving step implemented by the main control unit includes:

[0036] In a further first communication unit determination step, at least one first communication unit arranged adjacent to a first position of the rotor on the stator unit is determined; and

[0037] In a first partial reading step, a first communication unit adjacent to a first position of the rotor is read to receive a first partial response message, wherein the first partial response message is a part of the response message; and

[0038] In a further second communication unit determination step, at least one second communication unit arranged adjacent to a second position of the rotor on the stator unit is determined; and

[0039] In the second partial reading step, a second communication unit adjacent to a second position of the rotor is read to receive a second partial response message, wherein the second partial response message is another part of the response message.

[0040] This can achieve the following technical advantages: when the rotor moves between two positions on the stator unit, accurate data communication can be achieved between the main control unit and the sub-control unit. To this end, the communication message or response message to be sent is divided into at least two partial communication messages or two partial response messages, and the corresponding first partial communication message or partial response message is transmitted by the first communication unit adjacent to the first position of the rotor, and the corresponding second partial communication message or partial response message is transmitted by the second communication unit adjacent to the second position of the rotor.

[0041] To this end, the first position of the rotor is first determined by the main control unit, a first communication unit arranged adjacent to the first position of the rotor in the stator unit is selected, and the corresponding first partial communication message is sent to the rotor's sub-control unit through the selected first communication unit or the corresponding first partial response message is received by reading the selected first communication unit.

[0042] At a later time, the second position of the rotor is determined and a corresponding second communication unit arranged adjacent to the second position in the stator unit is selected. The corresponding second partial communication message is sent to the secondary control unit by actuating the selected second communication unit or the second partial response message is received by the primary control unit by reading out the selected second communication unit.

[0043] In this case, the first and second partial communication messages are respective parts of the entire communication message to be transmitted, and the first and second partial response messages are respective parts of the entire response message to be transmitted.

[0044] In this way, it is ensured in particular that, during the periodic control of the planar drive system (wherein the functions of the planar drive system are controlled by the master control unit in the respective control cycle), communication messages can be sent or response messages can be received by the master control unit, the length of which cannot be completely transmitted in one control cycle. To this end, a first part of a communication message or a first part of a response message is transmitted by the first communication unit in a first control cycle, and a second part of a communication message or a corresponding second part of a response message is transmitted by the second communication unit in the immediately subsequent control cycle, the second part of the communication message and the second part of the response message being the remainder of the entire communication message or response message that could not be transmitted in the first control cycle.

[0045] In this case, it is assumed that in the subsequent control cycle, the rotor has moved from the first position to the second position due to the movement of the rotor.

[0046] This ensures that even with a moving rotor and cyclical actuation of the rotor, precise data communication between the primary control unit and the secondary control unit is possible, wherein all data to be transmitted can be exchanged without error.

[0047] According to one embodiment, based on the position of the communication unit for receiving the response message or the partial response message on the stator unit and the position of the rotor when the response message or the partial response message is received by the main control unit, the response message or the partial response message received by the main control unit through the communication unit is matched with the sub-control unit of the rotor.

[0048] In this way, the technical advantage of addressing the respective secondary control unit of the respective rotor by means of the rotor position known to the primary control unit is achieved. Therefore, it is not necessary to explicitly address the secondary control unit of the rotor in the communication message sent. Similarly, a response message received by the primary control unit can be explicitly assigned to the secondary control unit of this rotor based on the known rotor position. Therefore, it is also not necessary to explicitly identify the secondary control unit of the rotor.

[0049] According to one embodiment, the status information of the response message received by the main control unit includes start information that the automation process has been started and / or stop information that the automation process has been stopped and / or process data of a completed automation process and / or process data that is part of the result information of the running automation process and / or fault information about erroneous implementation of the automation process.

[0050] This provides the technical advantage of providing the main control unit with precise information about the status of the automation process controlled by the secondary control unit. This enables precise control of the planar drive system, wherein the results of the automation process controlled by the secondary control unit can be taken into account.

[0051] According to one embodiment, the primary control unit and the secondary control unit each comprise a clock element, wherein the communication message further comprises a time stamp for synchronizing the clock elements of the primary control unit and the secondary control unit.

[0052] This achieves the technical advantage of being able to precisely integrate the implementation of the automation process into the control of the entire planar drive system. For this purpose, the clock elements of the main control unit and the secondary control unit are synchronized relative to one another based on the time stamps provided by the main control unit. This allows the implementation of the automation process controlled by the secondary control unit to be precisely incorporated into the overall process of controlling the planar drive system in terms of time based on the synchronized clock elements. This further improves the control of the planar drive system.

[0053] According to one specific embodiment, the communication message includes a start time for starting the execution of the automation process by the slave control unit.

[0054] This achieves the technical advantage of being able to define a precise start time for implementing an automation process, which in turn enables the timing of different subprocesses within the overall process of controlling the planar drive system, thus contributing to improved control of the planar drive system.

[0055] According to another aspect, a rotor for a planar drive system having a stator module is provided, wherein the stator module is used to generate a stator magnetic field to drive the rotor by magnetic coupling with a rotor magnetic field of the rotor, wherein the rotor includes a plurality of magnet units for generating the rotor magnetic field, a sub-control unit for controlling an automation process, a process device having at least one actuator unit and / or a sensor unit for implementing the automation process, and a rotor communication unit for data communication between the sub-control unit of the rotor and a main control unit of the planar drive system.

[0056] In this way, the following technical advantages can be achieved: an improved rotor for a planar drive system can be provided, wherein the rotor is suitable for controlling the automation process independently of the main control unit of the planar drive system through a sub-control unit built on the rotor. In addition, the rotor is also suitable for communicating with the main control unit of the planar drive system through a communication system of the planar drive system, and the communication system is composed of a rotor communication unit distributedly arranged on the rotor and a communication unit distributedly arranged on the stator unit. The sub-control unit built on the rotor for controlling the automation process can disperse the control of the entire process of the planar drive system. In this case, the automation process controlled by the sub-control unit is a sub-process of the entire process of the planar drive system. The control process of the main control unit can be simplified by controlling the automation process by the sub-control unit, specifically, the automation process is controlled only by the sub-control unit of the rotor.

[0057] According to one embodiment, the slave control units are constructed in a layered manner and are arranged in a planar manner in a manner evenly distributed on the rotor surface.

[0058] In this way, the technical advantage of a uniform weight distribution of the rotor can be achieved by a uniform planar design of the sub-control units on the rotor. A uniform weight distribution, in which the center of gravity of the rotor is arranged as close as possible to the geometric center of the rotor, enables the rotor to levitate or fly more precisely above the stator surface of the stator unit. With the aid of the planar design of the sub-control units, a tilting of the rotor relative to the stator surface of the stator unit can be avoided by a uniform weight distribution of the rotor.

[0059] According to one embodiment, the slave control unit is arranged below the process device or laterally next to the process device.

[0060] This makes it possible to achieve the technical advantage of arranging the secondary control unit and the process device on the rotor in a space-saving manner.

[0061] According to another aspect, a stator unit for a planar drive system having at least one rotor is provided, wherein the stator module includes a plurality of stator coils for generating a stator magnetic field to drive the rotor by magnetic coupling with the rotor magnetic field of the rotor and a plurality of communication units distributedly arranged on the stator unit for data communication between a main control unit of the planar drive system and a sub-control unit constructed on the rotor.

[0062] This can achieve the following technical advantages: an improved stator unit for a planar drive system can be provided, which can realize accurate data communication between a main control unit of the planar drive system and a sub-control unit built on the rotor of the planar drive system. To this end, the stator unit includes a plurality of communication units, which are built on the stator unit in a certain layout and can realize data communication between the main control unit and the sub-control unit of the rotor.

[0063] According to one embodiment, the maximum distance between two adjacent communication units on the stator unit is less than or equal to twice the maximum effective communication range of the communication units.

[0064] In this way, the technical advantage of seamless data communication between the main control unit of the planar drive system and the secondary control unit of the rotor can be achieved for any position of the rotor on the stator unit. To this end, the distance between the communication units constructed on the stator unit in this layout is less than or equal to twice the effective communication range of the communication units.

[0065] Since the distance between the communication units of the stator unit is equal to or less than twice the effective communication range of the communication units, it can be ensured that for any position of the rotor, the rotor communication unit built on the rotor is always positioned within the effective communication range of at least one communication unit of the stator unit. This makes it possible to achieve continuous and seamless data communication between the main control unit of the planar drive system and the secondary control unit of the rotor, which can also be provided during the movement of the rotor. In this case, the effective communication range of these communication units refers to the maximum distance from the corresponding communication unit that can ensure error-free wireless data communication between the communication unit and the rotor communication unit.

[0066] For the purposes of this application, the effective communication range of the communication unit and the rotor communication unit is the maximum distance between two communication units or rotor communication units without interfering with data communication between the communication units and / or rotor communication units.

