Transmission system, mover position detection method and computer readable storage medium

Abstract

According to the transmission system, the rotor position detection method and the computer readable storage medium, the stator comprises a stator, a rotor and a processing unit, the stator comprises a plurality of stator modules, the plurality of stator modules are sequentially arranged along a transmission path, each stator module comprises a stator coil, a first sensing unit, a second sensing unit and a third sensing unit, and the first sensing unit, the second sensing unit and the third sensing unit are sequentially arranged along the transmission path. The rotor comprises a power magnet array, a first sensing medium array and a second sensing medium array; the first sensing unit and the second sensing unit are correspondingly arranged, the first sensing unit is used for reading displacement signal data of the first sensing medium array, and the second sensing unit is used for reading coded signal data of the second sensing medium array; when the processing unit obtains data information of all effective signals generated by the third sensing unit, the absolute position jointly determined by displacement signal data read by the corresponding first sensing unit and coded signal data read by the second sensing unit serves as the absolute position of the rotor on the stator.

Description

Technical Field

[0001] This application relates to the field of transmission technologies, and in particular, to a transmission system and a method for detecting the position of a mover thereof. Background Art

[0002] A linear transmission system generally includes a stator part and a mover part. The stator part has a transportation track, and the mover part can move along the transportation track to achieve the transmission function. However, for existing linear transmission systems, it is difficult to quickly and effectively detect the position of the mover by themselves.

[0003] Therefore, there is an urgent need for a transmission system that can quickly and effectively detect the position of the mover to overcome the above-mentioned defects. Summary of the Invention

[0004] This application provides a transmission system, including a stator, a mover, and a processing unit. The stator includes a plurality of stator modules, and the plurality of stator modules are arranged in sequence along a transmission path. Each of the stator modules includes a stator coil, a first sensing unit, and a second sensing unit. The mover includes a dynamic magnet array, a first sensing medium array, and a second sensing medium array. The stator coil interacts with the dynamic magnet array to drive the mover to move along the transmission path. The first sensing unit and the second sensing unit are correspondingly arranged. The first sensing medium array and the second sensing medium array are correspondingly arranged along the transmission path. The first sensing unit is used to read the displacement signal data of the first sensing medium array. The second sensing medium array is a magnet in which a number of N poles and a number of S poles are arranged in a preset order along the transmission path. The second sensing unit is used to read the encoded signal data of the second sensing medium array. The processing unit obtains the displacement signal data read by the first sensing unit and the encoded signal data read by the second sensing unit, and determines the absolute position of the mover on the stator based on the displacement signal data and the encoded signal data.

[0005] Wherein, the stator module further includes two groups of third sensing units. The third sensing units are used to sense the magnetic poles in the first sensing medium array to obtain data of a valid signal. One group of the two groups of third sensing units has a position corresponding to one edge of the first sensing unit, and the other group of the two groups of third sensing units has a position corresponding to the other edge of the first sensing unit. The processing unit is used to:

[0006] When the mover moves along the transmission path, determine whether valid signals are generated by both groups of third sensing units in the current stator module where the mover is located;

[0007] When it is determined that both groups of third sensor units in the current stator module generate valid signals, the absolute position jointly determined by the first sensor unit and the second sensor unit in the current stator module is used as the absolute position of the mover on the stator.

[0008] In some embodiments, the position of the mover when the two groups of third sensor units in the next stator module change from not all generating valid signals to all generating valid signals is the first position, and the position of the mover when the two groups of third sensor units in the current stator module change from all generating valid signals to not all generating valid signals is the second position, and a switching position is preset along the transmission path between the first position and the second position; the processing unit is further used for:

[0009] After determining the absolute position of the mover on the stator, and when the mover continues to move along the transmission path, determining whether both groups of third sensor units in the next stator module generate valid signals;

[0010] After determining that both groups of third sensor units in the next stator module generate valid signals, determining whether the absolute position of the mover on the stator reaches the switching position;

[0011] After determining that the absolute position of the mover on the stator reaches the switching position, the absolute position determined jointly by the first sensor unit and the second sensor unit in the next stator module is used as the absolute position of the mover on the stator.

