Transmission system and rotor position detection method thereof

Abstract

The invention provides a transmission system and a rotor position detection method thereof. The transmission system comprises a stator, a rotor and a processing unit, the stator comprises a plurality of stator units, and each stator unit is provided with a stator coil and a sensing module; each sensing module comprises a first sensing unit and a second sensing unit; the processing unit can be used for judging whether all the sensor groups in the second sensing unit of the current stator unit where the rotor is located sense effective signals or not when the rotor moves along the transmission path; when it is determined that all the sensor groups sense effective signals, the first sensing unit of the current stator unit is determined to be in an effective state; and acquiring a first periodic position signal sensed by the first sensing unit of the current stator unit, and determining the absolute position of the rotor on the stator according to the first periodic position signal. According to the invention, the accuracy of determining the position of the rotor is improved.

Description

Technical Field

[0001] The present invention relates to the field of transmission technology, and in particular to a transmission system and a method for detecting a position of a mover thereof. Background Art

[0002] At present, the conveyor line usually has two parts: a stator module and a mover. The stator module is spliced ​​and combined to form a path for the mover to move. The mover moves on the path formed by the stator module. However, the current conveyor line usually has a problem that it is difficult to accurately detect the absolute position of the mover when the mover moves. Summary of the invention

[0003] In view of this, the object of the present invention is to provide a transmission system and a method for detecting the position of a mover thereof, which can improve the stability of the stator driving the mover to move, can accurately lock the first sensor unit corresponding to the current position reached by the mover, and can accurately determine the absolute position of the mover on the stator during the movement of the mover based on the first periodic position signal detected by the first sensor unit in an effective state, thereby improving the accuracy of the mover position determination.

[0004] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a transmission system, including: a stator, a mover, and a processing unit;

[0006] The stator comprises a plurality of stator units, which are sequentially arranged along the transmission path, each of which comprises a stator coil and a sensor module, and the mover comprises a first magnet array and a second magnet array, and the first magnet array can drive the mover to move along the transmission path under the drive of the stator coil;

[0007] Each of the sensing modules comprises a first sensing unit and a second sensing unit, wherein the first sensing unit is used to sense the magnets in the second magnet array to obtain a periodic position signal, and the second sensing unit comprises a plurality of sensor groups, wherein each of the sensor groups is used to sense the magnets in the second magnet array to obtain a valid signal;

[0008] The processing unit may be used to:

[0009] When the mover moves along the transmission path, determining whether all sensor groups in the second sensor unit of the current stator unit where the mover is located sense valid signals;

[0010] When it is determined that all the sensor groups have sensed valid signals, determining the first sensor unit of the current stator unit to be in a valid state;

[0011] A first periodic position signal sensed by a first sensing unit of the current stator unit is acquired, and the absolute position of the mover on the stator is determined according to the first periodic position signal.

[0012] Further, the embodiment of the present invention provides a first possible implementation manner of the first aspect, wherein the processing unit may be used for:

[0013] After determining the absolute position of the mover on the stator, and when the mover moves along the transmission path, determining whether the sensor group in the second sensor unit of the next stator unit senses a valid signal;

[0014] When it is determined that all sensor groups in the second sensor unit of the next stator unit have sensed and obtained valid signals, the first sensor unit in the sensor module of the next stator unit is determined to be in a valid state;

[0015] A second periodic position signal sensed by the first sensing unit of the next stator unit is acquired, and the absolute position of the mover on the stator is determined according to the second periodic position signal.

[0016] Further, the embodiment of the present invention provides a second possible implementation of the first aspect, wherein the processing unit may be used for:

[0017] When the first sensing unit of the current stator unit is in a valid state and the first sensing unit of the next stator unit is in a valid state, the second periodic position signal is used to determine the absolute position of the mover on the stator, and the first periodic position signal is no longer processed.

[0018] Further, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein determining the absolute position of the mover on the stator according to the first periodic position signal includes:

[0019] Acquiring preset sensing position information when the first sensing unit is determined to be in a valid state, wherein the preset sensing position information is determined according to the arrangement structure of the magnets in the second magnet array of the mover and the arrangement structure of the sensing module of the stator unit;

[0020] Determine, according to the first periodic position signal, induction offset information of a magnet in the second magnet array corresponding to the position of the first sensing unit when the first sensing unit is in an effective state;

[0021] The absolute position of the mover on the stator is determined according to the preset sensing position information and the sensing offset information.