[0067] According to one embodiment, the maximum distance between two adjacent communication units on the stator unit is less than or equal to the minimum planar extension of the rotor of the planar drive system.

[0068] In this way, the technical advantage of seamless data communication between the main control unit of the planar drive system and the secondary control unit of the rotor can be achieved. Since the distance between the adjacent communication units of the stator unit is less than or equal to the minimum planar extension of the rotor, it can be ensured that for any position of the rotor, the rotor at least partially covers at least one communication unit of the stator unit. In this way, it can be ensured that for each position of the rotor, the rotor or at least one rotor communication unit built on the rotor is positioned within the effective communication range of at least one communication unit built in the stator unit.

[0069] According to one embodiment, these stator coils are suitable for driving the rotor at maximum speed within a maximum distance that can be traveled within a control cycle through periodic control, wherein the maximum distance that the rotor can travel within a control cycle is less than or equal to the effective communication range of the communication unit and / or less than or equal to the maximum distance between two adjacent communication units.

[0070] In this way, the technical advantage of ensuring seamless data communication between the main control unit of the planar drive system and the sub-control unit of the rotor can be achieved. To this end, the distance between the communication units built in the stator unit is less than or equal to the maximum distance that the rotor can travel relative to the stator unit in one control cycle. In this way, even during the movement of the rotor relative to the stator unit, the rotor can always be positioned within the effective communication range of at least one communication unit of the stator unit at any time, thereby ensuring data communication between the sub-control unit of the rotor and the main control unit of the planar drive system at any time.

[0071] According to one embodiment, the communication unit of the stator unit includes a sending / receiving unit for short-range wireless communication and / or Bluetooth communication and / or ZigBee communication and / or Z-Wave communication.

[0072] At least one rotor communication unit arranged on the rotor also comprises a transmitting / receiving unit which has a design that is compatible with the communication unit with regard to the communication technology used.

[0073] According to one specific embodiment, the communication unit of the stator unit and the rotor communication unit of the rotor are constructed of the same type.

[0074] This achieves the technical advantage of ensuring reliable data communication between the main control unit of the planar drive system and the secondary control unit of the rotor. In this case, the technical advantage of short-range wireless communication lies in the advantageous design of the communication unit or rotor communication unit and the technically less complex design of the communication protocol. In particular, data communication can be carried out between the two communication partners (main control unit and secondary control unit) without handshake.

[0075] According to one specific embodiment, the communication unit is implemented in a communication film, wherein the communication film is implemented on a stator surface of the stator module.

[0076] In this way, the technical advantage of simply constructing the communication units on the stator unit can be achieved. For this purpose, these communication units can be arranged in a communication film, which in turn can be positioned on the stator surface of the stator unit. In this way, the communication system can be manufactured in a simple and cost-effective manner. By arranging the communication units on the stator surface, these communication units are arranged directly between the rotor and the stator surface. In this way, it is possible to prevent the communication units from being shielded by the stator coils of the stator unit and to achieve interference-free data communication via the communication units of the stator unit and the rotor communication units of the rotor. The communication units and the communication film can be constructed in a correspondingly thin manner so as not to weaken the magnetic coupling between the rotor magnetic field of the rotor and the stator magnetic field of the stator coil. In addition, the communication film, which can be made of plastic material, can be used as a protective layer for the stator surface.

[0077] According to one specific embodiment, the communication units are integrated into the stator modules.

[0078] This allows the technical advantage of a secure and safe construction of the communication units on the stator unit to be achieved. By integrating the communication units into the stator unit, they can be protected from damage. This in turn improves data communication.

[0079] According to another aspect, a planar drive system is provided, which has a main control unit for controlling the planar drive system, a rotor according to any of the aforementioned embodiments, and a stator module according to any of the aforementioned embodiments, wherein the planar drive system is suitable for implementing the method according to the present invention according to any of the aforementioned embodiments.

[0080] In this way, the following technical advantages can be achieved: an improved planar drive system can be provided, which has a rotor according to the present invention having the above-mentioned technical advantages and a stator unit according to the present invention having the above-mentioned technical advantages, and the planar system is suitable for implementing the method for controlling a planar drive system according to the present invention having the above-mentioned technical advantages.

[0081] According to one embodiment, the communication system comprises at least one external communication unit, wherein the external communication unit is arranged at a distance from the stator unit.

[0082] This achieves the following technical advantage: interference-free communication between the main control unit and the secondary control unit of the rotor can be achieved for any position of the rotor on the stator unit by means of the external communication unit positioned at a certain distance from the stator unit. To this end, this external communication unit can be arranged beside or above the stator unit, and its effective communication range is suitable for covering the rotor in any position on the stator unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] The present invention is described in detail below with reference to the accompanying drawings.

[0084] Figure 1 is a schematic diagram of a planar drive system having a stator unit and a rotor according to one embodiment;

[0085] Figure 2 for Figure 1 A schematic diagram of a stator module of the stator unit shown;

[0086] Figure 3 is a schematic diagram of the bottom surface of a rotor according to one embodiment;

[0087] Figure 4 According to another embodiment Figure 1 An exploded schematic diagram of a stator segment of the stator unit shown;

[0088] Figure 5 is a flow chart of a method for controlling a plane driving system according to an embodiment;

[0089] Figure 6 is another flow chart of a method for controlling a plane driving system according to another embodiment;

[0090] Figure 7 is another flow chart of a method for controlling a plane driving system according to another embodiment;

[0091] Figure 8 Based on Figure 7 A schematic diagram of a method for controlling a planar drive system according to an embodiment of the present invention;

[0092] Fig. 9 is a schematic diagram of a rotor of a planar drive system according to one embodiment;

[0093] Fig.10 is another schematic diagram of a rotor of a planar drive system according to another embodiment;

[0094] Fig.11 is another schematic diagram of a rotor of a planar drive system according to another embodiment; and

[0095] Fig.12 Schematic diagrams of different implementations of the rotor bottom surface. DETAILED DESCRIPTION

[0096] Figure 1 Schematic diagram of a planar drive system 200 having a stator unit 300 and a rotor 400 .

[0097] according to Figure 1 In the embodiment of the present invention, the planar drive system 200 comprises a main control unit 201, a stator unit 300 and a rotor 400. The main control unit 201 is connected to the stator unit 300 via a data link 203. The main control unit 201 is adapted to control the stator unit 300 by sending corresponding control signals to the stator unit 300 via the data link 203, thereby correspondingly moving the rotor 400. In addition, the main control unit 201 is also adapted to implement the method 100 for controlling the planar drive system 200 according to the present invention.

[0098] According to the present invention, the rotor 400 has a sub-control unit 401 and a process device 403. The sub-control unit 401 is configured to control an automation process implemented by the process device 403. For this purpose, the process device 403 has at least one actuator unit 405 and / or a sensor unit 407 for implementing the automation process. The automation process can be configured as a sub-process of a higher-level process to be implemented by the entire planar drive system 200. In this case, the sub-control unit 401 of the rotor 400 is suitable for independently controlling the automation process and implementing the automation process by the process device 403. For this purpose, the sub-control unit 401 and the process device 403 are interconnected in terms of data technology so that the process device 403 can be controlled by the sub-control unit 401. The sub-control unit 401 can be configured, for example, as a programmable controller PLC and can control the automation process cyclically.

[0099] The automated process controlled by the secondary control unit 401 can be, for example, a layout or orientation process, in which the goods to be transported by the rotor 400 are placed in a desired layout or orientation on the rotor 400. To this end, the process device 403 can, for example, include a gripper arm for changing the orientation or layout of the goods on the rotor 400.

[0100] As an alternative or supplementary solution, this automated process may include a loading process. For example, an object or article can be unloaded from a rotor 400 and positioned on another rotor 400 or a positioning device provided for this purpose of a planar drive system 200 by means of a gripping arm of a process device 403 or another loading device. It is also possible to load goods from one rotor 400 onto another rotor 400 by means of a gripping arm of a process device 403. As an alternative, the gripping arm can also be positioned on the rotor 400, and goods that are not positioned on the rotor 400 can also be moved by means of the gripping arm. For example, the goods can be arranged on the rotor 400, on another rotor, or at a position provided for this purpose and not arranged on the stator unit by means of a gripping arm.

[0101] As an alternative or in addition, the process device 403 may include a camera unit for observing processes carried out on the same rotor 400 or on different rotors 400 of the planar drive system 200. The observation process may be carried out by the sub-control unit 401. The camera unit may be designed, for example, as an intelligent camera, which is capable of object recognition by means of a correspondingly trained artificial intelligence.

[0102] As an alternative or supplementary solution, this automated process may include a manufacturing or processing process, in which the goods to be transported are processed or an object or article is manufactured from the corresponding goods to be transported. The automated process may, for example, include a heating or cooling process, in which the goods to be transported are heated or cooled to a predetermined temperature or maintained at this temperature. To this end, the process device 403 may include at least one heating or cooling element and a temperature sensor. For example, the aggregation state of the goods to be transported can be changed by heating or cooling and the mixing or separation of different components of the goods to be transported can be achieved as appropriate. As an alternative or supplementary solution, the temperature of the goods to be transported can also be monitored only by the process device 403, wherein, for example, the goods are maintained at a constant temperature.