[0012] In some embodiments, the switching position is a midpoint position of a portion of the transmission path between the first position and the second position in the transmission path.

[0013] In some embodiments, the two groups of third sensing units are arranged at intervals along the transmission path, and each of the third sensing units includes a plurality of first sensors arranged in sequence along the transmission path. In the two groups of third sensing units, the first sensor of any one group of the third sensing units that is closer to the other group of the third sensing units along the transmission path corresponds to an edge of the first sensing unit.

[0014] In some embodiments, the second sensing unit includes two sensor arrays composed of a plurality of second sensors arranged in sequence along the transmission path, and the two sensor arrays are staggered along the transmission path. In the two groups of third sensing units, the first sensor in any one group of the third sensing units that is closest to the other group of the third sensing units along the transmission path corresponds to the outermost second sensor in the two sensor arrays along the transmission path.

[0015] In some embodiments, the second sensing unit includes a plurality of sensor arrays arranged staggeredly along the transmission path. Each sensor array includes a plurality of second sensors arranged in sequence along the transmission path. Among the two groups of third sensing units, the positions of one group of third sensing units correspond to the second sensors at one outermost end along the transmission path among the plurality of sensor arrays, and the positions of the other group of third sensing units correspond to the second sensors at the other outermost end along the transmission path among the plurality of sensor arrays.

[0016] In some embodiments, the length of the first sensing medium array along the transmission path is greater than the length of the first sensing unit along the transmission path; and / or,

[0017] the length of the second sensing medium array along the transmission path is greater than the length of the second sensing unit along the transmission path.

[0018] In some embodiments, the length of the first sensing medium array along the transmission path is longer than the length of the first sensing unit along the transmission path, and the difference between them is a first margin. The first margin is the distance that the mover moves along the transmission path at its maximum speed during the time when the first sensing unit is reset; or,

[0019] the length of the second sensing medium array along the transmission path is longer than the length of the second sensing unit along the transmission path, and the difference between them is a second margin. The second margin is the distance that the mover moves along the transmission path at its maximum speed during the time when the second sensing unit is reset.

[0020] To achieve the above object, the present application further provides a method for detecting the position of a mover in a transmission system, which is applied to a processing unit in any of the above-mentioned transmission systems. The method for detecting the position of the mover includes:

[0021] When the mover moves along the transmission path, it is judged whether all the two groups of third sensing units in the current stator module where the mover is located generate valid signals;

[0022] When it is determined that all the two groups of third sensing units in the current stator module generate valid signals, the absolute position jointly determined by the first sensing unit and the second sensing unit in the current stator module is used as the absolute position of the mover on the stator.

[0023] To achieve the above object, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the above-mentioned method are executed.

[0024] Compared with the prior art, the present invention improves the stability of the stator driving the mover to move by arranging a plurality of stator modules in the transmission system, and arranging a stator coil capable of driving the mover to move, a first sensing unit and a third sensing unit of a first sensing medium array capable of sensing the mover, and a second sensing unit of a second sensing medium array capable of sensing the mover in the stator module. By determining the change state of the effective signal detected by the third sensing unit to determine the first sensing unit in the effective state, the second sensing unit and the first sensing 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 based on the displacement signal data read by the corresponding first sensing unit and the encoded signal data read by the second sensing unit, the absolute position of the mover on the stator when the stator is just powered on can be accurately determined, improving the accuracy of determining the position of the mover, and enabling the rapid and effective detection of the position of the mover. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic plan view of a transmission system provided by an embodiment of the present application.

[0027] Figure 2 is Figure 1 A schematic plan view of the second sensing unit and the third sensing unit in the stator module of the transmission system shown.

[0028] Figure 3 It is a schematic plan view of the second sensing unit and the third sensing unit in a stator module provided by an embodiment of the present application.

[0029] Figure 4 It is a schematic plan view of the second sensing unit and the third sensing unit in a stator module provided by an embodiment of the present application.

