Method for detecting a mover and electromagnetic transport device

Abstract

The invention relates to a method for detecting a mover and an electromagnetic transport device. In order to accurately and reliably detect a new mover (3neu) transferred to an electromagnetic transport device (1) with less effort than in the known prior art, an introduction region (G) is determined, which extends over a portion of a stator (2) of the electromagnetic transport device (1) and comprises at least one position sensor (S1), the new mover (3neu) moves through the introduction region (G), and a new sensor response (SA) detected by the at least one position sensor (S1) arranged in the introduction region (G) when the new mover (3neu) moves through the introduction region (G) is monitored. neu ), and when the new sensor responds (SA neu ) meets or exceeds the preset activation criteria (A krit ), the driving coils (Lm1, ..., Lmn) of the electromagnetic transport device (1) that interact with the new mover (3neu) for the movement of the new mover (3neu) begin to be controlled.

Description

Technical Field

[0001] The invention relates to a method for operating an electromagnetic transport device, the electromagnetic transport device comprising a stator, an active region mover located in a magnetic active region of the stator, and a control unit, wherein a plurality of electric drive coils are arranged on the stator, the control unit electrically controls the drive coils arranged on the stator, the drive coils interact with the active region mover to move the active region mover, wherein a plurality of position sensors are arranged on the stator, and a plurality of position magnets are respectively arranged on the active region mover, so that at least one position sensor arranged on the stator detects a magnetic field in the form of a sensor response, the magnetic field being caused by the position magnets arranged on the active region mover, the position magnets interacting with the at least one position sensor, wherein a new mover is introduced into the magnetic active region of the stator as a new active region mover.

[0002] Furthermore, the invention relates to an electromagnetic transport device having a stator, in which a novel mover is introduced into the magnetically effective region of the stator. Background Art

[0003] In modern transport systems, it is often necessary to move transport units, i.e. components, parts, other goods, etc., in sometimes long transport routes between stations that are spatially separated from one another. For this purpose, various transport and conveying devices are known, in which continuous conveyors are often used. Conventional continuous conveyors are usually conveyor belts, in which the rotational movement of an electric drive is converted into a linear movement of a conveyor belt, on which the transport units mentioned move. The flexibility of conventional continuous conveyors is usually quite limited, in particular, individual transport of individual transport units is in most cases not possible. In order to compensate for this and to meet the requirements of modern and flexible transport systems, electromagnetic transport devices, such as long-stator linear motors (LLM) and planar motors (PM), are increasingly used in modern production technology, in which the goods to be transported are accommodated and moved by a plurality of movers.

[0004] Long-stator linear motors, their use and their functions are well known from the prior art. Long-stator linear motors usually consist of a stator (also called "long-stator linear motor stator" or "LLM stator") and at least one mover (also called "shuttle" or "transport unit"), which is used in the mentioned case of a transport device to transport components or other goods. As described in US Pat. No. 6,876,107 B2, an LLM stator usually consists of a plurality of stator segments, wherein a plurality of drive coils (also called "LLM coils") are arranged side by side in a fixed position on the stator or stator segment. The stator segments can have different geometries (e.g. straight lines, curves, forks) and can be arranged to form the desired LLM stator. The LLM stator forms a transport route along which one transport unit or a plurality of transport units can move. The transport units are held and guided on the transport route.

[0005] Planar motors are also known from the prior art. For example, US Pat. No. 9,202,719 B2 discloses the basic structure and basic function of a planar motor. A planar motor also essentially has a stator, but in a planar motor, unlike a long-stator linear motor, the stator forms a transport plane in which one or more transport units can move at least two-dimensionally. In a planar motor, the drive coils are usually arranged in the transport plane, and in some embodiments also in a plurality of planes.

[0006] In order to be able to cause and subsequently regulate and / or control the movement of the mover in a controlled manner in a planar motor or a long stator linear motor to transport components or parts, in addition to the drive coils mounted on the stator, a drive magnet (permanent magnet or electromagnet) is also arranged on the mover, and a position sensor (AMR sensor, Hall element, etc.) is arranged on the stator. By controlling the drive coils, a moving magnetic field, the so-called drive magnetic field, can be generated, which interacts with the drive magnets of the mover to move the mover. The drive coils are controlled in a known manner, especially by means of a control unit provided for this purpose, and the control unit outputs an ignition pulse to a semiconductor switch, such as an IGBT module in particular, in an equally known manner, so as to apply a corresponding coil voltage to the drive coil for generating a drive current. The drive coils that are controlled and energized for the purpose of generating a drive magnetic field are particularly referred to as "active" drive coils here. In order to move the mover along the stator, some of the drive coils are always active drive coils, wherein the drive coils that are usually continuously unenergized become active drive coils, and the active drive coils become unenergized drive coils. Therefore, the mover can move in the direction of the moving drive magnetic field.

[0007] Further embodiments of long-stator linear motors and planar motors and multiple design possibilities for long-stator linear motors and planar motors can also be found in the documents WO 2013 / 143783A1, WO 98 / 50760A2, US 6,876,107 B2, US2013 / 0074724 A1, WO 2004 / 103792A1 or EP 1 270 311 B1, so that the detailed implementation details of these drive types are not discussed here.