[0103] As an alternative or in addition, the process device 403 may be suitable for carrying out a weighing process for determining the mass of the goods to be conveyed.

[0104] The automated process to be controlled by the secondary control unit 401 can be implemented during the movement of the rotor 400 between two positions on the stator unit 300. As an alternative, the rotor 400 can be moved to a position provided for this purpose on the stator unit 300 to implement the automated process. As an alternative, the automated process to be controlled can also be implemented by the movement of the rotor 400 itself, for example by rotating the rotor at a defined speed in order to mix the conveyed liquids with one another or to separate them from one another in the manner of a centrifuge.

[0105] In order to integrate the automation process controlled by the sub-control unit 401 of the rotor 400 into the upper-level automation process to be controlled or implemented by the entire planar drive system 200, the planar drive system 200 also has a communication system 500 for communication between the main control unit 201 of the planar drive system 200 and the sub-control unit 401 of the rotor 400. Through the communication between the main control unit 201 and the sub-control unit 401 of the rotor 400, the automation process can be started or stopped by a start command or a stop command of the main control unit 201. In addition, the sub-control unit 401 can provide the main control unit 201 with status information about the implemented automation process and / or process data.

[0106] The data communication between the main control unit 201 and the sub-control unit 401 of the rotor 400 may also include periodic data communication. For this purpose, the main control unit 201 or the sub-control unit 401 may send or receive corresponding messages at predetermined time points within a predetermined communication cycle. In this case, the communication cycle may be given by a control cycle, according to which the planar drive system 200 or the implemented automation process is periodically controlled. The rotor 400 or the sub-control unit 401 of the rotor 400 may, for example, permanently send sensor values ​​or other information to the main control unit 301 in corresponding messages within a preset communication cycle. The main control unit 201 may then process the data periodically sent by the sub-control unit 401 and integrate the information of these data into the control of the automation process to be controlled. For this purpose, the main control unit may periodically send corresponding communication messages to the sub-control unit 401 of the rotor 400. As an alternative, the main control unit may send a communication message to the sub-control unit 401 of the rotor 400, by means of which the rotor 400 is required to periodically send corresponding data. As an alternative, the sub-control unit 401 may be controlled to independently send data to the main control unit 201 periodically, that is, the main control unit 201 does not need to send a communication message in advance.

[0107] Depending on the situation, corresponding subsequent instructions can be sent to the secondary control unit 401 in corresponding communication messages by the main control unit 201 based on the data of the secondary control unit 401. In particular, commands, instructions or information can be exchanged between the main control unit 201 and the secondary control unit 401 within the cycle time of a specified communication cycle.

[0108] To provide communication, the communication system 500 has a plurality of communication units 501 distributedly constructed on the stator unit 300 and at least one rotor communication unit 402 constructed on the rotor 400 .

[0109] In the illustrated embodiment, the rotor 400 includes four rotor communication units 402, which are arranged on the four edges of the square rotor 400. Different from this, the rotor 400 can include any number of rotor communication units 402, which are constructed at any position on the rotor 400. According to one embodiment, the rotor communication unit 402 includes an antenna unit for receiving and sending messages and an analysis unit for analyzing the received messages. The antenna unit and the analysis unit of the rotor communication unit 402 can be constructed at different positions on the rotor 400, respectively.

[0110] For a detailed description of the method for controlling the plane driving system 200 according to the present invention, see Figures 5 to 8 Description.

[0111] In the embodiment shown, the stator unit 300 comprises a plurality of stator modules 301, which are arranged side by side in the X-direction and the Y-direction of the stator unit 300 and form an associated flat stator surface 303 of the stator unit 300. In the embodiment shown, the stator unit 300 comprises six stator modules 301. However, the number of interconnected stator modules 301 of the stator unit 300 is not limited thereto, but can be varied arbitrarily. In the embodiment shown, the main control unit 201 is connected to each stator module 301 via a data link 203 so that each stator module 301 can be controlled individually. Control signals and / or communication messages of the main control unit 201 can be forwarded from one stator module 308 to another stator module 308 via the data link 203.

[0112] Each stator module 301 has four stator segments 308. Each stator segment 308 includes an X coil group and a Y coil group, which are oriented in the X direction or the Y direction respectively. For a detailed description of the coil groups, see Figure 3 Alternatively, the stator module 301 may include any number of stator segments 308 .

[0113] In the illustrated embodiment, the stator segments 308 are constructed in a square shape and are arranged adjacent to each other in an aligned manner along the X direction and the Y direction. The stator segments 308 may also be designed in a rectangular or other shape. Each stator segment 308 includes a plurality of stator conductors 309 that can be energized, such as Figure 4 As mentioned, these stator conductors are combined in coil groups and are oriented in the X-direction or the Y-direction. Figure 1 Only the stator conductors 309 oriented in the X direction are shown. The stator magnetic field can be generated by energizing the stator conductors 309 of the coil group. By means of magnetic coupling between the stator magnetic field and the rotor magnetic field of the rotor 400, the rotor 400 can be driven to float on the stator surface 303 in the X direction and the Y direction. By moving the rotor 400 in the X direction and the Y direction at the same time, the rotor 400 can be moved in any direction on the stator surface 303. In addition, the rotor 400 can also be moved in the Z direction perpendicular to the X direction and the Y direction. In this way, the distance between the rotor 400 and the stator surface 303 can be changed, that is, the rotor 400 can be raised or lowered above the stator surface 303. The rotor 400 can also be rotated around a rotation axis perpendicular to the stator surface 303 or tilted around a rotation axis parallel to the stator surface 303.

[0114] The stator modules 301 each have a stator module housing 305, in which an electronic control device (not shown) for controlling the stator module 301 is arranged. In addition, a magnetic field sensor (not shown) for detecting the rotor magnetic field of the rotor 400 is also arranged in the stator module housing 305. Each stator module 301 has a corresponding connecting line 307 for supplying power to the electronic control device and providing data.

[0115] In the embodiment shown, the communication system 500 has a plurality of communication units 501 built on the stator unit 300. The rotor 400 has a rotor communication unit 402. Thus, the communication unit 501 enables communication between the main control unit 201 and the rotor 400 or the secondary control unit 401 arranged on the rotor 400 in a communication link with the rotor communication unit 402.

[0116] In the embodiment shown, the communication units 501 are evenly distributed over the entire stator unit 300. In the embodiment shown, the communication units 501 are arranged in a communication film 507. The communication film 507 can be made of a plastic material and positioned on the stator surface 303 of the stator unit 300. For this purpose, the communication film 507 can be glued or otherwise fixed on the stator surface 303. In addition, the communication unit 501 is also electrically or data-technically connected to the individual stator modules 301 of the stator unit 300. In addition, the data-technical connection of the communication unit 501 to the main control unit 201 is achieved by connecting the communication unit 501 to the stator module 301, so that the communication unit 501 can be controlled or read out by the main control unit 201. In another alternative embodiment that is not shown, the communication unit 501 can also be independently connected to the power supply and directly connected to the main control unit 201 data-technically.

[0117] In the illustrated embodiment, a communication unit 501 is arranged on each stator segment 308. This is merely exemplary, and the communication unit 501 can be arranged on the stator unit 300 at will. In particular, a plurality of communication units 501 can be arranged on each stator module 301. Figure 1 The layout in FIG. 3 is different, and the communication unit 501 may not be arranged at the geometric center of the corresponding stator segment 308 , but may be arranged at the edge of the stator segment 308 , for example.

[0118] The communication unit 501 is preferably arranged on the stator unit 300 so that for any position of the rotor 400 on the stator unit 300, the rotor 400 is arranged within the effective communication range of at least one communication unit 501. In this way, seamless communication between the main control unit 201 and the rotor 400 or the sub-control unit 401 of the rotor 400 can be achieved. Therefore, there is no position of the rotor 400 on the stator unit 300 where communication is interrupted.

[0119] In order to achieve seamless communication, the communication units 501 may be arranged on the stator unit 300 such that the distance between two adjacent communication units 501 is less than or equal to twice the maximum effective communication range of the communication unit 501. As an alternative or supplement, the distances of the communication units 501 arranged on the stator module 300 relative to each other may be related to the size of the rotor 400. Therefore, the distance between adjacent communication units 501 may be less than or equal to the maximum size of the rotor 400, in particular less than or equal to the width of the rotor 400 in the X and / or Y directions. In this case, the distance between the communication units 501 is related to the X and Y directions parallel to the stator surface 303.

[0120] By thus spacing the communication units 501 , the rotor 400 can be arranged within the communication range of at least one communication unit 501 in every position on the stator unit 300 , even if the effective communication range of the communication unit 501 is short.