[0030] Figure 5 It is a schematic plan view of the second sensing unit and the third sensing unit in a stator module provided by an embodiment of the present application.

[0031] Figure 6 It is a schematic plan view of a first sensing array provided by an embodiment of the present application.

[0032] Figure 7 It is a flowchart of a method for detecting the position of a mover in a transmission system provided by an embodiment of the present invention. Detailed Implementation Modes

[0033] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Components of the embodiments of the present application generally described and illustrated in the accompanying drawings herein may be arranged and designed in a variety of different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application claimed, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0035] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not require further definition and explanation in subsequent drawings.

[0036] First, in the description of the embodiments of the present application, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application.

[0037] Second, the terms "first", "second", "third", etc. are only used for descriptive distinction, without order or importance, and should not be construed as indicating or implying relative importance. Features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0038] Furthermore, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging, but may be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly inclined; the term "along a certain direction" does not mean that it is required to be absolutely parallel to the direction, but may be offset, that is, it has a component in that direction.

[0039] In addition, in the description of the present application, it should also be noted that, unless otherwise clearly specified and defined, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection, an electromagnetic connection, or even a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two units. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0040] In addition, the "and / or" in the present application, such as "feature 1 and / or feature 2", all refer to the three cases of "feature 1" alone, "feature 2" alone, and "feature 1" plus "feature 2". The "and / or" in the present application, such as "feature 1 and / or feature 2", all refer to the three cases of "feature 1" alone, "feature 2" alone, and "feature 1" plus "feature 2".

[0041] If the above-mentioned functions are implemented in the form of software function 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, in essence, or the part that contributes to the prior art, or a 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 and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0042] As Figure 1 shown, the transmission system of the embodiment of the present application includes a stator, a mover 20, and a processing unit 30. The stator includes a plurality of stator modules 10, and the plurality of stator modules 10 are arranged in sequence along a transmission path 40. Each stator module 10 includes a stator coil 11, and the mover 20 includes a dynamic magnet array 21. The stator coil 11 and the dynamic magnet array 21 interact to drive the mover 20 to move along the transmission path 40 of the stator. More specifically, as follows:

[0043] Combined with Figure 2, in the transmission system of the embodiment of the present application, each stator module 10 further includes a first sensing unit 12 and a second sensing unit 13, and the mover 20 further includes a first sensing medium array 22 and a second sensing medium array 23. The first sensing unit 12 and the second sensing unit 13 are correspondingly arranged. The first sensing unit 12 is used to read the displacement signal data of the first sensing medium array 22. The second sensing medium array 23 is a magnet in which a number of N poles and a number of S poles are arranged in a preset order along the transmission path 40 ( Figure 6 as shown in an example). The second sensing unit 13 is used to read the encoded signal data of the second sensing medium array 23. The processing unit 30 obtains the displacement signal data read by the first sensing unit 12 and the encoded signal data read by the second sensing unit 13, and determines the absolute position of the mover 20 on the stator based on the displacement signal data and the encoded signal data; combined with Figure 2 , in the transmission system of the embodiment of the present application, each stator module 10 further includes two groups of third sensing units 14. The third sensing units 14 are used to sense the magnetic poles in the first sensing medium array 22 to obtain the data of a valid signal. Among them, the first sensing medium array 22 and the second sensing medium array 23 are arranged corresponding to each other along the transmission path 40. In the two groups of third sensing units 14, the position of one group of third sensing units 14 corresponds to one edge of the first sensing unit 12, and the position of the other group of third sensing units 14 corresponds to the other edge of the first sensing unit 12, so as to ensure that when the first sensing medium array 22 completely covers the two groups of third sensing units 14, the second sensing medium array 23 completely covers the corresponding second sensing unit 13, so that when both groups of third sensing units 14 sense valid signals, the corresponding second sensing unit 13 can sense and read the correct encoded signal data of the corresponding second sensing medium array 23, so that it is possible to avoid the encoded signal data when the second sensing unit 13 reads and is not completely covered from causing an error in the position detection of the mover 20 by judging that both groups of third sensing units 14 sense valid signals.