[0008] When planar motors and / or long-stator linear motors are used in the above-mentioned transport equipment, it is usually necessary to set a fork or a steering arm or a rotating disk, especially to enable complex and intelligent trajectory planning or trajectory realization. Examples for this appear in documents US2013 / 0074724A1 and EP 3 904 249 B1.

[0009] Arrangements are also known in which different conveying means, for example the above-mentioned continuous conveyor in the form of a conveyor belt, are combined with long-stator linear motors and / or planar motors in order to be able to precisely match the resulting conveying path to the requirements of the transport system. In this case, the components or parts first transported on the conveyor belt are usually taken over by a mover moving in the long-stator linear motor or planar motor for further transport in order to be subsequently transferred back to the conveyor belt if necessary.

[0010] An increasingly important implementation of flexible transport equipment is the combination of a long-stator linear motor or a planar motor with an external introducer for introducing new movers into the long-stator linear motor or the planar motor and / or removing movers from the long-stator linear motor or the planar motor. This design, in which movers can be introduced ("moved in") or removed ("moved out") from the long-stator linear motor or the planar motor as needed, allows targeted control of the transport capacity within a transport equipment with multiple long-stator linear motors or planar motors. If two or more long-stator linear motors are arranged in the transport equipment, movers can be transferred from the long-stator linear motor with a lower load to the long-stator linear motor with a higher load during the load peak of the long-stator linear motor. In addition, the option of arranging the components or parts to be transported on the mover outside the long-stator linear motor or the planar motor without relying on the additional presence of sometimes complex takeovers of the mover to the components or parts at the interface with the long-stator linear motor or the planar motor provides space for a generally significant efficiency improvement.

[0011] However, the disadvantage of the above-mentioned moving in and out of the mover is that the newly introduced mover is usually unknown in advance to the controller of the long-stator linear motor or planar motor. Therefore, in the industrial practice to date, it is necessary to inform the controller of the long-stator linear motor or planar motor of the expected new mover early enough so that the new mover can be cleanly and orderly integrated into the operation of the long-stator linear motor or planar motor. It is usually necessary to inform the controller of the exact time and the exact location of the arrival of the new mover. However, in practice, these requirements are often not met in the commonly used importers. If a conveyor belt is used as an importer for the new mover, it is usually impossible to accurately describe or adjust the position of the mover on the conveyor belt, and therefore it is also impossible to accurately predict the exact time of arrival at the LLM stator or PM stator. The consequences of this ambiguity and inaccuracy include inaccurate and faulty start of movement of the mover in the long-stator linear motor or planar motor, and damage to the transported goods and / or the mover.

[0012] In order to avoid these difficulties, in the known methods, complex and often expensive sensors, such as light barriers in particular, are used in order to determine the transfer location and the transfer time exactly and to be able to communicate this to the control unit of the long-stator linear motor or planar motor. Although this procedure is obviously associated with increased effort and increased costs, no alternative solution to the described problem is available from the prior art. Summary of the invention

[0013] The object of the present invention is therefore to detect the rotor of the electromagnetic transport device accurately and reliably with little effort.

[0014] This object is achieved by the electromagnetic transport device mentioned at the outset. The invention describes a method for operating an electromagnetic transport device and an electromagnetic transport device.

[0015] According to the invention, during operation of the electromagnetic transport device mentioned at the outset, which can in particular be a long-stator linear motor or a planar motor, an introduction region is determined, which extends over a part of the stator and comprises at least one position sensor from a plurality of position sensors arranged on the stator, and through which the new mover is moved for introduction into the magnetically effective region of the stator. Based on this, a new sensor response detected by at least one position sensor arranged in the introduction region when the new mover is introduced is monitored, and, after the new sensor response reaches or exceeds a predefined activation criterion, actuation of a drive coil interacting with the new mover for the movement of the new mover is initiated by a control unit.

[0016] The procedure according to the invention allows new movers that are moved into the magnetic action area of ​​the stator through an introduction area (which can preferably be defined as a plane, a straight line or a point that coincides with the position of at least one position sensor) to be detected efficiently and reliably without relying on complex additional sensor systems. The invention describes a method for online detection of newly introduced movers that can be operated reliably and also fully automatically using only the sensor system that is always present in long-stator linear motors or planar motors, i.e., only the position sensors that are always present in long-stator linear motors or planar motors. Expensive additional sensors, such as light barriers in the area of ​​the transmission position, are not required within the scope of the invention.

[0017] In an advantageous embodiment of the invention, a new sensor response detected by at least one position sensor arranged in the introduction area when a new mover is introduced can be monitored periodically in order to detect the new mover, or a preset activation criterion can correspond to a preset minimum coverage of at least one position sensor arranged in the introduction area by the new mover. In this way, the detection method according to the invention can be precisely adapted to the specific requirements of different application cases, in particular in order to optimize the accuracy and robustness of detecting new movers. Further relevant possibilities are explained during the subsequent embodiment, but in addition, the activation criterion is derived from a preset sensor model response of the position sensor arranged in the introduction area, or the new sensor response is low-pass filtered before being compared with the activation criterion.

[0018] Another particularly advantageous design of the present invention is produced in the following manner, namely, a sensor response gradient is determined from a first value of the new sensor response detected at a first time point and from a second value of the new sensor response detected at a second time point that is different from the first value, a predicted position of the new mover is determined from the sensor response gradient and the position of at least one position sensor arranged in the introduction area, and the predicted position is transmitted to a control unit for integrating the new mover into an internal position detection system operating in the control unit.