[0121] According to the invention, the rotor 400 is also provided with at least one rotor communication unit 402. In the embodiment shown, the rotor 400 has four rotor communication units 402, which are respectively arranged on four edges of the rotor 400, which is substantially rectangular. As an alternative, the rotor 400 can have more or fewer rotor communication units 402. On the rotor 400, for example, only a single rotor communication unit 402 can be arranged at the geometric center of the rotor 400.

[0122] As an alternative or supplementary solution, in order to achieve seamless communication between the communication unit 501 and the rotor communication unit 402, the communication unit 501 can be arranged on the stator unit 300 so that during the control cycle, when the rotor 400 is periodically controlled and the main control unit 201 communicates periodically with the secondary control unit 401 through the communication unit 501 on the stator unit 300 and the rotor communication unit 402 on the rotor 400, the rotor 400 will not move out of the effective communication range of the communication unit 501. To this end, the communication units 501 can be arranged on the stator unit 300 in a manner of being spaced apart from each other by a certain distance, and these distances are less than or equal to the maximum distance that the rotor 400 can travel on the stator unit 300 at the maximum speed of the rotor 400 in one control cycle. However, other layouts of the communication unit 501 on the stator unit 300 can also be adopted, which are conducive to achieving the above-mentioned purpose. In particular, the layout according to the previous description. Furthermore, it is advantageous for the rotor 400 to be constructed with a plurality of rotor communication units 402 so that at any time within a control cycle at least one rotor communication unit 402 of the rotor 400 is arranged within the effective range of at least one communication unit 501 of the stator unit 300 .

[0123] According to one embodiment, the communication unit 501 of the stator unit 300 and the rotor communication unit 402 of the rotor 400 are constructed of the same type. The communication unit 501 and the rotor communication unit 402 can be constructed in particular as a sending / receiving unit, which can send and receive communication messages and response messages. In this way, messages can be sent from the main control unit 201 to the sub-control unit 401 and received by the sub-control unit 401. Conversely, messages can be sent from the sub-control unit 401 to the main control unit 201 and received by the main control unit 201.

[0124] The communication unit 501 and the rotor communication unit 402 can be designed as a transceiver unit for short-range wireless communication, Bluetooth communication, ZigBee communication or Z-Wave communication, for example. Generally speaking, the communication unit 501 and the rotor communication unit 402 are advantageously designed as a radio-based transceiver unit.

[0125] As an alternative to building the communication unit 501 in the communication film 507, the communication unit 501 can also be arranged in the communication layer ( Figure 1 301). The communication layer can be constructed as an additional layer of the stator module 301 of the stator unit 300, for example. The communication layer can be made of a plastic material, in which the communication unit 501 is embedded. The communication layer can be, for example, the uppermost layer of each stator module 301 and thereby forms the stator surface 303 of the stator unit 300. As an alternative, the communication layer can be integrated into the corresponding stator module 301 and located inside the stator module 301. If the communication layer is integrated into the stator unit 300 and thus does not form the stator surface 303, the communication layer is preferably arranged directly below the stator surface. The communication layer can also be constructed as an integrated circuit in a control board and integrated in the stator unit 300, for example.

[0126] According to another embodiment, at least one communication unit 501 of the communication system 500 may be constructed as an external communication unit 501, which is arranged outside the stator unit 300 in the planar drive system 200. The external communication unit 501 may be arranged, for example, laterally beside the stator unit 300 or may be mounted on a bracket provided for this purpose above the stator unit 300. Compared to the communication unit 501 arranged on the stator unit 300, the effective communication range of the external communication unit 501 may be constructed to be correspondingly increased so as to perform interference-free data communication with the rotor 400 positioned at any position on the stator unit 300.

[0127] Figure 2 for Figure 1 Schematic diagram of a stator module 301 of a stator unit 300 in FIG.

[0128] The stator module 301 includes four stator segments 308 having stator conductors 309 oriented in the X-direction. Figure 2 Only the uppermost layer of stator conductors 309 is shown. According to the present invention, at least one further layer of stator conductors 309 is arranged below the layer of stator conductors 309 shown. Figure 2 According to the invention, at least one further layer of stator conductors 309 is oriented in the Y direction. Furthermore, the stator module 301 can also include more or less than the four stator segments 308 shown.

[0129] The stator conductors 309 are arranged in a manner electrically insulated from one another. The four stator segments 308 are constructed in a square shape and form a square stator surface 303. As an alternative, the stator segments 308 can also have a rectangular shape or any other different shape. The stator segments 308 are connected to one another via contact structures 311. In the embodiment shown, each stator segment 308 has a communication unit 501. The communication unit 501 is respectively arranged at the geometric center of the stator segment 308. In the embodiment shown, the communication unit 501 is arranged in the communication film 507 and is connected to the stator segment 308. Figure 1 Similar to the embodiment in , the communication film is arranged on the stator surface 303 of the stator module 301. As an alternative, the communication unit 501 can also be arranged in a communication layer. The communication layer can be integrated into the stator module 301 as an additional layer, for example.

[0130] According to one embodiment, the communication unit 501 includes a Figure 2 According to one embodiment, the antenna unit and the analyzing unit of the communication unit 501 can be arranged at different positions on the stator unit 300 .

[0131] In the illustrated embodiment, the communication units 501 have an X distance D along the X axis. x , Y distance D along the Y axis y and the XY distance D along the XY direction xy In this case, the X-axis and the Y-axis refer to a coordinate system which is fixedly connected to the stator unit 300 , wherein an XY plane of the coordinate system is parallel to the stator surface 303 of the stator unit 300 .

[0132] Figure 3 FIG. 4 is a schematic diagram of the bottom surface of a rotor 400 according to an embodiment.

[0133] During operation of the planar drive system 200, the bottom surface of the rotor 400 is arranged in a manner facing the stator surface 303 of the stator unit 300. The rotor 400 has a magnet assembly 409 including a plurality of magnet units 413 at the bottom surface. The magnet units 413 are oriented in pairs along two mutually perpendicular directions x and y of the rotor 400 and each have a plurality of magnet elements 415 arranged side by side with each other. The magnet assembly 409 is constructed to generate a rotor magnetic field of the rotor 400, through which magnetic coupling with the stator magnetic field of the stator unit 300 can be achieved. The driving of the rotor 400 relative to the stator unit 300 can be achieved through magnetic coupling.

[0134] During operation, the bottom surface of the rotor 400 with the magnet assembly 409 is substantially parallel to the stator surface 303 and is arranged in a manner facing the stator surface 303 .

[0135] The X-component, Y-component and Z-component of the rotor magnetic field can be generated by means of the magnet units 413 arranged in the X-direction and the Y-direction. By means of coupling with the correspondingly oriented stator magnetic field of the stator unit 300, the rotor 400 can be suspended on the stator surface 303 of the stator unit 300, wherein the rotor 400 does not contact the stator unit 300. By controlling the stator coils accordingly, the rotor 400 can be driven relative to the stator unit 300 in a suspended state.

[0136] Figure 4 FIG. 3 is an exploded schematic diagram of a stator segment 308 of the stator unit 300 .

[0137] Figure 4 Four stator layers separated from one another are shown, each of which is a component of a stator segment 308 .

[0138] According to the illustrated design, the stator segment 308 includes a first stator layer 313, a second stator layer 315, a third stator layer 317, and a fourth stator layer 319 stacked one on top of the other in the Z direction. The first stator layer 313 and the third stator layer 317 only include stator conductors 309 extending in the X direction. The second stator layer 315 and the fourth stator layer 319 only include stator conductors 309 extending in the Y direction.

[0139] The stator conductor 309 of the first stator layer 313 is connected to Figure 1 and Figure 2 The stator conductors 309 shown in FIG. 3 correspond to the stator conductors 309 shown in FIG. 3 , which are arranged on the stator surface 303. The stator conductors 309 of the other stator layers are arranged below the first stator layer 313 in the Z direction and are therefore not arranged on the stator surface 303. Figure 1 and Figure 2 Shown in.

[0140] This construction scheme of the stator segment 308 is Figure 1 and Figure 2 The same as shown in Figure 4 The illustrated embodiment of the stator segment 308 is exemplary.

[0141] The stator conductors 309 of each stator layer 313, 315, 317, 319 are respectively combined into coil groups 321. In the illustrated embodiment, each stator layer 313, 315, 317, 319 includes three coil groups 321 arranged side by side. The first and third stator layers 313, 317 have three X coil groups 323 oriented in the X direction, while the second and fourth stator layers 315, 319 have three Y coil groups 325 oriented in the Y direction. By energizing accordingly, the X coil group 323 is suitable for generating a stator magnetic field having a Z component and a Y component, while the Y coil group is suitable for generating a stator magnetic field having a Z component and an X component. The corresponding X, Y or Z component of the stator magnetic field can realize the translational movement of the rotor 400 along the X, Y and Z axes and the rotational movement around the rotation axis parallel to the X, Y and Z axes.