[0044] It should be noted that the above-mentioned coverage means that the sensing medium array is sensed by the sensors in the corresponding sensing unit, but is not limited thereto.

[0045] Combined with Figure 2 , in the transmission system of the embodiment of the present application, the processing unit 30 is communicatively connected to the first sensing unit 12 and the second sensing unit 13 in each stator module 10 respectively. The processing unit 30 is used for: when the mover 20 moves along the transmission path 40 under the drive of the stator coil 11, judging whether all the two groups of third sensing units 14 in the current stator module 10 where the mover 20 is located generate valid signals;

[0046] When it is determined that valid signals are generated by both sets of third sensing units 14 in the current stator module 10, the absolute position jointly determined by the first sensing unit 12 and the second sensing unit 13 in the current stator module 10 is taken as the absolute position of the mover 20 on the stator.

[0047] Specifically as follows:

[0048] When the stator 10 is just powered on, the mover 20 starts to move along the transmission path 40 under the drive of the stator coil 11. To determine the first absolute position of the mover 20 on the stator, the processing unit 30 obtains in real time the displacement signal data read by the first sensing unit 12, the encoded signal data read by the second sensing unit 13, and the valid signals detected by all the third sensing units 14 in each stator module 20, and determines whether there are valid signals generated by both of the two third sensing units 14 in a stator module 20.

[0049] If both of the two third sensing units 14 in the stator module 10 where the mover 20 is located generate valid signals, then the position range (or the position with lower precision) of the mover 20 on the stator is determined according to the encoded signal data read by the second sensing unit 13 in this stator module 20, and combined with the displacement signal data read by the first sensing unit 12 in this stator module 20, the specific position (or the position with higher precision) of the mover 20 on the stator, that is, the absolute position, is further determined, accurately determining the first absolute position of the mover 20 after the stator is just powered on, and improving the accuracy of mover position determination.

[0050] If not all of the two third sensing units 14 in the stator module 10 where the mover 20 is located generate valid signals, and when the mover 20 continues to move along the transmission path 40, not all of the two third sensing units 14 in the stator module 10 where the mover 20 is located still generate valid signals, then when both of the two third sensing units 14 in the next stator module 10 generate valid signals, the absolute position jointly determined by the first sensing unit 12 and the second sensing unit 13 in the next stator module 10 is taken as the first absolute position of the mover 20 on the stator, that is, the position range (or the position with lower precision) of the mover 20 on the stator is determined according to the encoded signal data read by the second sensing unit 13 in the next stator module 10, and combined with the displacement signal data read by the first sensing unit 12 in the next stator module 10, the specific position (or the position with higher precision) of the mover 20 on the stator, that is, the absolute position, is further determined.

[0051] After determining the first absolute position of the mover 20 on the stator, when the mover 20 continues to move along the transmission path 40 under the drive of the stator coil 11, it is judged whether valid signals are generated by both sets of third sensing units 14 in the current stator module 10 where the mover 20 is located; when it is determined that valid signals are generated by both sets of third sensing units 14 in the current stator module 10, the absolute position jointly determined by the first sensing unit 12 and the second sensing unit 13 in the current stator module 10 is taken as the absolute position of the mover 20 on the stator. At the same time, the second sensing medium array 23 provided on the mover 20 will move relative to the second sensing unit 13 along the transmission path 40. Since the second sensing medium array 23 is a magnetic track in which a number of N poles and a number of S poles are arranged in a preset order along the transmission path 40, as the second sensing medium array 23 moves relative to the second sensing unit 13, the second sensing unit 13 can obtain different coded numerical values to form coded signal data; since the second sensing units 13 on the stator are arranged at intervals along the transmission direction, as the mover 20 moves, the second sensing medium array 23 will interact with a number of second sensing units 13 arranged at intervals along the transmission path 40 in turn, and the second sensing units 13 interacting with the second sensing medium array 23 can read the coded signal data of the second sensing medium array 23 for the processing unit 30 to obtain and analyze and process.