[0022] Furthermore, the embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the processing unit may be used for:

[0023] After determining the absolute position of the mover on the stator, and while the mover continues to move along the transmission path, acquiring in real time a third periodic position signal sensed by the first sensing unit;

[0024] Determining superimposed position information according to the acquired third periodic position signal;

[0025] The absolute position of the mover on the stator is determined in real time according to the absolute position of the mover on the stator when the first sensing unit is in an effective state and the superimposed position information.

[0026] Furthermore, an embodiment of the present invention provides a fifth possible implementation of the first aspect, wherein the second magnet array includes a plurality of magnets with N poles and S poles alternately arranged along the direction of the transmission path.

[0027] Further, an embodiment of the present invention provides a sixth possible implementation of the first aspect, wherein the sensor group includes two sensors, the two sensor groups are arranged along the transmission path direction, and the sensors are used to sense the N pole or S pole of the magnet in the second magnet array, so that the sensor group including the sensors obtains a valid signal; and / or,

[0028] The length of the second magnet array is greater than or equal to the distance between center points of two adjacent sensor modules.

[0029] Further, an embodiment of the present invention provides a seventh possible implementation of the first aspect, wherein, when the transmission path is a straight line, the length of the first magnet array along the transmission path is greater than or equal to the distance between the center points of two adjacent stator coils, and when the transmission path is an arc, the length of the first magnet array along the transmission path is greater than or equal to the length of the arc line between the center points of two adjacent stator coils along the transmission path; and / or,

[0030] The first sensing unit is located at the center of the sensing module along the transmission path, and the sensor groups are arranged along the transmission path and are symmetrically distributed with the first sensing unit as the center; and / or,

[0031] Each of the sensing modules further includes a signal receiving unit and a signal sending unit, wherein the signal sending unit is used to transmit a periodic position signal of a first sensing unit in a stator unit including the signal receiving unit to a signal receiving unit of an adjacent stator unit.

[0032] In a second aspect, an embodiment of the present invention further provides a method for detecting the position of a mover of a transmission system, which is applied to a processing unit in the transmission system according to any one of the first aspects, and the method for detecting the position of the mover includes:

[0033] When the mover moves along the transmission path, determining whether all sensor groups in the second sensor unit of the current stator unit where the mover is located sense valid signals;

[0034] When it is determined that all the sensor groups have sensed valid signals, the first sensor unit of the current stator unit is set to a valid state;

[0035] A first periodic position signal sensed by a first sensing unit of the current stator unit is acquired, and the absolute position of the mover on the stator is determined according to the first periodic position signal.

[0036] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the second aspect are executed.

[0037] An embodiment of the present invention provides a transmission system and a method for detecting the position of a mover thereof. The transmission system includes: a stator, a mover and a processing unit; the stator includes a plurality of stator units, the plurality of stator units are arranged in sequence along a transmission path, each stator unit has a stator coil and a sensor module, the mover has a first magnet array and a second magnet array, the first magnet array can drive the mover to move along the transmission path under the drive of the stator coil; each sensor module includes a first sensor unit and a second sensor unit, the first sensor unit is used to sense the magnets in the second magnet array to obtain a periodic position signal, and the second sensor module is used to sense the magnets in the second magnet array to obtain a periodic position signal. The sensing unit includes a plurality of sensor groups, each of which is used to sense the magnets of the second magnet array to obtain a valid signal; the processing unit can be used to: when the mover moves along the transmission path, determine whether all the sensor groups in the second sensing unit of the current stator unit where the mover is located sense a valid signal; when it is determined that all the sensor groups have sensed a valid signal, set the first sensing unit of the current stator unit to a valid state; obtain the first periodic position signal sensed by the first sensing unit of the current stator unit, and determine the absolute position of the mover on the stator according to the first periodic position signal. The present invention improves the stability of the stator driving the mover to move by arranging multiple stator units in a transmission system, and arranging a stator coil capable of driving the mover to move and a first sensor unit and a second sensor unit capable of sensing the mover in the stator unit. By determining the first sensor unit in an effective state based on the change state of the effective signal detected by multiple sensor groups in the second sensor unit, the first sensor unit corresponding to the current position reached by the mover can be accurately locked. By determining the absolute position of the mover on the stator according to the first periodic position signal detected by the first sensor unit in the effective state, the absolute position of the mover on the stator during the movement of the mover can be accurately determined, thereby improving the accuracy of the mover position determination.

[0038] Other features and advantages of the embodiments of the present invention will be described in the following description, or some features and advantages can be inferred or determined without doubt from the description, or can be learned by implementing the above-mentioned techniques of the embodiments of the present invention.