[0142] The six stator conductors 309 in each coil group 321 can be combined into a three-phase system, in particular, wherein two stator conductors 309 connected to each other each form one of the three phases U, V, W in the three-phase system.

[0143] Figure 4 A further layer of stator segments 308 is also shown, which comprises a plurality of communication units 501. In the embodiment shown, five communication units 501 are arranged in a communication layer 509. In this case, the communication layer 509 is arranged as the uppermost layer of the stator segment 308 in the Z direction. Thus, the communication layer 509 can be constructed such that the stator surface 303 of the stator module 301 or the stator unit 300 is formed by the communication layer 509. As an alternative, a further layer can be arranged above the communication layer 509, which forms the stator surface 303. The communication layer 509 can be constructed, for example, as a circuit board. The communication layer 509 can be constructed from a plastic material, in particular so that the terminals of the stator module 301 or the stator unit 300 are formed by the communication layer 509.

[0144] In the embodiment shown, five communication units 501 are arranged in the stator segment 308 shown. This is merely exemplary and does not limit the invention. According to the invention, any number of communication units 501 can be arranged per stator segment 308. The number of communication units 501 per stator segment 308 can in particular be related to the effective communication range of the individual communication units 501, so that the greater the effective communication range of the communication units 501, the fewer the number of communication units 501 per stator segment 308, because the individual communication units 501 can be arranged at a greater distance from each other. The same applies to the entire stator unit 300 or stator modules 301. Depending on the number of stator modules 301 integrated into the stator unit 300 and, in relation thereto, depending on the size of the stator unit 300, any number of communication units 501 can be integrated into the stator unit 300. This number in turn is related to the respective effective communication range of the communication units 501.

[0145] Figure 5 FIG. 1 is a flow chart of a method 100 for controlling a plane driving system 200 according to an embodiment.

[0146] Can be based on Figures 1 to 4 The planar drive system 200 of the embodiment shown has a main control unit 201, a stator unit 300 and at least one rotor 400 including a sub-control unit 401 to implement the method 100 of controlling the planar drive system 200 according to the present invention. For this purpose, the planar drive system 200 also includes a communication system 500 having a plurality of communication units 501 and at least one rotor communication unit 402. In this case, the plurality of communication units 501 are constructed on the stator unit 300, while the at least one rotor communication unit 402 is arranged on the rotor 400. In addition, the rotor 400 may also include a process device 403 for implementing an automation process to be controlled by the sub-control unit 401.

[0147] As described above, the stator unit 300 has a plurality of stator coils 321 for generating a stator magnetic field. The rotor 400 has a plurality of magnet units 413 for generating a rotor magnetic field. The rotor 400 can be driven on the stator unit 300 by magnetic coupling between the stator magnetic field and the rotor magnetic field. The main control unit 201 of the planar drive system 200 is suitable for controlling the planar drive system 200, in particular, controlling the movement of at least one rotor 400 on the stator unit 300. The secondary control unit 401 of the rotor 400 is suitable for controlling an automated process that can be implemented by a process device 403.

[0148] In this case, the automated process can be considered as a sub-process of the entire process implemented by the planar drive system 200. In this case, the entire process can include moving different rotors 400 or at least one rotor 400 on the stator unit 300 to transport different goods through the at least one rotor 400. In addition, the entire process can include an automated process as described above, which can, for example, include a processing or manufacturing process of the goods transported by the rotor 400. Therefore, according to the present invention, the control of the planar drive system 200 can include moving the rotor 400 between different positions on the stator unit 300, implementing the automated process by the process device 403 of the rotor 400, and controlling the automated process by the sub-control unit 401 of the rotor 400.

[0149] Therefore, according to the present invention, in order to control the planar drive system 200, first in a sending step 101, a communication message is sent by the main control unit 201 to the secondary control unit 401 of the rotor 400 via the communication system 500. In this case, the communication message includes a start instruction for starting an automation process to be implemented by the rotor 400 or the process device 403 of the rotor 400. In this case, the communication message is suitable for causing the start of the automation process by the start instruction when the communication message is received by the secondary control unit 401 of the rotor 400.

[0150] According to the invention, after receiving the communication message by the secondary control unit 401 of the rotor 400 , the automation process to be carried out is controlled by the secondary control unit 401 .

[0151] According to the present invention, after receiving the communication message through the sub-control unit 401 of the rotor 400 , the response message sent by the sub-control unit 401 to the main control unit 201 through the communication system 500 is received by the main control unit 201 in the receiving step 103 .

[0152] In this case, the response message includes status information about the state of the automation process controlled by the secondary control unit 401. The status information of the response message may, for example, include startup information, by means of which feedback is given to the main control unit 201 that the automation process has been started by the secondary control unit 401 according to the startup instruction of the communication message. As an alternative or supplementary solution, the status information may include stop information, which indicates that the automation process has stopped. In this case, stopping the automation process may, for example, include ending the automation process due to reaching the expected goal of the automation process. The stop of the automation process may also describe, for example, an interruption of the automation process caused by a functional failure of the automation process. As an alternative or supplementary solution, the status information may include process data of the automation process, which, for example, describe the final result or partial result of the implemented automation process. The final result or partial result may in turn include process data describing the progress of the controlled automation process. As an alternative or supplementary solution, the status information may include fault information, in which an erroneous implementation of the automation process is given. The state of the automation process controlled by the secondary control unit 401 and implemented by the process device 403 can be accurately described by the status information.

[0153] When controlling the planar drive system 200, the main control unit 201 can take the status information of the response message into account. The main control unit 201 can, for example, start an additional subsequent process when the automation process implemented by the process device 403 is successfully completed. The main control unit 201 can, for example, manipulate the rotor 400 to a position provided for this purpose on the stator unit 300 after successfully completing the automation process, so as to, for example, load or remove goods processed or manufactured by the automation process from the rotor 400. As an alternative, further measures can also be initiated by the main control unit 201. In general, the results of the automation process controlled by the sub-control unit 401 can be integrated into the overall control of the planar drive system 200 through two-way data communication between the main control unit 201 and the sub-control unit 401.

[0154] According to one embodiment, the main control unit 201 and the secondary control unit 401 each have a clock element. In addition, the communication message sent by the main control unit 201 also includes a timestamp defined by the main control unit 201. As an alternative, not every communication message has a timestamp. Instead, the communication message is only provided with a timestamp within a predetermined time interval, so that the control units are synchronized within the predetermined time interval. The synchronization of the two clock elements of the main control unit 201 and the secondary control unit 401 can be achieved with the help of the timestamp. By synchronizing the two clock elements of the main control unit 201 and the secondary control unit 401, the synchronized time recording of the two control units 201 and 401 can be achieved. Through the synchronization of the two clock elements of the main control unit 201 and the secondary control unit 401, in addition to the start instruction for implementing the automation process, the communication message sent can also include a start time point predefined by the main control unit 201. In this way, the automation process can be started at a predetermined start time point by the secondary control unit 401, and the start time point can be arranged in time as any time after the communication message is received by the secondary control unit 401. Furthermore, the exchanged data can be made to correspond to a precise point in time through synchronization between the main control unit 201 and the sub-control unit 401 of the rotor 400 .

[0155] Alternatively, in the case where the clock elements of the two control units 201 and 401 are not synchronized, the automation process can be started immediately by the secondary control unit 401 after receiving the communication message including the start instruction contained therein. Alternatively, the secondary control unit 401 can be provided with an instruction to start or end the automation process at the end of a predetermined period of time after receiving the corresponding start instruction.

[0156] Figure 6 FIG. 1 is another flow chart of a method 100 for controlling a plane driving system 200 according to another embodiment.

[0157] According to the method 100 of the present invention Figure 6 The embodiment shown is based on Figure 5 The embodiment shown here includes all the method steps described therein. Therefore, it will not be described in detail below.

[0158] In the embodiment shown, the sending step 101 implemented by the main control unit 201 includes a determination step 105. To send a communication message, first in the determination step 105 the position of the rotor 400 on the stator unit 300 is determined by the communication unit 501 of the stator unit 300, which is arranged adjacent to the corresponding position of the rotor 400.

[0159] According to the present invention, the main control unit 201 for controlling the planar drive system 200 and in particular for moving the rotor 400 on the stator unit 300 can know the current position of the rotor 400 on the stator unit 300 at any time point. To this end, the stator unit 300 includes, for example, a plurality of magnetic field sensors for detecting the rotor magnetic field of the rotor 400. The position of the rotor 400 on the stator unit 300 can be determined by such detection of the rotor magnetic field. By knowing the position of the rotor relative to the stator unit 300, at least one communication unit 501 can be determined for each position of the rotor 400 on the stator unit 300 by the main control unit 201, and the communication unit is arranged on the stator unit 300 in a manner adjacent to the corresponding position of the rotor 400. In this case, if the distance between the corresponding communication unit 501 and the corresponding position of the rotor 400 is less than a predetermined limit value, the communication unit 501 is adjacent to the position of the rotor 400. For this purpose, the main control unit 201 will also know each position of each communication unit 501 of the stator unit 300.