[0052] The processing unit 30 can determine the range of the interval of the transmission path 40 where the mover 20 is currently located by distinguishing the first sensing unit 12 corresponding to the obtained displacement signal data (or the second sensing unit 13 corresponding to the obtained coded signal data) and according to the position of the corresponding first sensing unit 12 (or second sensing unit 13). For example, when the processing unit 30 obtains the data read by the first sensing unit 12 numbered m, it can be determined that the mover 20 is currently within the range of the interval that the first sensing unit 12 numbered m on the transmission path 40 can sense; on this basis, the processing unit 30 can analyze and process the obtained displacement signal data and coded signal data to determine the absolute position of the mover 20 on the stator. Of course, another processor can also be added to use this processor to distinguish the first sensing unit 12 corresponding to the obtained displacement signal data (or the second sensing unit 13 corresponding to the obtained coded signal data) and according to the position of the corresponding first sensing unit 12 (or second sensing unit 13), determine the range of the interval where the mover 20 is currently located on the transmission path 40. On this basis, the processing unit 30 combines the analysis results of this processor to determine the absolute position of the mover 20 on the stator.

[0053] Specifically, the first sensing medium array 22 includes magnets with multiple N and S poles arranged alternately along the transmission path 40. During the movement of the mover 20, the first sensing unit 12 can read a periodically changing signal. Further, the processing unit 30 can detect the relative displacement of the mover 20 based on the periodic displacement signal data read by the first sensing unit 12. Of course, the first sensing medium array 22 can also be configured as a structure using other induction methods, not limited to the magnetic induction method. For example, it can also be a structure using optical sensing.

[0054] Specifically, each pole pair in the first sensing medium array 22 can be pre-numbered to form a unique serial number corresponding to each pole pair, that is, the serial number corresponds one-to-one with the pole pair. On this basis, the second sensing unit 13 can form a corresponding relationship between each encoded value obtained by reading the second sensing medium array 23 and the serial number of the pole pair in the first sensing medium array 22 opposite to the first sensing unit 12 when each encoded value is obtained, and pre-store this corresponding relationship in the processing unit 30. Therefore, during the movement of the mover 20 along the transmission path 40, the processing unit 30 can identify the serial number of the pole pair in the first sensing medium array 22 opposite to the first sensing unit 12 at this time according to the encoded value read by the second sensing unit 13, that is, the processing unit 30 can identify the position of the pole pair in the first sensing medium array 22 opposite to the first sensing unit 12 in real time. On this basis, combined with the periodic displacement signal data read by the first sensing unit 12, the absolute position of the mover 20 can be determined. Wherein, the pole pair is a combination of an adjacent N pole and S pole in the first sensing array, and each N pole in the first sensing array belongs to a pole pair corresponding to a unique serial number, and each S pole in the first sensing array also belongs to a pole pair corresponding to a unique serial number.

[0055] In the transmission system of the embodiment of the present application, the position where the two groups of third sensing units 14 in the next stator module 10 of the mover 20 change from not all generating effective signals to all generating effective signals is the first position, and the position where the two groups of third sensing units 14 in the current stator module 10 of the mover 20 change from all generating effective signals to not all generating effective signals is the second position. A switching position is preset along the transmission path between the first position and the second position, that is, a switching position is preset within the movement range of the mover 20 along the transmission path during a period when the two groups of third sensing units 14 in the current stator module 10 and the two groups of third sensing units 14 in the next stator module 10 of the mover 20 both generate effective signals;

[0056] The processing unit 30 is further configured to:

[0057] After determining the absolute position of the mover 20 on the stator and when the mover 20 continues to move along the transmission path 40, it is determined whether valid signals are generated by both sets of third sensing units 14 in the next stator module 10; when it is determined that valid signals are generated by both sets of third sensing units 14 in the next stator module 10, it is determined whether the absolute position of the mover 20 on the stator reaches the switching position;