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 A schematic diagram of the structure of a transmission system provided by an embodiment of the present invention is shown;

[0042] Figure 2 A schematic diagram of the structure of a second magnet array provided by an embodiment of the present invention is shown;

[0043] Figure 3 A schematic diagram of a single Hall sensor detection signal provided by an embodiment of the present invention is shown;

[0044] Figure 4 A schematic diagram of a sensor group detection signal provided by an embodiment of the present invention is shown;

[0045] Figure 5 A schematic diagram of an AMR sensor detection signal provided by an embodiment of the present invention is shown;

[0046] Figure 6 A schematic diagram of the structure of a sensor module provided by an embodiment of the present invention is shown;

[0047] Figure 7 A flow chart of a method for detecting the position of a mover of a transmission system provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The embodiments of the present invention provide a transmission system and a method for detecting the position of a mover thereof. The embodiments of the present invention are described in detail below.

[0049] This embodiment provides a transmission system, which includes: a stator, a mover, and a processing unit;

[0050] See also Figure 1 The schematic diagram of the transmission system structure shown in the figure, the stator includes a plurality of stator units 10, the plurality of stator units 10 are arranged in sequence along the transmission path 30, each stator unit has a stator coil 11 and a sensor module 12, the mover 20 has a first magnet array 21 and a second magnet array 22, and the first magnet array 21 can drive the mover 20 to move along the transmission path under the drive of the stator coil 11;

[0051] Each sensing module 12 includes a first sensing unit 121 and a second sensing unit 122. The first sensing unit 121 is used to sense the magnets in the second magnet array 22 to obtain a periodic position signal. The second sensing unit 122 includes a plurality of sensor groups. Each sensor group is used to sense the magnets in the second magnet array 22 to obtain a valid signal.

[0052] The transmission path 30 provided in this embodiment can be a substrate, which is extended and arranged in a preset path direction, and the stator coils 11 are evenly distributed below the substrate. The first magnet array 21 on the mover 20 can move along the transmission path 30 under the action of the stator coils 11 arranged at intervals. The first magnet array 21 can be a power magnet.

[0053] Processing Unit ( Figure 1 ) are respectively connected to each sensor group in the second sensor unit 122 and the second sensor unit 122 for communication, and the processing unit can be used for:

[0054] When the mover 20 moves along the transmission path, it is determined whether all sensor groups in the second sensor unit 122 of the current stator unit 10 where the mover 20 is located sense valid signals; when it is determined that all sensor groups sense valid signals, the first sensor unit 121 of the current stator unit 10 is determined to be in a valid state; the first periodic position signal sensed by the first sensor unit 121 of the current stator unit 10 is obtained, and the absolute position of the mover 20 on the stator is determined according to the first periodic position signal.

[0055] After the stator 10 is energized, the mover 20 starts to move along the transmission path driven by the stator coil 11, and acquires data information detected by each sensor group of each second sensor unit 122 in real time to determine whether there is a sensor group that detects a valid signal. In a specific embodiment, the valid signal may be a high-level signal. For the sensor group that detects a valid signal, it is detected whether the second sensor unit 122 where the sensor group is located changes from detecting a valid signal in some sensor groups to detecting a valid signal in all sensor groups. If so, it indicates that the mover 20 has reached the position corresponding to the sensor module including the second sensor unit 122, and the first sensor unit 121 in the sensor module where the mover 20 has reached the position is set to a valid state.

[0056] The periodic position signal sensed by the first sensor unit 121 which is currently in an effective state is acquired in real time, recorded as the first periodic position signal, and the absolute position of the mover 20 on the stator is determined according to the position of the sensor module where the first sensor unit 121 in an effective state is located and the first periodic position signal sensed by the first sensor unit 121. The absolute position may include the sensor module number on the stator where the mover 20 is located and the offset relative to the sensor module. Of course, according to actual conditions, the absolute position may also include others, so it is not limited to this.

[0057] The above-mentioned transmission system provided by the present embodiment improves the stability of the stator driving the mover to move by arranging multiple stator units in the transmission system, and arranging a stator coil capable of driving the mover to move and a first sensor unit and a second sensor unit capable of sensing the mover in the stator unit. By determining the first sensor unit in an effective state based on the change state of the effective signal detected by multiple sensor groups in the second sensor unit, the first sensor unit corresponding to the current position reached by the mover can be accurately locked. By determining the absolute position of the mover on the stator according to the first periodic position signal detected by the first sensor unit in an effective state, the absolute position of the mover on the stator during the movement of the mover can be accurately determined, thereby improving the accuracy of the determination of the mover position.