[0160] After determining the communication unit 501 of the stator unit 300 that is arranged adjacent to the current position of the rotor 400 on the stator unit 300, the selected communication unit 501 is controlled by the main control unit 201 in the control step 107 for sending a communication message to send a communication message to the sub-control unit 401 of the rotor 400. As an alternative, a plurality of communication units 501 of the stator unit 300 that are adjacent to the rotor 400 in the current position may be determined in the determination step 105. Accordingly, different selected communication units 501 may be controlled simultaneously in the control step 107 to send a communication message.

[0161] As described above, the rotor 400 further includes at least one rotor communication unit 402 built on the rotor 400. Through the at least one rotor communication unit 402, the rotor 400 is able to receive the communication message sent by the main control unit 201. Figure 1In the embodiment, the rotor 400 has multiple rotor communication units 402, and the communication message can be received by each or multiple rotor communication units 402 of the rotor 400.

[0162] In the embodiment shown, the receiving step 103 implemented by the main control unit 201 also includes a further determination step 109. In the further determination step 109, the communication unit 501 adjacent to the current position of the rotor 400 in the stator unit 300 is determined and selected by the main control unit 201. According to one embodiment, the determination step 105 and the further determination step 109 can be implemented in a common method step. The communication unit 501 of the stator unit 300 adjacent to the position of the rotor 400 for sending the communication message can also be used to receive the response message in the receiving step 103. This can be used in particular if the position of the rotor 400 remains unchanged between sending the communication message in the sending step 101 and receiving the response message in the receiving step 103. If the position of the rotor 400 is changed by moving the rotor 400 on the stator unit 300, in the further determination step 109, a different communication unit 501 than the communication unit determined in the determination step 105 for sending the communication message is determined. If the rotor 400 is outside the effective communication range of the communication unit 501 originally measured, in particular another communication unit 501 is measured.

[0163] In the reading step 111 performed by the main control unit 201 , after the communication unit 501 of the stator unit 300 adjacent to the current position of the rotor 400 is detected, the corresponding detected communication message is read out, and a response message is received by the main control unit 201 .

[0164] Figure 7 Another flow chart of a method 100 for controlling a planar drive system 200 according to another embodiment is shown.

[0165] In the illustrated embodiment, the communication between the main control unit 201 and the sub-control unit 401 arranged on the rotor 400 during driving the rotor 400 and moving the rotor 400 between the first position P1 and the second position P2 is described. In addition, the situation of periodically manipulating the rotor 400 is also described, specifically, the rotor 400 is manipulated by the main control unit 201 in the corresponding control cycle to move between the first and second positions P1, P2. In addition, the periodic manipulation of the planar drive system 200 also includes data communication between the main control unit 201 and the sub-control unit 401 of the rotor 400. In the illustrated embodiment, the following situation is described here: the main control unit 201 cannot completely complete the sending of the communication message to the sub-control unit 401 in the sending step 101 within one control cycle, so the sending of the entire communication message must be distributed in two consecutive control cycles. Similarly, the following situation is described: the reception of the response message sent by the sub-control unit 401 by the main control unit 201 cannot be fully implemented within one control cycle, so the reception of the entire response message must also be distributed in two consecutive control cycles.

[0166] To this end, in the embodiment shown, the sending step 101 implemented by the main control unit 201 includes a first communication unit determination step 113. In the first communication unit determination step 113, first communication units 503 of the stator unit 300 are determined, which are arranged adjacent to the first position P1 of the rotor 400 on the stator unit 300.

[0167] Then, in a first partial transmission step 115, the determined first communication unit 503 is controlled to transmit a first partial communication message to the secondary control unit 401 of the rotor 400. In this case, the first partial communication message describes a part of a complete communication message, in particular a part that can be completely transmitted by the corresponding determined first communication unit 503 in a first control cycle of the planar drive system 200.

[0168] During data communication, the rotor 400 moves further from the first position P1 to the second position P2 on the stator unit 300, and therefore, in the second communication unit determination step 117, second communication units 505 are determined, which are arranged adjacent to the second position P2 of the rotor 400 in the stator unit 300. Depending on the distance between the first and second positions P1, P2, the second communication units 505 may be at least partially identical to the first communication units 503. In contrast, if the rotor 400 moves further by a large distance between the first position P1 and the second position P2, the first communication units 503 and the second communication units 505 are different.

[0169] Subsequently, in a second partial transmission step 119, a second communication unit 505 adjacent to the second position P2 of the rotor 400 is controlled to transmit a second partial communication message. In this case, the second partial communication message describes another part of the original communication message, in particular the part of the original communication message that could not be transmitted in the first control cycle. Therefore, the second communication unit determination step 117 and the second partial transmission step 119 are implemented in another control cycle following the first control cycle. In this case, in the embodiment shown, the transmission step 101 and the transmission of the communication message are distributed and implemented in two consecutive control cycles. Therefore, by moving the rotor 400 from the first position P1 to the second position P2, the first and second partial communication messages can be transmitted by the first and second communication units 503, 505, which are at least partially different.

[0170] Similarly, in the receiving step 103 implemented by the main control unit 201 , the response message sent by the sub-control unit 401 of the rotor 400 is received through two time-successive control cycles.

[0171] For this purpose, the receiving step 103 comprises a further first communication unit determination step 121. In the further first communication unit determination step 121, the first communication unit 503 arranged adjacent to the first position P1 is determined.

[0172] In a first partial reading step 123 , the determined first communication unit 503 is read out by the main control unit 201 and a first partial response message is received.

[0173] In a further second communication unit determination step 125 , second communication units 505 are again determined, which are arranged adjacent to the second position P2 of the rotor 400 in the stator unit 300 .

[0174] In a second partial reading step 127 , the determined second communication unit 505 is read out and a second partial response message is received by the main control unit 201 .

[0175] In this case, the first and second partial response messages respectively describe a part of the response message originally to be sent, in particular a part that can be sent by the secondary control unit 401 in two temporally consecutive control cycles.

[0176] The first and second communication units 503, 505 adjacent to the first and second positions P1, P2 may be determined in the following manner: the distance of the corresponding communication unit 501 from the corresponding position does not exceed a predetermined maximum distance.

[0177] The sending of the communication message in the sending step 101 or the receiving of the response message in the receiving step 103 can be respectively distributed in two temporally consecutive control cycles. As an alternative, the sending of the two partial communication messages in the sending step 101 or the receiving of the two partial response messages in the receiving step 103 can be respectively distributed in two control cycles of the planar drive system 200, which are not immediately consecutive in time, and at least another control cycle is implemented between the two control cycles.

[0178] The communication message and / or the response message may also be divided into more than two partial communication messages or more than two partial response messages. In this case, more control cycles are used accordingly for the above method.

[0179] Figure 8 Based on Figure 7 A schematic diagram of a method 100 for controlling a planar drive system 200 according to an embodiment is shown.

[0180] Figure 8 for Figure 1 FIG. 2 is a top view of an embodiment of a planar drive system 200. The planar drive system 200 includes all the features described herein. Therefore, no further detailed description will be given below. Figure 8 Also shown is the movement of the rotor 400 along the travel direction D between the first position P1 and the second position P2 .

[0181] according to Figure 7 In the embodiment of the method 100 shown, the first communication unit 503 adjacent to the first position P1 is determined. As shown in the figure, the first communication units 503 of the stator unit 300 are characterized in that the distances of these first communication units from the rotor communication units 402 respectively arranged on the four edges of the rotor 400 constructed in a square shape are as small as possible. In particular, the first communication units 503 can be identified in the following manner: the distances of these first communication units from the first position P1 of the rotor 400 are less than a predetermined limit value. By knowing the first position P1 of the rotor 400 defined relative to the geometric center of the rotor 400 as shown in the figure and by knowing the layout of the individual rotor communication units 402 on the rotor 400, the first communication unit 503 can be determined as the communication unit 501 of the stator unit 300 with the smallest distance from one of the rotor communication units 402 of the rotor 400.

[0182] Therefore, in the illustrated embodiment, data communication between the main control unit 201 and the sub-control unit 401 of the rotor 400 can be achieved through the determined first communication unit 503 of the stator unit 300 and the corresponding rotor communication unit 402 of the rotor 400. In the illustrated diagram, it is shown that a response message is sent to the determined first communication unit 503 of the stator unit 300 through the rotor communication unit 402 of the rotor 400. By the main control unit 201 reading out the first communication unit 503 of the stator unit 300 accordingly, the sent response message can be received by the main control unit 201. According to Figure 7 In the illustrated embodiment, the response message sent may be constructed as a first partial response message and only describes a portion of the response message to be sent, and the response message may be sent within a first control cycle.