[0058] After determining that the absolute position of the mover 20 on the stator reaches the switching position, the absolute position jointly determined by the corresponding first sensing unit 12 and second sensing unit 13 is used as the absolute position of the mover 20 on the stator. Specifically, in the embodiment of the present application, after determining the starting position of the mover, the mover continues to move along the transmission path 40. The mover may straddle two stator modules 10. At the same time, the processing unit 30 may obtain the displacement signal data read by the first sensing unit 12, the encoded signal data read by the second sensing unit 13, and all the data information detected by all the third sensing units 14 in the two stator modules 10, and obtain two absolute positions based on this data information; at this time, if the mover is located before the above-mentioned switching position in the direction of mover movement, the absolute position corresponding to the stator module 10 located in front in the direction of mover movement is used as the current absolute position; if the mover 20 is located after the above-mentioned switching position in the direction of mover movement, the absolute position corresponding to the stator module 10 located behind in the direction of mover 20 movement is used as the current absolute position; similarly, it can be known that if the mover is located at a certain position just between the first sensing units 12 in the two stator modules 10 in the direction of mover movement, that is, just at the above-mentioned switching position, the absolute position corresponding to the stator module 10 located behind in the direction of mover 20 movement is used to replace the absolute position corresponding to the stator module 10 located in front, and is used as the current absolute position.

[0059] For example, but not limited thereto, the switching position is the midpoint position of a partial transmission path between the above-mentioned first position and the above-mentioned second position in the transmission path. The sensing unit requires a reset time, and a longer reset distance is required during high-speed movement. Taking the midpoint position ensures that there is sufficient reset distance length whether the mover 20 moves forward or backward along the transmission path 40.

[0060] Such as Figure 3As shown, in the embodiment of the present application, the third sensing units 14 are arranged at intervals along the transmission path 40, and each third sensing unit 14 includes two first sensors 141 arranged in sequence along the transmission path 40. The first sensor 141 in the third sensing unit 14 that is closer to another third sensing unit along the transmission path corresponds to the edge of the first sensing unit 12, so as to ensure that when the first sensing medium array 22 completely covers the two groups of third sensing units 14, the second sensing medium array 23 completely covers the corresponding first sensing unit 12, and the first sensor 141 is used to sense the N magnetic pole or S magnetic pole in the first sensing medium array 22, so that the third sensor 14 including the first sensor 141 obtains a valid signal. Of course, in other embodiments, the third sensing units 14 include one, three, four, five, or other different numbers of first sensors 141, and are all arranged in sequence along the transmission path 40. Through appropriate design, similar effects as described above can also be produced.

[0061] like Figure 4 As shown, in one embodiment, the second sensor unit 13 includes two sensor arrays composed of a plurality of second sensors 131 arranged in sequence along the transmission path 40, and the two sensor arrays are staggered along the transmission path 40. In the two groups of third sensor units 14, the first sensor 141 of one group of third sensor units 14 closest to the other group of third sensor units 14 corresponds to the second sensor 131 at the outermost end of the two sensor arrays along the transmission path 40, and the first sensor 141 of the other group of third sensor units 14 closest to the one group of third sensor units 14 corresponds to the second sensor 131 at the other outermost end of the two sensor arrays along the transmission path 40, so as to ensure that when the first sensor medium array 22 completely covers the two groups of third sensor units 14, the second sensor medium array 23 completely covers the corresponding first sensor unit 12. Of course, in other embodiments, the third sensor unit 14 may also include one, three, four, five or other different numbers of first sensors 141, and all are arranged in sequence along the transmission path 40. Through appropriate design, similar effects as described above may also be produced.

[0062] like Figure 5As shown, in one embodiment, the second sensing unit 13 includes two sensor arrays arranged staggeredly along the transmission path 40. Each sensor array includes a plurality of second sensors 131 arranged in sequence along the transmission path 40. The positions of one group of third sensing units 14 correspond to the second sensors 131 at the outermost ends along the transmission path 40 in the two sensor arrays, and the positions of the other group of third sensing units 14 correspond to the second sensors 131 at the outermost ends along the transmission path 40 in the two sensor arrays, so as to ensure that when the first sensing medium array 22 completely covers the two groups of third sensing units 14, the second sensing medium array 23 completely covers the corresponding first sensing units 12. Of course, in other embodiments, the second sensing unit includes one, three, four or other unequal numbers of sensor arrays, and the sensor arrays are arranged staggeredly along the transmission path 40. The positions of one group of third sensing units 14 correspond to the second sensors 131 at the outermost ends along the transmission path 40 in all the sensor arrays, and the positions of the other group of third sensing units 14 correspond to the second sensors 131 at the outermost ends along the transmission path 40 in the two sensor arrays, but this is not the limit.