[0058] In one embodiment, the processing unit provided in this embodiment may be used to:

[0059] After the absolute position of the mover on the stator is determined, and when the mover moves along the transmission path, it is determined whether the sensor group in the second sensor unit of the next stator unit senses a valid signal; when it is determined that all the sensor groups in the second sensor unit of the next stator unit sense a valid signal, the first sensor unit in the sensor module of the next stator unit is determined to be in a valid state; the second periodic position signal sensed by the first sensor unit of the next stator unit is obtained, and the absolute position of the mover on the stator is determined according to the second periodic position signal.

[0060] When the mover moves along the transmission path, the mover will gradually move away from the current stator unit and gradually approach the next stator unit. When all the sensor groups in the second sensor unit of the next stator unit sense and obtain valid signals, it indicates that the mover has reached the next stator unit, and the first sensor unit in the sensor module of the next stator unit is determined to be in a valid state. The periodic position signal detected by the first sensor unit in the next stator unit in a valid state is recorded as the second periodic position signal. The absolute position of the mover on the stator is determined according to the second periodic position signal detected by the first sensor unit in the next stator unit where the mover is currently located.

[0061] In one embodiment, when the mover gradually moves away from the current stator unit and some sensor groups in the sensor module of the next stator unit in the transmission path direction detect valid signals, it indicates that the mover begins to approach the next stator unit but has not reached the next stator unit, and the first sensor unit in the sensor module of the next stator unit has not yet become valid. At this time, the absolute position of the mover on the stator is still determined based on the first periodic position signal sensed by the first sensor unit of the current stator unit.

[0062] In one embodiment, the processing unit provided in this embodiment can be used for: when the first sensor unit of the current stator unit is in a valid state, and the first sensor unit of the next stator unit is in a valid state, the second periodic position signal detected by the first sensor unit in the next stator unit is used to determine the absolute position of the mover on the stator, and the first periodic position signal is no longer processed.

[0063] When the first sensing unit of the current stator unit is in a valid state, and the first sensing unit in the sensing module of the next stator unit is in a valid state, it indicates that the mover has left the current stator unit and has arrived at the next stator unit. In order to improve the accuracy of the position determination of the mover, the absolute position of the mover on the stator is determined based on the second periodic position signal sensed by the first sensing unit of the next stator unit where the mover is currently located, and the first periodic position signal sensed by the first sensing unit of the current stator unit becomes an invalid signal and is no longer used for processing. In practical applications, the first sensing unit of the current stator unit can be determined as an invalid state to solve the problem of data redundancy.

[0064] In one embodiment, this embodiment provides a specific implementation method for determining the absolute position of the mover on the stator according to the first periodic position signal:

[0065] Obtain preset sensing position information when the first sensing unit is determined to be in an effective state, wherein the preset sensing position information is determined according to the arrangement structure of the magnets in the second magnet array of the mover and the arrangement structure of the sensor module of the stator unit; determine, according to the first periodic position signal, the sensing offset information of the magnet in the second magnet array corresponding to the position of the first sensing unit when the first sensing unit is in an effective state; determine the absolute position of the mover on the stator according to the preset sensing position information and the sensing offset information.

[0066] Specifically, the second magnet array includes a plurality of magnets with N poles and S poles alternately arranged along the transmission path 30. During the movement of the mover, the first sensing unit can read a periodically changing signal, and then the processing unit can detect the relative displacement of the mover based on the periodic position signal read by the first sensing unit. Of course, the second magnet array can also be configured to adopt a structure using other sensing methods, not limited to magnetic sensing methods, for example, it can also adopt a light sensing method.

[0067] Each pole pair in the second magnet array can be numbered in advance to form a unique serial number corresponding to each pole pair, that is, the serial number corresponds to the pole pair one by one; on this basis, the moment when all sensor groups in the second sensor unit sense and obtain valid signals is formed with the serial number of the pole pair corresponding to the first sensor unit at this time, and this corresponding relationship is pre-stored in the processing unit. Of course, another processor can also be added to distinguish which one or several first sensor units the acquired periodic position signal comes from (or which one or several second sensor units all the acquired sensor groups sense and obtain valid signals from), and determine which interval range of the transmission path the mover is currently in according to the position of the corresponding first sensor unit (or second sensor unit). On this basis, the processing unit combines the analysis results of the processor to determine the absolute position on the stator of the mover. Among them, the pole pair is a combination of adjacent N poles and S poles in the second magnet array, each N pole in the second magnet array belongs to a pole pair corresponding to a unique serial number, and each S pole in the second magnet array also belongs to a pole pair corresponding to a unique serial number.