[0019] As will be explained in detail later, in a number of cases relevant to industrial practice, the detection of new movers that is sought to be achieved according to the invention can be separated from the actual integration of the new movers into a position detection system, which usually operates internally in a control unit of the specifically considered electromagnetic transport unit. The same applies to a position control system provided in such a control unit for regulating the position of a specific action area mover. Usually, further steps are required here after the initial detection in order to actually take into account the new movers in the position control. The above-described design of the invention makes this integration possible and therefore makes it possible, in addition to the effective detection of new movers, to take into account the new movers immediately and directly in the internal position detection system and / or position control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Reference below Figures 1 to 6 Explain the present invention in detail, Figures 1 to 6 The advantageous embodiments of the present invention are shown by way of example, schematically and non-limitingly.

[0021] Figure 1 A transport device having a long stator linear motor and a conveyor belt is shown,

[0022] Figure 2 The transfer position between the conveyor belt and the transport section of the long-stator linear motor is shown,

[0023] Figure 3a , Figure 3b shows the signal of the AMR sensor used to detect the position of the mover,

[0024] Figure 4 shows the processing of the signal of the AMR sensor,

[0025] Figure 5 A flowchart for implementing the present invention is shown.

[0026] Figure 6 A plan view of a flat electric machine with an introduction region according to the invention is shown. DETAILED DESCRIPTION

[0027] In order to explain the present invention, Figure 1 An exemplary transport device 100 is shown, which comprises a conveyor belt 4 and an electromagnetic transport device 1 in the form of a long-stator linear motor (LLM), which forms a plurality of transport sections A1 ... A7. If components are generally referred to within the scope of the following embodiments, only reference numerals are used, such as mover 3, transport section A, transfer position U, etc. If, on the other hand, specific components are specifically referred to in the figures, the reference numerals are supplemented with consecutive indices for differentiation purposes, such as mover 31, ..., 3n, transport section A1, A2, transfer position U1, U2, etc. As mentioned, the invention can also be used for planar motors (PM) and is by no means limited to long-stator linear motors.

[0028] The modular structure of the transport sections A1 ... A7 and the conveyor belt 4 allows a flexible design of the transport device 100, but may also necessitate a plurality of transfer positions U1 ... U10 at which the movers 31 ... 3n (for the sake of clarity, in the example) moving in the transport device 100 are moved. Figure 1In the transport device 100, not all movers are marked with reference numerals) are transferred from one transport section A1 ... A7 to another transport section or conveyor belt 4. Usually, at least one transport section A1 ... A7 implemented as an electromagnetic transport device 1 (long stator linear motor or flat motor) and at least one external introducer (for example, conveyor belt 4) for introducing the mover 3 into the magnetic action area WB of the electromagnetic transport device 1 are generated.

[0029] The transport sections A1 ... A7 each form a part of a long stator 2 of a so-called long-stator linear motor in a known manner. Therefore, a plurality of electric drive coils are arranged in a known manner in the longitudinal direction along the transport sections A1 ... A7 (for the sake of clarity, the Figure 1 These electric drive coils interact with the excitation magnets at the movers 31 ... 3n. In a manner also known per se, a propulsion force F is generated for each mover 31 ... 3n by controlling the stator current flowing in these drive coils. v , which propulsion forces move the movers 31 ... 3n in the longitudinal direction along the transport section A1 ... A7 in which they are located. Each mover 31 ... 3n can move individually (speed, acceleration, trajectory) and independently of the other movers 31 ... 3n (unless a possible collision is to be avoided). Since the basic principle of long-stator linear motors is sufficiently known, for example from US 6,876,107 B2 or EP 3 109 998 B1, further details related to long-stator linear motors will not be discussed in detail here.

[0030] As described above, the transfer positions U1...U10 can be arranged along the transport route of the transport device 100 as required, wherein different types of transfer positions U1...U10, such as forks or steering arms or turntables, are conceivable. At the transfer position U10, for example, a transition from the single-sided transport section A2 to the double-sided transport section A9 is provided. Starting from a certain transfer position, such as the transfer position U2, the mover 3 can continue to move on the transport section A2 or the conveyor belt 4, for example. At the transfer position U1 (exchange position), the mover 3 is transferred from the single-sided transport section A1 to the single-sided transport section A2. The single-sided transport section is understood here as a transport section in which a drive coil is provided only on one side of the mover 3 (viewed from the direction of movement). In the double-sided transport section, drive coils are provided on both sides of the mover 3. The mover 3 can also have an excitation magnet on one side or both sides.

[0031] A plurality of workstations AS1 ... AS4 can also be arranged along the transport route of the transport device 100, in which the parts transported by the mover 3 or the mover 3 itself can be manipulated. For example, the workstations AS1 and AS2 can be implemented as a whole as an infeed and / or outfeed station of the transport device 100, that is, for example, finished parts or finished goods are removed from the mover 3, or parts to be processed are transferred to the mover 3. However, in the workstations AS1 ... AS4, processing steps on the parts to be transported can naturally also be performed. In this case, the mover 3 can be stopped for processing in the workstations AS1 ... AS4, for example in a filling station or for example in a temperature control station, in which the empty bottles moved by the mover 3 are filled, and in which the transported parts or other transported goods are subjected to temperature treatment, if necessary at a standstill, but if necessary also at a speed different from that between the workstations AS1 ... AS4.