[0183] In the illustrated embodiment, the communication units 501 are arranged in the stator unit 300 such that the distance between adjacent communication units 501 is smaller than the extent of the rotor 400. The X distance D extending along the X axis X In particular, it is smaller than the X width L of the rotor 400 along the defined X direction. X Similarly, the Y distance D between two adjacent communication units 501 of the stator unit 300 along the Y direction is Y Smaller than the corresponding Y width L of the rotor 400 Y In the illustrated embodiment, the XY distance D between two adjacent communication units 501 extending along the XY direction is XY It is also smaller than the planar dimensions of the rotor 400 which is constructed in a cuboid shape.

[0184] By moving the rotor 400 in the displacement direction D, the rotor 400 is positioned relative to the stator unit 300 in a second position P2 different from the first position P1 in a temporally subsequent control cycle. Figure 7 In the embodiment shown, the corresponding second communication units 505 adjacent to the second position P2 of the rotor 400 are measured. In the embodiment shown, the second communication units 505 are characterized in that they are at a minimum distance from the rotor communication units 402 of the rotor 400 respectively arranged on the four edges of the rotor 400 constructed in a square shape. With respect to the second position P2, Figure 8 It is again shown that a second response message is sent from the rotor communication unit 402 of the rotor 400 to the determined second communication unit 505 of the stator unit 300. By reading out the corresponding second communication unit 505, the main control unit 201 can correspondingly receive the sent second response message.

[0185] In the embodiment shown, the following situation is shown: the first and second partial response messages are not sent in two consecutive control cycles. Rather, the following situation is shown: the two control cycles are separated from each other in time by a plurality of further implemented control cycles. This is only for the sake of clarity of the illustrated diagram and does not limit the invention. In two consecutive control cycles, the distance between the first and second position P1, P2 is small, and the first and second communication units 503, 505 can be at least partially identical.

[0186] In the illustrated diagram, a response message is sent by the secondary control unit 401 of the rotor 400. Figure 7 In the illustrated embodiment of the method 100 , communication messages are similarly sent by the main control unit 201 via the correspondingly determined first and second communication units 503 , 505 in two temporally successive control cycles.

[0187] Fig. 9 Schematic diagram of a rotor 400 of a planar drive system 200 according to one embodiment.

[0188] In the illustrated embodiment, the sub-control unit 401 is constructed on the rotor 400 in a plane. In the illustrated embodiment, the process device 403 for implementing the automation process is also constructed in a plane and arranged above the sub-control unit 401. In the illustrated embodiment, the process device 403 includes a first functional module 406 and a second functional module 408, which are also stacked one on top of the other layer by layer. The two functional modules 406, 408 can implement different functions of the automation process to be controlled. As an alternative, the process device 403 can include any number of different functional modules. The sub-control unit 401 and the first and second functional modules 406, 408 all have a connecting element 410 to realize the electrical connection and data technology connection between the sub-control unit 401 and the process device 403.

[0189] Fig.10 FIG. 4 is another schematic diagram of a rotor 400 of a planar drive system 200 according to another embodiment.

[0190] Fig.10 based on Fig. 9 The embodiment of the rotor 400 shown in the figure includes all the features described therein. Therefore, it will not be described in detail below. Fig. 9 The embodiments shown are different. Fig.10 In the embodiment shown, the first and second functional modules 406 , 408 of the process device 403 are arranged in a stepped manner on the slave control unit 401 which is constructed flat on the rotor 400 .

[0191] Fig.11FIG. 4 is another schematic diagram of a rotor 400 of a planar drive system 200 according to another embodiment.

[0192] Fig.11 4 is a top view of a rotor 400 having a sub-control unit 401 which is flat and in particular rectangular and is arranged on the rotor 400 in the center of the rotor 400. In the embodiment shown, connecting elements 410 are arranged around the rectangular sub-control unit 401. These connecting elements are arranged on the four sides of the rectangular sub-control unit 401. The connecting elements 410 can be designed, for example, as I / O connecting elements for connecting an actuator unit 405 or a sensor unit 407 of a process device 403.

[0193] According to one embodiment, Figure 9-11 The sub-control unit 401 and / or the process device 403 and / or the I / O connection element of the illustrated embodiment are surrounded by a housing unit. In this case, the housing unit can be designed so that other modules (for example other process devices 403) can be inserted into the housing unit. The housing unit can, for example, have slots into which the corresponding modules can be inserted. In addition, the housing unit can also be designed with contact elements so that different modules can be connected to each other electrically and / or data-technically by contacting these contact elements. The housing unit can also be connected to the rotor via a back plate.

[0194] Fig.12 Schematic diagrams of different implementations of the sub-control unit 401 of the rotor 400 .

[0195] Figure a) is a top view of a rotor 400 with a sub-control unit 401. In the embodiment shown in Figure a), the sub-control unit 401 is composed of two parts and is arranged at the edge area of ​​the rotor 400. The sub-control unit 401 is particularly constructed in an anti-impact element 417 constructed on the outer edge of the rotor 400. The anti-impact element 417 serves as impact protection for the rotor 400 and prevents the rotor 400 from being damaged when the rotor 400 collides with other rotors 400 or other objects. In the embodiment shown, the two-part sub-control unit 401 extends over the two edges of the rotor 400. It is also possible to construct only one sub-control unit 401 on one edge of the rotor 400. However, the sub-control unit 401 can also be divided into more than two parts, in particular into four parts, and a part of the sub-control unit 401 is arranged on all four edges of the rotor 400. In this way, the structural space requirement and weight distribution can be optimized.

[0196] Figure b) is a bottom view of the rotor 400 with the sub-control unit 401. In the embodiment shown in Figure b), the sub-control unit 401 is centrally located between four magnet units 413. This layout of the sub-control unit is very space-saving and is optimal with respect to the weight distribution on the rotor 400.

[0197] FIG. c) shows a top view and a side view of a rotor 400 with a sub-control unit 401. In the embodiment shown in FIG. c), the sub-control unit 401 is constructed as a planar layer element on the rotor 400. For this purpose, the sub-control unit 401 can be constructed as a control board. In this case, other components, connecting elements, control elements and / or objects / products to be conveyed can be placed on the planar sub-control unit 401 so that they are moved by the rotor 400.

[0198] According to one embodiment, the sub-control unit 401 is designed as a programmable controller PLC. The sub-control unit 401 can be designed as an industrial PC in particular.

[0199] According to one embodiment, data communication between the main control unit 201 and the sub-control unit 401 can be achieved through a field bus protocol. The field bus protocol can be designed as an EtherCAT protocol in particular.

[0200] The control period of the periodic control of the planar drive system 200 may describe a time period in the microsecond range.