[0068] For example, in one embodiment, the first sensing unit may include an AMR sensor (i.e., anisotropic magnetoresistance (Anisotropic Magneto Resistance) sensor), which may generate an angle signal for each pole pair passing through it (when the angle signal detected by the AMR sensor switches from 90° to -90°, the pole pair number is increased by 1), and the angle signal may be calculated and converted into the pole pair number currently corresponding to the first sensing unit, that is, it may be obtained how many pole pairs of the second magnet array have passed through the first sensing unit; in addition, the induction offset information of the magnet corresponding to the position of the first sensing unit in the second magnet array may be determined based on the angle signal, that is, the induction offset information of the pole pair corresponding to the position of the first sensing unit in the second magnet array relative to the first sensing unit, that is, the displacement of the pole pair relative to the first sensing unit from the time when the first sensing unit just senses the pole pair to the time when the position needs to be determined.

[0069] According to the specific position of the arrangement of the sensor module where the first sensor unit in the effective state is located and the arrangement structure of the magnets in the second magnet array of the mover, the position information of the pole pair corresponding to the first sensor unit in the second magnet array when the first sensor unit is just determined to be in the effective state can be predetermined, that is, the preset sensing position information when the first sensor unit is just determined to be in the effective state. According to the preset sensing position information when the first sensor unit is determined to be in the effective state and the sensing offset information of the magnet corresponding to the position of the first sensor unit in the second magnet array, the absolute position of the mover on the stator is determined.

[0070] Exemplarily, it is assumed that the sensor group includes sensor group 1 to sensor group 3. When the second sensor unit changes from a valid state of sensor group 1 and sensor group 2 to a valid state of sensor group 1 to sensor group 3, or from a valid state of sensor group 2 and sensor group 3 to a valid state of sensor group 1 to sensor group 3, the preset sensing position information is determined according to the arrangement structure of the magnets in the second magnet array of the mover and the setting position of the AMR sensor of the sensor module of the stator unit, and the sensing offset information of the magnet is determined according to the periodic position signal of the second magnet array detected by the AMR sensor.

[0071] In practical applications, the spacing between two adjacent movers on the transmission system usually needs to be greater than 15 mm to prevent the sensor groups in the adjacent sensor modules from all sensing valid signals and failing to determine the number of movers in the transmission system. Anti-collision columns may also be provided in the above transmission system. When two movers are close together, the spacing between the two anti-collision columns may be about 20 mm or more to prevent the movers from being close together.

[0072] In one embodiment, the processing unit provided in this embodiment may be used to:

[0073] After the absolute position of the mover on the stator is determined, and when the mover continues to move along the transmission path, the third periodic position signal sensed by the first sensing unit is acquired in real time; the superimposed position information is determined based on the acquired third periodic position signal; the absolute position of the mover on the stator is determined in real time based on the absolute position of the mover on the stator when the first sensing unit is in an effective state and the superimposed position information.

[0074] After the absolute position of the mover on the stator is determined, and when the mover continues to move along the transmission path, the periodic position signal sensed by the first sensing unit is recorded as a third periodic position signal, and the incremental position information of the mover after the above-determined absolute position is determined according to the third periodic position signal. The absolute position of the mover on the stator is determined in real time according to the determined absolute position and the incremental position information added thereafter.

[0075] In a specific embodiment, the first sensing unit may include an AMR sensor, which may generate an angle signal for each pole pair passing through the AMR sensor, such as Figure 5 As shown, when the angle signal detected by the AMR sensor switches from 90° to -90°, the second magnet array may include alternatingly arranged N poles and S poles, indicating that a pole pair in the second magnet array passes through the AMR sensor, and the incremental position information is calculated through the angle signal.

[0076] In one embodiment, the second magnet array includes a plurality of magnets with N poles and S poles alternately arranged along the transmission path direction.

[0077] See Figure 2 As shown in the schematic diagram of the second magnet array structure, the second magnet array includes a plurality of N poles and S poles, and the N poles and S poles are alternately arranged along the transmission path direction, so that the first sensing unit can alternately sense the N poles and S poles.

[0078] In one embodiment, the sensor group includes two sensors, the two sensor groups are arranged along the transmission path, and the sensors are used to sense the N magnetic pole or the S magnetic pole of the magnet in the second magnet array, so that the sensor group including the sensors obtains a valid signal;

[0079] When any one of the sensors in the sensor group detects a valid signal, it is determined that the sensor group has detected a valid signal. Since the above-mentioned sensor senses the N pole or S pole of the magnet in the second magnet array, when the mover passes through the sensor module, the valid signal detected by a single sensor is a 0101 jump signal, and it is difficult to accurately determine whether the signal detected by the sensor is valid. By treating two adjacent sensors as a sensor group, the valid signal detected by the sensor group will not jump, and the processing unit can quickly and accurately find the sensor group that detects the valid signal.