[0032] As explained above, the combination of the long-stator linear motor 1 and the conveyor belt 4 also allows a targeted control of the transport capacity within the transport device 100. Figure 1 In the case shown, the mover 3 can be moved from the transfer station U2 to the transfer station U7 by means of a conveyor belt 4 as required, for example if there is a reduced need for movers 3 in the transport section A9. Compared to the otherwise usually more expensive LLM or PM stators, the conveyor belt 4 also offers in many cases the inexpensive possibility of expanding an already existing transport device 100. Conveyor belts are often used in areas where there are no requirements for the precision of the movement of a mover 3 or the precision of the individual movements of the movers 3. Long-stator linear motors or planar motors are often used where there are high requirements for the precision of the movement of a mover 3 or the precision of the individual movements of the movers 3.

[0033] As explained in detail above, the insertion and removal of the mover 3 by means of the conveyor belt 4 or usually by means of an external introduction into and out of the transport section A1 ... A7 (which is part of the long-stator linear motor 1 or the planar motor) usually results in the disadvantage that the newly introduced mover is usually not known in advance to the control unit C of the long-stator linear motor 1, and therefore no position information about the new mover 3 is available to the control unit C, which is however required for the correct power supply of the drive coils in the stator 2 to move the mover 3. In previous industrial practice, the position of the new mover 3 is usually reported to the control unit C of the long-stator linear motor 1 for this reason, in particular after the position is detected by means of a measuring technique or sensor system specially provided for this purpose, wherein the maximum tolerable deviation between the reported position and the actual position usually has to be within the range of + / -4 mm. If this tolerance is not observed, this in many cases leads to an incorrect power supply of the mentioned drive coils, which in extreme cases can even lead to a reversal of the direction of movement of the moved-in mover 3, or can lead to collisions between movers 3. When using a conveyor belt 4 as an introducer or, in general, an external introducer, such precision requirements can usually only be achieved with difficulty.

[0034] Below with the help of Figure 2 It is now explained how the problem of detecting and detecting the position of the new mover 3neu can be solved according to the invention. Figure 2 In a higher level of detail, the Figure 1 The transfer position U2 shown in FIG. 1 is a transfer position U2, at which the moving mover 3 is transferred from the conveyor belt 4 to the transport section A2. According to the above-mentioned embodiment, the transport section A2 of the specific long-stator linear motor 1 forms a part of the stator 2 of the long-stator linear motor 1, on which a plurality of electric drive coils L are arranged. m1 ,…,L mn (The controlled variable m here denotes a part of the stator 2 , ie, for example, a segment of the stator, and the indices 1 . . . n denote the drive coils arranged in the respective part).

[0035] For the purpose of explaining the invention, it is important in this case to distinguish between the present movers 3. On the one hand, the movers 3 which are already located in the magnetically active region MB of the stator 2 are distinguished. In this case, the magnetically active region MB is understood to be the region in which the movers 3 can interact with the above-mentioned electric drive coils L of the long-stator linear motor 1. m1 ,…,L mn interact and can therefore be driven by the electric drive coil L of the long stator linear motor 1 m1 ,…,L mnThe spatial region of motion. The mover 3 located in the magnetic action region MB is referred to as the action region mover 3. On the other hand, the so-called "new mover" 3neu is observed, which is reintroduced into the magnetic action region MB of the stator 2 by the conveyor belt 4 and is not yet located in the magnetic action region MB at the time of observation, and therefore cannot be driven by the electric drive coil L at the time of observation. m1 ,…,L mn Movement. Suitable for reliable and precise detection of new movers 3neu.

[0036] Figure 2 The control unit C mentioned several times above is further shown, which electrically actuates the drive coils L arranged on the stator 2. m1 ,…,L mn , these driving coils interact with the action area mover 3 to move the action area mover 3. For simplicity, Figure 2 Only a few drive coils L are shown m1 ,…,L mn For practical implementation, the control unit C can be implemented in particular by means of suitable microprocessor-based hardware, such as a microcontroller or by means of an integrated circuit (ASIC, FPGA). m1 ,…,L mn The "electrical control" is understood as the corresponding coil voltage U L11 , …, U L1n Applied to the drive coil L m1 ,…,L mn This can be achieved by outputting an ignition pulse to a semiconductor switch provided for this purpose, such as an IGBT module in particular.

[0037] On the part of the stator 2 of the long-stator linear motor 1 which is formed by the transport section A2 shown, a plurality of position sensors S are further arranged distributed in the transport direction. n (variable n is used as a control index), and a plurality of magnets P serving as position magnets are respectively arranged on the emerging mover 3, that is, on the action area mover 3 and on the new mover 3neu n-1 , P n , .... The excitation magnet of the mover 3 can be used as a magnet, that is, a position magnet P k (which is marked with a control index k for the purpose of clear annotation), or in addition to the excitation magnets of the mover 3, a position magnet P may also be arranged on the mover 3 k Here, the position sensor S arranged on the stator 2 n The detection sensor responds to the magnetic field in the form of SA, which is detected by the corresponding position sensor S n Interacting position magnets P k cause.