[0201] Reference numerals list

[0202] 100 Method for controlling a planar drive system

[0203] 101 First output step

[0204] 103 Second output step

[0205] 105 Third output step

[0206] 107 Fourth output step

[0207] 109 Fifth output step

[0208] 111 Transfer steps

[0209] 200 Planar Drive System

[0210] 201 Control unit

[0211] 203 Data Link

[0212] 300 stator unit

[0213] 301 stator module

[0214] 303 stator surface

[0215] 305 stator module housing

[0216] 307 Connection line

[0217] 308 stator segment

[0218] 309 stator conductor

[0219] 311 Contact Structure

[0220] 313 Energy Transmission Structure

[0221] 315 Infrastructure

[0222] 317 Transmission Unit

[0223] 319 stator base

[0224] 321 Gap

[0225] 323 Busbar

[0226] 325 Side area of ​​stator unit

[0227] 327 Process Devices

[0228] 329 sliding contact

[0229] 331 Induction Coil

[0230] 333 Sensing layer

[0231] 335 Plug / Socket Components

[0232] 337 Contact element

[0233] 339 Nozzle Components

[0234] 341 Power supply line

[0235] 343 Trigger Structure

[0236] 345 Activate Protrusion

[0237] 347 Accommodation Area

[0238] 349 Trigger Infrastructure

[0239] 351 Bottom Area

[0240] 353 Contact Arm

[0241] 355 busbar film

[0242] 357 Contact element + pole

[0243] 359 Contact element-pole

[0244] 400 rotor

[0245] 401 Magnet assembly

[0246] 403 Open Zone

[0247] 405 Fixed structure

[0248] 407 Magnet Unit

[0249] 409 Magnetic Element

[0250] 411 First X magnet unit

[0251] 413 Second X magnet unit

[0252] 415 First Y magnet unit

[0253] 417 Second Y magnet unit

[0254] 419 Energy Storage Device

[0255] 421 Energy transmission elements

[0256] 423 Another Rotor

[0257] 425 Energy transmission elements

[0258] 427 Process Devices

[0259] 429 Transmission Unit

[0260] 431 Energy Transmission Link

[0261] 433 Fixed mechanism

[0262] 435 Top

[0263] 437 Bottom

[0264] 439 Sliding Contact

[0265] 441 Housing

[0266] 443 Battery Cell

[0267] 445 Lateral area of ​​the rotor

[0268] 447 Induction Coil

[0269] 449 Sensing Layer

[0270] 451 Plug / Socket Components

[0271] 453 Center

[0272] 455 Edge Structure

[0273] 457 Media Box

[0274] 459 Import Components

[0275] 461 Top surface of the energy storage device

[0276] 463 Lateral area of ​​the energy storage device

[0277] 465 Another Energy Storage Device

[0278] 467 Another Energy Transmission Link

[0279] 469 Output opening

[0280] 471 Trigger element

[0281] 473 Ejector Components

[0282] 475 Locking element

[0283] 477 Rotor base

[0284] 479 Side Area

[0285] 481 Top cover area

[0286] 500 Sensor Module

[0287] 501 Magnetic Field Sensor

[0288] D Distance

[0289] H Flight altitude

[0290] C Center

Claims

1. A method (100) for controlling a planar drive system (200), wherein the planar drive system (200) comprises a main control unit (201) for controlling the planar drive system (200), a stator unit (300) having a plurality of stator coils (321) for generating a stator magnetic field, and at least one rotor (400) having a plurality of magnet units (413) for generating a rotor magnetic field, wherein the rotor (400) can be driven on the stator unit (300) by magnetic coupling between the stator magnetic field and the rotor magnetic field, wherein a sub-control unit (401) for controlling an automated process that can be implemented by the rotor (400) is constructed on the rotor (400), wherein the planar drive system (200) further comprises a communication system (500) for wireless data communication between the main control unit (201) and the sub-control unit (401) of the rotor (400), and wherein the method (100) include: In a sending step (101), the main control unit (201) sends a communication message to the secondary control unit (401) through the communication system (500), wherein the communication message includes a start instruction for starting an automation process to be implemented by the rotor (400) and is suitable for driving the secondary control unit (401) to control the automation process; as well as In a receiving step (103), a response message sent by the sub-control unit (401) to the main control unit (201) via the communication system (500) is received, wherein the response message includes status information about the status of the automation process controlled by the sub-control unit (401).

2. The method (100) according to claim 1, wherein the communication system (500) comprises a plurality of communication units (501) distributedly arranged on the stator unit (300) and a rotor communication unit (402) distributedly arranged on the rotor (400), and wherein the sending step (101) implemented by the main control unit (201) include: In the determination step (105), at least one communication unit (501) arranged adjacent to the position of the rotor (400) on the stator unit (300) is determined; as well as In the manipulation step (107), a communication unit (501) adjacent to the position of the rotor (400) is manipulated to send the communication message.

3. The method (100) according to claim 2, wherein the receiving step (103) implemented by the main control unit (201) include: In a further determination step (109), at least one communication unit (501) arranged adjacent to the position of the rotor (400) on the stator module is determined; and In the reading step (111), a communication unit (501) adjacent to the position of the rotor (400) is read to receive the response message.

4. The method (100) according to claim 2 or 3, wherein data communication between the main control unit (201) and the sub-control unit (401) is implemented during driving the rotor (400) from a first position (P1) to a second position (P2) on the stator unit (300), and wherein the sending step (101) implemented by the main control unit (201) include: In a first communication unit determination step (113), at least one first communication unit (503) arranged adjacent to a first position (P1) of the rotor (400) on the stator unit (300) is determined; and In a first partial transmission step (115), a first communication unit (503) adjacent to a first position (P1) of the rotor (400) is manipulated to transmit a first partial communication message, wherein the first partial communication message is a portion of the communication message; as well as In a second communication unit determination step (117), at least one second communication unit (505) arranged adjacent to a second position (P2) of the rotor (400) on the stator unit (300) is determined; and In a second part sending step (119), a second communication unit (505) adjacent to a second position (P2) of the rotor (400) is manipulated to send a second part of the communication message, wherein the second part of the communication message is another part of the communication message; And / or wherein the receiving step (103) implemented by the main control unit (201) comprises: In another first communication unit determination step (121), at least one first communication unit (503) arranged adjacent to a first position (P1) of the rotor (400) on the stator unit (300) is determined; and In a first partial reading step (123), a first communication unit (503) adjacent to a first position (P1) of the rotor (400) is read to receive a first partial response message, wherein the first partial response message is a part of the response message; as well as In another second communication unit determination step (125), at least one second communication unit (505) arranged adjacent to a second position (P2) of the rotor (400) on the stator unit (300) is determined; and In a second partial reading step (127), a second communication unit (505) adjacent to a second position (P2) of the rotor (400) is read to receive a second partial response message, wherein the second partial response message is another part of the response message.

5. The method (100) according to claim 3 or 4, wherein based on the position of the communication unit (501) for receiving a response message or a partial response message on the stator unit (300) and the position of the rotor (400) when the response message or the partial response message is sent by the sub-control unit (401) or when the response message or the partial response message is received by the main control unit (201), the response message or the partial response message received by the main control unit (201) through the communication unit (501) is matched with the sub-control unit (401) of the rotor (400).

6. A method (100) according to any one of the above claims, wherein the status information of the response message received by the main control unit (401) includes start information that the automation process has been started and / or stop information that the automation process has been stopped and / or process data of a completed automation process and / or process data as partial result information of a running automation process and / or fault information about erroneous implementation of the automation process.

7. A method (100) according to any one of the above claims, wherein the main control unit (201) and the sub-control unit (401) respectively include clock elements, and wherein the communication message includes a timestamp for synchronizing the clock elements of the main control unit (201) and the sub-control unit (401).

8. The method (100) according to claim 7, wherein the communication message comprises a start time point for starting implementation of an automation process by the secondary control unit (401).

9. A rotor (400) for a planar drive system (200) having a stator unit (300), the stator unit being used to generate a stator magnetic field to drive the rotor (400) by magnetic coupling with the rotor magnetic field of the rotor (400), wherein the rotor (400) comprises a plurality of magnet units (413) for generating the rotor magnetic field, a sub-control unit (401) for controlling an automation process, a process device (403) having at least one actuator unit (405) and / or a sensor unit (407) for implementing the automation process, and a rotor communication unit (402) for data communication between the sub-control unit (401) of the rotor (400) and a main control unit (201) of the planar drive system (200).

10. The rotor (400) according to claim 9, wherein the sub-control units (401) are constructed in a layered manner and are arranged in a planar manner in a manner uniformly distributed on the surface of the rotor (400).

11. The rotor (400) according to claim 9 or 10, wherein the secondary control unit (401) is arranged below the process device (403) or laterally beside the process device (403).

12. A stator unit (300) for a planar drive system (200) having at least one rotor (400), wherein the stator unit (300) comprises a plurality of stator coils for generating a stator magnetic field to drive the rotor (400) by magnetic coupling with the rotor magnetic field of the rotor (400) and a plurality of communication units (501) for wireless data communication between a main control unit (201) of the planar drive system (200) and a sub-control unit (401) built on the rotor (400), and wherein the communication units (501) are arranged on the stator unit (300) in a certain layout.

13. The stator unit (300) according to claim 12, wherein the maximum distance between two adjacent communication units (501) on the stator unit (300) adopting the layout is less than or equal to twice the maximum effective communication range of the communication unit (501).

14. The stator unit (300) according to claim 12 or 13, wherein the maximum distance between two adjacent communication units (501) on the stator unit (300) is less than or equal to the minimum planar extension of the rotor (400) of the planar drive system (200).

15. The stator unit (300) according to claim 12, 13 or 14, wherein the stator coil is suitable for driving the rotor (400) at maximum speed within a maximum distance that can be traveled within a control cycle through periodic control by the main control unit (201), and wherein the maximum distance that the rotor (400) can travel within a control cycle is less than or equal to the effective communication range of the communication unit (501) and / or less than or equal to the maximum distance between two adjacent communication units (501).

16. The stator unit (300) according to any one of claims 12 to 15, wherein the communication unit (501) comprises a transmitting / receiving unit of short-range wireless communication and / or Bluetooth communication and / or ZigBee communication and / or Z-Wave communication.

17. The stator unit (300) according to any one of claims 12 to 16, wherein the communication unit (501) is constructed in a communication film (507), and wherein the communication film (507) is constructed on a stator surface of the stator unit (300).

18. The stator unit (300) according to any one of claims 12 to 17, wherein the communication unit (501) is integrated into the stator unit (300).

19. A planar drive system (200), comprising a main control unit (201) for controlling the planar drive system (200), a rotor (400) according to any one of claims 9 to 11, and a stator unit (300) according to any one of claims 12 to 18, wherein the planar drive system (200) is suitable for implementing the method (100) according to any one of claims 1 to 8, and the planar drive system has a communication system (500).

20. The planar drive system (200) according to claim 19, wherein the communication system (500) comprises at least one external communication unit (501), and wherein the external communication unit (501) is arranged in a manner spaced a certain distance from the stator unit (300).

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