[0080] In a specific embodiment, the sensor may be a Hall sensor. Since the N poles and the S poles in the second magnetic array are arranged alternately, see Figure 3 As shown in the schematic diagram of a single Hall sensor detecting signal, when the mover passes through the sensor module, the signal detected by the single Hall sensor is a 0101 jump signal, and it is impossible to accurately determine whether the signal detected by the Hall sensor is valid.

[0081] Consider two adjacent Hall sensors as a sensor group, see Figure 4 As shown in the schematic diagram of sensor group detection signal, when the detection signal of the sensor group composed of two adjacent Hall sensors is valid, no signal jump will occur, so it can be accurately judged whether the sensor group detects a valid signal, thereby improving the accuracy of the mover position detection.

[0082] In one embodiment, the length of the second magnet array is greater than or equal to the distance between center points of two adjacent sensing modules.

[0083] By setting the length of the second magnet array to be greater than or equal to the distance between the center points of two adjacent sensor modules (that is, the distance between two adjacent first sensor units), the second magnet array can always sense the first sensor unit in the sensor module, and the first sensor unit can detect the second magnet array at any time, thereby detecting the position signal of the mover in real time.

[0084] In practical applications, the length of the second magnet array can be equal to the sum of the distance between the center points of two adjacent sensor modules and the preset length. For example, the distance between the center points of two adjacent sensor modules is 250mm, and the preset length is 25mm, then the length of the second magnet array is 250mm+25mm. By setting the preset length, it can be avoided that the two adjacent first sensor units are in the critical feedback state and cannot accurately detect the absolute position of the mover, and at the same time, the position detection error caused by the uneven magnetic field at both ends of the mover can be avoided.

[0085] In one embodiment, when the transmission path is a straight line, the length of the first magnet array along the transmission path is greater than or equal to the distance between the center points of two adjacent stator coils; when the transmission path is an arc, the length of the first magnet array along the transmission path is greater than or equal to the length of the arc line between the center points of two adjacent stator coils along the transmission path;

[0086] In order to ensure the dynamic stability of the driven mover, when the transmission path is a straight line, the length of the first magnet array on the mover needs to be greater than or equal to the distance between the center points of two adjacent stator coils. For example, if the distance between two adjacent stator coils is d1, then the length of the first magnet array on the mover along the transmission direction is greater than or equal to d1+coil length, that is, the length of the first magnet array along the transmission direction is greater than or equal to the distance between the center points of two adjacent stator coils, thereby ensuring that the mover can be driven to move at any position on the transmission path.

[0087] When the transmission path is arc-shaped, the length of the first magnet array on the mover can be determined from the arc distance. The length of the first magnet array on the mover is greater than or equal to the circumference of the arc between the center points of two adjacent stator coils, so that the length of the first magnet array on the mover always overlaps with the stator coil part in the projection direction, thereby improving the stability of the mover drive.

[0088] In one embodiment, the first sensing unit is located at the center of the sensing module along the transmission path, and the sensor group is arranged along the transmission path and symmetrically distributed with the first sensing unit as the center;

[0089] See Figure 6 As shown in the schematic diagram of the sensor module structure, the sensor module 12 includes a first sensor unit 121 and a second sensor unit 122. The first sensor unit 121 is located at the center of the sensor module 12 along the transmission path direction. The sensor group of the second sensor unit 122 includes multiple sensors 51~5N. Two adjacent sensors form a sensor group, such as sensor 51 and sensor 52 form a sensor group, and sensor 53 and sensor 54 form a sensor group. The sensor groups are symmetrically distributed around the first sensor unit, that is, the sensor groups are symmetrically distributed around the center of the sensor module.

[0090] In one embodiment, each sensing module further includes a signal receiving unit and a signal sending unit, wherein the signal sending unit is used to transmit the periodic position signal of the first sensing unit in the stator unit including the signal receiving unit to the signal receiving unit of the adjacent stator unit.

[0091] like Figure 6 As shown, the sensing module 12 further includes a signal receiving unit 123 and a signal sending unit 124. The signal sending unit 124 transmits the periodic position signal detected by the first sensing unit 121 in the sensing module 12 to the signal receiving unit of the next sensing module in the direction of the transmission path.