[0038] In order to now Figure 2 In order to detect the new mover 3neu (which is introduced as a new effective region mover 3 into the magnetic effective region MB of the stator 2) in a simple, precise and reliable manner within the scope of the structure without additional sensor expenditure and thus eliminate the above-mentioned problems, it is provided according to the invention that the introduction region G is first determined. The introduction region G according to the invention extends over a part of the stator 2 of the long-stator linear motor (or planar motor) and includes at least one position sensor, Figure 2 In the case of the stator 2, a plurality of position sensors S are arranged on the stator 2. n According to the invention, the new sensor response SA detected by at least one position sensor S1, S2, S3 arranged in the introduction region G when introducing a new mover 3neu is monitored. neu , and only if the new sensor responds to SA neu Meet the preset activation criteria A krit When the control unit C starts to control the drive coil L m1 ,…,L mn , the driving coil interacts with the new transport unit 3neu to move the new mover 3neu.

[0039] With regard to the definition of the introduction region G, it should be noted that the introduction region G is to be understood as a logical region, which is defined in particular in the control unit C and thus does not necessarily have to be a physically delimited geometric region. Here, it can be a segment of a three-dimensional space (especially in the case of application in a planar motor), but in the case of a long-stator linear motor 1, the introduction region G can also be defined as a plane, a straight line, or in an extreme case also only as a point coinciding with the position of at least one position sensor S1. In this case, "movement through the introduction region G" is understood to be a movement of the new mover 3neu, which results in the new mover 3neu intersecting the boundary of the introduction region G in at least one spatial dimension, interacting with at least one position sensor S1 located in the introduction region G, and finally being located in the active region WB of the stator 2. As will be explained in detail later, within the scope of the present invention, there is a wide range of design freedoms with respect to the specific design of the introduction region G, so that the introduction region G can, for example, also include a plurality of position sensors, wherein all or only selected position sensors are monitored, or thus position sensors located at the edge of the introduction region G are not necessarily monitored, and so on.

[0040] According to the invention, the new sensor response SA of the position sensor S1 is checked. neu, which is arranged at the stator 2 of the long-stator linear motor 1 in the introduction region G (in this case at the transport section A2). Checking the new sensor response SA neu Whether activation criteria A is met krit , that is, whether the activation criterion is reached, exceeded or fallen below, in order to infer the newly moved mover 3neu. To explain this check and activation criterion A in more detail krit , Figure 3a , Figure 3b and Figure 4 An exemplary signal curve is shown, which is generated as a sensor response, for example, using an AMR position sensor (“anisotropic magnetoresistance sensor”) which is common in long-stator linear motors and planar motors. However, it should be noted in this case that the present invention is by no means restricted to the use of AMR position sensors, and Hall sensors, optical sensors or capacitive sensors can also be used as position sensors installed in the stator 2 anyway, which are checked according to the present invention. It is also conceivable within the scope of the present invention to use, for example, receiving coils specially provided for this purpose on the stator 2 of a long-stator linear motor or planar motor or even in the above-mentioned drive coils L m1 ,…,L mn The magnets moving with the new mover 3neu, such as, in particular, the position magnets P k The induced voltage is used to derive the position information required for the present invention. It is important that no additional sensor is installed specifically to detect the new mover 3neu.

[0041] Specifically, Figure 3a For this purpose, firstly the sine-cosine signals known from the prior art (in the form of voltage measurement values) are shown. In a known manner, from such a sensor response (sine and cosine trajectory), for example in the form of a voltage u, the position magnet P k The generated magnetic field hits the position sensor S n The angle γ can be used to obtain the movable positions of the magnet P k The position x of , for example, is approximately x = r*arctan(sin(2γ) / cos(2γ)), where r is a known constant factor, for example r = τ p / (2π). It is very common here to show the sensor response SA in a so-called amplitude-phase diagram, which has the absolute value of the amplitude of the magnetic field |A| (amplitude of the sine and cosine trajectory) and the angle γ already mentioned, such as Figure 3b As explained in detail below, when there is a position magnet P k The mover 3 in the AMR sensor S n When moving upward, it also forms a basis Figure 3a and Figure 3bThe details about the generation and processing of such position signals are sufficiently known from the prior art and can be obtained, for example, from documents EP 4 028 725 B1, WO 2021 / 105387 A1 or EP 3376166 B1, so that no further details thereof will be discussed here.

[0042] If the new mover 3neu now moves through the introduction region G according to the invention and thus over at least one position sensor S1 arranged in the introduction region G, which is in this case designed as an AMR sensor, then generally the following occurs: Figure 4 The scene shown. Figure 4 In the case shown, at least one position sensor S1 arranged in the introduction area G outputs a new sensor response SA neu , the new sensor response corresponds to the time curve of the amplitude value and the time curve of the phase value. Figure 4 As shown, during the insertion of the new mover 3neu, different amplitude-phase value pairs are generated at different time points t1, t2, t3, t4, which can be checked according to the invention so that the newly introduced mover 3neu can be inferred. In this case, the new mover 3neu enters the introduction area G at time t1 and reaches the activation criterion A at time t3. krit , and at least one position sensor S1 is covered at time t4, so that the position sensor S1 operates in saturation.