[0092] In a specific implementation, the signal receiving unit 123 and the signal sending unit 124 may include a wireless communication element or a communication interface element, such as a 485 communication interface. The signal receiving unit 123 receives the adjacent sensor module (i.e. Figure 6 The position signal sent by the signal sending unit 124 to the sensor module 12 on the left side of the sensor module 12 in the transmission path direction; the signal sending unit 124 to the adjacent sensor module (i.e. Figure 6 The signal receiving unit 123 in the sensor module 12 on the right side of the sensor module 12 sends a position signal, that is, Figure 6 The sensor module 12 in the figure can exchange position information with the sensor module on the left and the sensor module on the right through the signal receiving unit 123 and the signal sending unit 124 respectively.

[0093] Corresponding to the transmission system provided in the above embodiment, the embodiment of the present invention provides a method for detecting the position of a mover of the transmission system. The method can be applied to the processing unit in the transmission system provided in the above embodiment, see Figure 7 The flow chart of a method for detecting the position of a mover of a transmission system is shown, and the method mainly comprises the following steps:

[0094] Step S602, when the mover moves along the transmission path, it is determined whether all sensor groups in the second sensor unit of the current stator unit where the mover is located sense valid signals;

[0095] Step S604, when it is determined that all sensor groups have sensed valid signals, the first sensor unit of the current stator unit is set to a valid state;

[0096] Step S606, obtaining a first periodic position signal sensed by the first sensing unit of the current stator unit, and determining the absolute position of the mover on the stator according to the first periodic position signal.

[0097] The method for detecting the position of the mover of the transmission system provided in the present embodiment improves the stability of the movement of the mover driven by the stator by arranging multiple stator units in the transmission system, and arranging a stator coil capable of driving the mover to move and a first sensor unit and a second sensor unit capable of sensing the mover in the stator unit. By determining the first sensor unit in an effective state based on the change state of the effective signal detected by multiple sensor groups in the second sensor unit, the first sensor unit corresponding to the current position reached by the mover can be accurately locked. By determining the absolute position of the mover on the stator according to the first periodic position signal detected by the first sensor unit in an effective state, the absolute position of the mover on the stator during the movement of the mover can be accurately determined, thereby improving the accuracy of the determination of the mover position.

[0098] In one embodiment, the method provided in this embodiment further includes:

[0099] After determining the absolute position of the mover on the stator, and when the mover moves along the transmission path, determining whether the sensor group in the second sensing unit of the next stator unit senses a valid signal;

[0100] When it is determined that all sensor groups in the second sensor unit of the next stator unit have sensed and obtained valid signals, the first sensor unit in the sensor module of the next stator unit is determined to be in a valid state;

[0101] A second periodic position signal sensed by the first sensing unit of the next stator unit is obtained, and the absolute position of the mover on the stator is determined according to the second periodic position signal.

[0102] In one embodiment, the method provided in this embodiment further includes:

[0103] When the first sensing unit of the current stator unit is in an effective state and the first sensing unit of the next stator unit is in an effective state, the second periodic position signal is used to determine the absolute position of the mover on the stator, and the first periodic position signal is no longer processed.

[0104] In one embodiment, this embodiment provides a specific implementation method for determining the absolute position of the mover on the stator according to the first periodic position signal:

[0105] Acquiring preset sensing position information when the first sensing unit is determined to be in a valid state, wherein the preset sensing position information is determined according to the arrangement structure of the magnets in the second magnet array of the mover and the arrangement structure of the sensing module of the stator unit;

[0106] Determine, according to the first periodic position signal, the induction offset information of the magnet in the second magnet array corresponding to the position of the first sensing unit when the first sensing unit is in an effective state;

[0107] The absolute position of the mover on the stator is determined based on the preset sensing position information and sensing offset information.

[0108] In one embodiment, the method provided in this embodiment further includes:

[0109] After the absolute position of the mover on the stator is determined, and the mover continues to move along the transmission path, a third period position signal sensed by the first sensing unit is acquired in real time;

[0110] Determine the superposition position information according to the acquired third period position signal;

[0111] The absolute position of the mover on the stator is determined in real time according to the absolute position of the mover on the stator when the first sensing unit is in an effective state and the superimposed position information.

[0112] The implementation principle and technical effects of the method provided in this embodiment are the same as those of the aforementioned embodiments. For the sake of brief description, for matters not mentioned in the method embodiment, reference may be made to the corresponding contents in the aforementioned transmission system embodiment.

[0113] An embodiment of the present invention provides a computer-readable medium, wherein the computer-readable medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the method described in the above embodiment.

[0114] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned embodiment, and will not be repeated here.