[0043] In conjunction with the mentioned amplitude-phase value pairs, the preset activation criterion A krit For example, it can correspond to the amplitude, such as Figure 4 As shown, and when a new sensor response SA is generated by at least one position sensor S1 disposed in the introduction area G neu The output meets or exceeds the activation criteria A krit When the amplitude of the preset amplitude is , it can be inferred that the newly moved mover 3neu is present. In this case, the activation criterion A preset in the form of an amplitude krit In practice, this usually corresponds to the covering of at least one position sensor S1 by the new mover 3neu, specifically because when using an AMR sensor as a position sensor, the amplitude of the generated sensor response SA increases until the mover 3 is completely above the position sensor S1 and then drops again when the mover 3 moves away from the position sensor S1 again. In this sense, the preset activation criterion A krit A minimum covering of at least one position sensor S1 arranged in the introduction region G by the new mover 3neu can also be preset.

[0044] In an advantageous embodiment of the invention, the entire amplitude-phase value pair can also be monitored, and the conclusion about the new mover 3neu depends not only on the amplitude alone, but also on the phase value to be achieved at the preset amplitude. krit It can correspond to a tuple consisting of the amplitude and phase values ​​to be achieved.

[0045] In a practical implementation of the invention it is advantageous not to examine the sensor response SA separately. neu Isolated value, because the position sensor S n The resulting sensor response SA neu It may usually be noisy and thus distorted. It is therefore usually advantageous to filter the sensor response SA, for example by means of a low-pass filter. neu Filtering is performed, the inflection frequency of the low-pass filter being adapted to the signal frequency and / or noise frequency to be expected in the application. However, for the purpose of noise suppression, it can of course also be provided that the sensor response SA neu An aspect of the amplitude curve and activation criterion A krit Multiple comparisons are performed and activation criterion A is activated only if it has been met multiple times, for example 10, 100 or 1000 times. krit However, in an advantageous manner, in particular the sensor response SA can also be monitored. neu , and when the rising edge or the falling edge has or exceeds a preset edge slope within a preset duration, for example, a newly moved-in new mover 3neu can be inferred.

[0046] In a practical implementation of the invention, it is further advantageous for obvious reasons if the sensor response SA expected by the position sensor SA is known in advance, for example in the form of a sensor model response, which can be generated, for example, from a data table or from previous measurements. krit can be adapted to a number of individual cases, which is often also necessary, since the activation criteria A can be predefined multiple times simply with the aid of existing system knowledge about the sensor model response. krit For example, if you activate standard A krit is selected to be greater than the position sensor S n In an advantageous embodiment of the invention, in addition to the amplitude of the sensor response SA, other properties of the sensor response SA, such as the phase value or the sensor angle, can also be monitored additionally or alternatively, thereby generally further improving the robustness and accuracy of detecting new movers 3neu.

[0047] Regardless of the specific type of analysis of the sensor response SA, but also regardless of the specific type of the sensor response SA itself, it has always proven to be advantageous in the practical implementation of the invention if the new sensor response SA neu is regularly monitored to detect new movers 3neu, the new sensor response being detected by at least one position sensor S1 arranged in the introduction region G when a new mover 3 is introduced. For this purpose, the new sensor response SA neu The monitoring can be performed continuously, for example, at discrete monitoring time points, which are in particular separated by a preset scanning time T. d are spaced apart from one another, as is common in digital signal processing. In this case, one refers to a detection that is not limited in time, since in this way a new sensor response SA is checked. neu It is no longer dependent on a triggering event, but rather takes place continuously during the operation of the electromagnetic transport device 1 in question.

[0048] In another embodiment variant, it can be provided that preferably within a maximum time interval T dmax With the minimum time interval T dmin The time intervals between the time points can be changed between the time points, for which, for example, a random number generator or a criterion which may be related to sensor information detected in a previous scanning step can be used. Since, as in many implementations, it is not known in advance when a new mover 3neu is introduced, an earlier detection can be achieved in this way in certain implementations, since, based on the random principle, when selecting the monitoring time points, it can sometimes be recognized earlier that a new mover 3neu has moved in, for example, when it arrives in the introduction region G between two other fixedly predefined checking time points.

[0049] With the help of Figure 4The time points t1…t4 shown in FIG. 1 can present another particularly advantageous embodiment of the present invention. For this purpose, it should first be noted that merely detecting the new mover 3neu and actually integrating the new mover 3neu as the effective area mover 3 into the control unit C of the long stator linear motor are two things that should be distinguished from each other. This is particularly related to the fact that the generation of position data for describing the position x of the mover 3 in the control unit C is a generally very complex task, which is used to control or regulate or adjust the movement of the mover 3. In the generation of position data in the control unit C, in practice, one or more new position sensors are usually determined from the position x of the mover 3 known at the current time step and the speed known at the current time step, for example, by prediction based on optimization, and their sensor responses SA are processed in future time steps to obtain the new position x of the mover 3. On the one hand, this requires accurate information about the position of the mover 3 at a point in time, and on the other hand, the speed used for precalculation must be known. Relevant details can be found, for example, in WO2021 / 105387A1.

[0050] If the presence of a new mover 3neu is now detected, this does not automatically mean that the newly detected position for this mover 3neu is also directly sufficiently accurate in order to therefore carry out the described determination of the future position sensor taken into account at a subsequent time step and thereby subsequently determine the mentioned position data. In order to accurately determine the position, the speed of the new mover 3neu must also be taken into account many times, especially in the case of Figure 3b In the amplitude curve shown, it is usually only possible to determine whether the new mover 3neu is at the position x=-0.03 or x=0.03 in such an amplitude curve by additionally taking into account the speed of the new mover 3neu, because the amplitude course |A| is symmetrical about the position value x=0.

[0051] In order now not only to detect the new mover 3neu but also to integrate it into the position control based on the corresponding position data generation, it is possible within the scope of the invention to proceed as follows: Based on the new sensor response SA neu The first value SA1 detected at the first time point t1 and the new sensor response SA neu The sensor response gradient GSA is obtained by calculating the second value SA2 detected at the second time point t2 which is different from the first value SA1. neu According to the sensor response gradient GSA neuThe speed of the new mover 3neu and the position of at least one position sensor S1 arranged in the introduction region G can also be determined, and if necessary, the direction of movement of the new mover and the predicted position of the mover 3neu can also be determined. The speed and predicted position thus determined can be transmitted to the control unit C for integrating the new mover 3neu into an internal position detection system running in the control unit C. It is applicable here that the determination of the speed becomes more robust when the corresponding position sensor is covered by the mover 3neu to the greatest extent possible, because in this case, in particular, the influence of external interference fields, in particular magnetic interference fields, is reduced.

[0052] According to the above-mentioned embodiment, the processing method according to the present invention comprises a plurality of steps, which are then Figure 5 The flow chart shown is clearly outlined.

[0053] In the case of the long-stator linear motor 1 considered so far as the electromagnetic transport device 1, an introduction region G is defined in step I. This means that, for example, an introduction region G is predefined by the user (for example in the form of a cuboid, a cube, a plane, a line or a point), via or through which the newly introduced mover 3neu is moved in. Starting from the definition of the introduction region G, at least one position sensor S1 located in the introduction region G is determined and subsequently monitored.

[0054] In step II, the new mover 3neu is initially still outside the introduction region G, which results in the position sensor not yet being detected by the position magnet P present on the new mover 3neu. k The sensor response SA is lower than the preset activation level A. krit , for example less than 90% of the maximum voltage that can be generated by the position sensor.

[0055] In step III, the new mover 3neu reaches the introduction region G, which results in the position magnet P arranged on the new mover 3neu. k Affects at least one position sensor and then reaches activation criterion A krit With the aid of this information it can be determined that the new mover 3neu is located in the introduction region G. However, it is not clear whether the introduction region G is being driven over from the left or the right. The angular change of the position sensor can therefore be monitored in a particularly advantageous manner.

[0056] Therefore, in order to optionally determine the direction of movement, data points from the sensor response are collected in step IV and the gradient is advantageously determined. Based on this gradient and advantageously based on existing model knowledge (e.g. based on the sensor model response), it can be determined whether the new mover 3neu moves from the left or right through or over the introduction region G. It can be assumed that the basic position is calculated. Because in the edge region, the new sensor response SAneu However, this basic position may be strongly influenced by variations in manufacturing technology and external magnetic fields, so it is usually not stable enough to provide adjustments accordingly, so further observations can be made on the basic position calculated based on the sensor.

[0057] In step V, the position formation is then stabilized as soon as external magnetic fields and manufacturing tolerances no longer have an influence on the determined position signal. The internal position detection system running in the control unit C can thus start with the determined basic position as the initial position of the new mover 3neu. The new mover 3neu is therefore integrated in principle into the electromagnetic transport device 1 and its control unit C.

[0058] As already mentioned above, the use of the invention is by no means limited to long-stator linear motors 1. In particular, the invention can also be applied to planar motors (PM) which are sufficiently known from the relevant literature. In this case, Figure 6 The stator of a planar electric machine 1 is shown with an introduction region G according to the invention. The introduction region G in a planar electric machine 1 usually comprises a plurality of position sensors S n , which can also be the case in the case of long-stator linear motors 1. If there are multiple position sensors in the introduction region G, such as the previous S1, S2, S3, then the sensor responses SA of multiple position sensors can also be monitored simultaneously to detect the new mover 3neu, and when this becomes apparent from all monitored sensor responses SA, a new mover 3neu can be inferred. For this purpose, of course, the previously used position sensors can also be adjusted Figure 4 Explain step III of the flowchart.

[0059] There are a number of further alternative design possibilities within the scope of the planar electric machine 1 , namely, for example, when a single position sensor S n Has generated more than the activation criteria A krit When the sensor response SA is SA, the new mover 3neu can be inferred. Similarly, multiple position sensors S n Sensor response SA neu The sensors can preferably be combined in a weighted manner with appropriate weights, in which case the sensor combination is mentioned, and the resulting combined sensor response is monitored according to the invention. Of course, these ideas also apply to long-stator linear motors, in which the introduction area includes a plurality of position sensors S n In planar electric machines 1 , it is often true that, due to the generally at least one additional degree of freedom compared to long-stator linear machines, a larger lead-in region G is advantageous, which in particular includes a plurality of position sensors S nIn this way, new movers 3neu can also be detected, whose movements during introduction are designed to be more complex than in long-stator linear motors, where movements with only one degree of freedom are the rule. In this case, criterion A is activated. krit It may be required that a certain preset number of the plurality of position sensors must provide a sensor response whose amplitude exceeds a preset amplitude threshold in order to detect a new mover 3neu.