[0115] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0116] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0117] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0118] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A transmission system, characterized in that: include: Stator, mover and processing unit; The stator comprises a plurality of stator units, which are sequentially arranged along the transmission path, each of which comprises a stator coil and a sensor module, and the mover comprises a first magnet array and a second magnet array, and the first magnet array can drive the mover to move along the transmission path under the drive of the stator coil; Each of the sensing modules comprises a first sensing unit and a second sensing unit, wherein the first sensing unit is used to sense the magnets in the second magnet array to obtain a periodic position signal, and the second sensing unit comprises a plurality of sensor groups, wherein each of the sensor groups is used to sense the magnets in the second magnet array to obtain a valid signal; The processing unit may be used to: When the mover moves along the transmission path, determining whether all sensor groups in the second sensor unit of the current stator unit where the mover is located sense valid signals; When it is determined that all the sensor groups have sensed valid signals, determining the first sensor unit of the current stator unit to be in a valid state; A first periodic position signal sensed by a first sensing unit of the current stator unit is acquired, and the absolute position of the mover on the stator is determined according to the first periodic position signal.

2. The transmission system according to claim 1, characterized in that: The processing unit may be used to: After determining the absolute position of the mover on the stator, and when the mover moves along the transmission path, determining whether the sensor group in the second sensor unit of the next stator unit senses a valid signal; When it is determined that all sensor groups in the second sensor unit of the next stator unit have sensed and obtained valid signals, the first sensor unit in the sensor module of the next stator unit is determined to be in a valid state; A second periodic position signal sensed by the first sensing unit of the next stator unit is acquired, and the absolute position of the mover on the stator is determined according to the second periodic position signal.

3. The transmission system according to claim 2, characterized in that: The processing unit may be used to: When the first sensing unit of the current stator unit is in a valid state and the first sensing unit of the next stator unit is in a valid state, the second periodic position signal is used to determine the absolute position of the mover on the stator, and the first periodic position signal is no longer processed.

4. The transmission system according to claim 1, characterized in that: Determining the absolute position of the mover on the stator according to the first periodic position signal includes: Acquiring preset sensing position information when the first sensing unit is determined to be in a valid state, wherein the preset sensing position information is determined according to the arrangement structure of the magnets in the second magnet array of the mover and the arrangement structure of the sensing module of the stator unit; Determine, according to the first periodic position signal, induction offset information of a magnet in the second magnet array corresponding to the position of the first sensing unit when the first sensing unit is in an effective state; The absolute position of the mover on the stator is determined according to the preset sensing position information and the sensing offset information.

5. The transmission system according to claim 1, characterized in that: The processing unit may be used to: After determining the absolute position of the mover on the stator, and while the mover continues to move along the transmission path, acquiring in real time a third periodic position signal sensed by the first sensing unit; Determining superimposed position information according to the acquired third periodic position signal; The absolute position of the mover on the stator is determined in real time according to the absolute position of the mover on the stator when the first sensing unit is in an effective state and the superimposed position information.

6. The transmission system according to any one of claims 1 to 5, characterized in that: The second magnet array includes a plurality of magnets with N poles and S poles alternately arranged along the transmission path direction.

7. The transmission system according to claim 6, characterized in that: The sensor group includes two sensors, the two sensor groups are arranged along the transmission path, and the sensors are used to sense the N pole or S pole of the magnet in the second magnet array, so that the sensor group including the sensors obtains a valid signal; and / or, The length of the second magnet array is greater than or equal to the distance between center points of two adjacent sensor modules.

8. The transmission system according to any one of claims 1 to 5, characterized in that: When the transmission path is a straight line, the length of the first magnet array along the transmission path is greater than or equal to the distance between the center points of two adjacent stator coils; when the transmission path is an arc, the length of the first magnet array along the transmission path is greater than or equal to the length of the arc line between the center points of two adjacent stator coils along the transmission path; and / or, The first sensing unit is located at the center of the sensing module along the transmission path, and the sensor groups are arranged along the transmission path and are symmetrically distributed with the first sensing unit as the center; and / or, Each of the sensing modules further includes a signal receiving unit and a signal sending unit, wherein the signal sending unit is used to transmit a periodic position signal of a first sensing unit in a stator unit including the signal receiving unit to a signal receiving unit of an adjacent stator unit.

9. A method for detecting the position of a mover of a transmission system, characterized in that: The processing unit used in the transmission system according to any one of claims 1 to 8, the mover position detection method comprising: When the mover moves along the transmission path, determining whether all sensor groups in the second sensor unit of the current stator unit where the mover is located sense valid signals; When it is determined that all the sensor groups have sensed valid signals, the first sensor unit of the current stator unit is set to a valid state; A first periodic position signal sensed by a first sensing unit of the current stator unit is acquired, and the absolute position of the mover on the stator is determined according to the first periodic position signal.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 9 are performed.

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