Claims

1. A method for operating an electromagnetic transport device (1), the electromagnetic transport device comprising a stator (2), an action region mover (3) located in a magnetic action region (MB) of the stator (2), and a control unit (C), wherein a plurality of electric drive coils (Lm1, ..., Lmn) are arranged on the stator, the control unit electrically controls the drive coils (Lm1, ..., Lmn) arranged on the stator (2), the drive coils interacting with the action region mover (3) to move the action region mover (3), wherein: A plurality of position sensors (S n ), and a plurality of position magnets (P k ), so that at least one position sensor (S n ) detects a magnetic field in the form of a sensor response (SA), which is transmitted by a position magnet (P) arranged on the mover (3) in the active area. k ) causes the position magnet to be in contact with the at least one position sensor (S n ) interaction, and wherein a new mover (3neu) is introduced as a new active region mover (3) into the magnetic active region (MB) of the stator (2), characterized in that an introduction region (G) is determined, which extends over a portion of the stator (2) and includes a plurality of position sensors (S) arranged on the stator (2) n ), and the new mover (3neu) moves through the introduction area (G) for introduction into the magnetic action area (MB) of the stator (2), monitoring the new sensor response (SA) detected by the at least one position sensor (S1) arranged in the introduction area (G) when the new mover (3neu) is introduced. neu ), and when the new sensor responds (SA neu ) meets or exceeds the preset activation criteria (A krit ), the control unit (C) starts to control the drive coils (Lm1, ..., Lmn) that interact with the new mover (3neu) for the movement of the new mover (3neu).

2. The method according to claim 1, characterized in that Periodically monitoring a new sensor response (SA) detected by the at least one position sensor (S1) arranged in the introduction region (G) when the new mover (3neu) is introduced neu ) is used to detect the new mover (3neu).

3. The method according to claim 1 or 2, characterized in that: The preset activation criteria (A krit ) corresponds to a preset minimum coverage of the at least one position sensor (S1) arranged in the introduction area (G) by the new mover (3neu).

4. The method according to any one of the preceding claims, characterized in that The new sensor response (SA neu ) has an amplitude curve over time and a phase curve over time, and the activation standard (A krit ) is preset to an amplitude value or a phase value, or is preset to a tuple including an amplitude value and a phase value.

5. The method according to any one of the preceding claims, characterized in that The activation criteria (A krit ) is derived from a preset sensor model response of a position sensor (S1) arranged in the introduction area (G).

6. The method according to any one of the preceding claims, characterized in that The new sensor response (SA neu ) in accordance with the activation criteria (A krit ) are low-pass filtered before comparison.

7. The method according to any one of the preceding claims, characterized in that From the new sensor response (SA neu ) at a first time point (t1) and from the new sensor response (SA neu ) is detected at a second time point (t2) and is different from the first value to obtain a sensor response gradient (GSA neu ), and from the sensor response gradient (GSA neu ) and the position of the at least one position sensor (S1) arranged in the introduction area (G) to obtain the predicted position of the new mover (3neu), and transmit the predicted position to the control unit (C) for integrating the new mover (3neu) into an internal position detection system running in the control unit (C).

8. The method according to any one of the preceding claims, characterized in that When the new sensor responds (SA neu ) meets or exceeds the activation criteria (A krit ), the new mover (3neu) is taken into account in an internal position detection system provided in the control unit (C).

9. The method according to any one of the preceding claims, characterized in that The introduction area (G) is defined as a plane, a straight line or a point coinciding with the position of the at least one position sensor (S1).

10. The method according to any one of the preceding claims, characterized in that The at least one position sensor (S1) is embodied as an AMR sensor, a Hall sensor, an optical sensor, an inductive sensor or a capacitive sensor.

11. An electromagnetic transport device (1), comprising a stator (2), an action region mover (3) located in a magnetic action region (MB) of the stator (2), and a control unit (C), wherein a plurality of electric drive coils (Lm1, ..., Lmn) are arranged on the stator, the control unit electrically controls the drive coils (Lm1, ..., Lmn) arranged on the stator (2), the drive coils interacting with the action region mover (3) to move the action region mover (3), wherein: A plurality of position sensors (S n ), and a plurality of position magnets (P k ), so that at least one position sensor (S n ) detects a magnetic field in the form of a sensor response (SA), which is detected by a position magnet (P) arranged on the mover (3) in the active area. k ) causes the position magnet to be in contact with the at least one position sensor (S n ) interaction, and wherein a new mover (3neu) is provided, which is introduced into the magnetic action area (MB) of the stator (2) as a new action area mover (3), characterized in that an introduction area (G) is determined, which extends over a part of the stator (2) and includes a plurality of position sensors (S) arranged on the stator (2) n ), and the new mover (3neu) is able to move through the introduction area (G) for introduction into the magnetic action area (MB) of the stator (2), monitoring the new sensor response (SA) detected by the at least one position sensor (S1) arranged in the introduction area (G) when the new mover (3) is introduced neu ), and the control unit (C) is further designed to, when the new sensor response (SA neu ) meets or exceeds the preset activation criteria (A krit ), the driving coils (Lm1, ..., Lmn) that interact with the new mover (3neu) for the movement of the new mover (3neu) begin to be controlled.

12. The electromagnetic transport device (1) according to claim 11, characterized in that The magnetic transport device (1) is implemented as a long-stator linear motor or a planar motor.

13. A transport device (100) comprising an electromagnetic transport device (1) according to claim 11 or 12 and at least one external introducer for introducing a new mover (3neu) into the magnetic action zone (MB) of the electromagnetic transport device (1).

14. The transport device (100) according to claim 13, characterized in that The external introducer is implemented as a continuous conveyor, preferably as a conveyor belt (4).

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