[0063] In one embodiment, the length of the first sensing medium array 22 along the transmission path 40 is greater than the length along the transmission path 40 between the midpoints of the first sensing units 12 on two adjacent stator modules 10, so as to ensure that the first sensing medium array 22 can cover the first sensing units 12 along the transmission path 40 and avoid the situation where the first sensing medium array 22 does not correspond to the first sensing units 12. Specifically, the length of the first sensing medium array 22 along the transmission path 40 is longer than the length along the transmission path 40 between the midpoints of the first sensing units 12 on two adjacent stator modules 10, and the difference between the two is a first margin. The first margin is equal to the product of the maximum speed of the mover 20 and the reset time of the first sensing unit 12, that is, within the reset time of the first sensing unit 12, the moving distance of the mover 20 moving at the maximum speed, so as to provide sufficient reset time for a first sensing unit 12. The reset time refers to the time when the sensing unit enters the position feedback state after initialization, but this is not the limit.

[0064] In one embodiment, the length of the second sensing medium array 23 along the transmission path 40 is greater than the length of the transmission path 40 between the midpoints of the second sensing units 13 on two adjacent stator modules 10, so as to avoid the situation where the second sensing medium array 23 does not correspond to the second sensing unit 13. Specifically, the length of the second sensing medium array 23 along the transmission path 40 is longer than the length of the second sensing unit 13 along the transmission path 40, and the difference between the two is a second margin, which is equal to the product of the maximum speed of the mover 20 and the reset time of the second sensing unit 13, that is, the moving distance of the mover 20 moving at the maximum speed during the reset time of the second sensing unit 13, so as to provide sufficient reset time for the second sensing unit 13. The reset time refers to the time when the sensing unit enters the position feedback state after initialization, but is not limited thereto.

[0065] For example, the first sensor 141 is a Hall sensor, and the first sensing medium array 22 includes magnets with multiple N poles and S poles arranged alternately along the transmission path 40 (as Figure 6 shown). The third sensing unit 14 includes two first sensors 141 arranged in sequence along the transmission path 40, that is, two Hall sensors arranged in sequence along the transmission path 40. When the mover 20 passes through the third sensing unit 14, the signal detected by a 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. However, when two adjacent Hall sensors are regarded as a third sensing unit 14, when the detection signal of the sensor group composed of two adjacent Hall sensors is valid, there will be no signal jump, and it can be accurately determined whether the third sensing unit 14 detects a valid signal, thereby improving the accuracy of mover position detection. Similarly, when the number of the first sensors 141 included in the third sensing unit 14 changes from two to multiple, the above effect can also be achieved. For example, but not limited thereto, the second sensor 131 is a Hall sensor, and the second sensing unit 13 can sense a second sensing medium array 23 composed of magnets with a plurality of N poles and a plurality of S poles arranged in a preset order along the transmission path 40 to form encoded signal data composed of 0 / 1, so as to determine the pole pair number corresponding to the first sensing unit 12 in the first sensing medium array 22.

[0066] For example, but not limited thereto, the first sensing unit includes an AMR sensor (Anisotropic MagnetoResistance sensor), and the AMR sensor can generate an angular signal for each pole pair passing through it. The current displacement value can be calculated and converted through this angular signal, so as to further determine the precise position of the mover 30 among the pole pairs determined by the second sensing unit 13. That is, the processing unit 30 can identify in real time the position of the pole pair on the current first sensing medium array 22 opposite to the first sensing unit 12. On this basis, combined with the periodic displacement signal data read by the first sensing unit 12, the absolute position of the mover 20 can be determined.

[0067] For example, but not limited thereto, by using the second sensing unit 13 to sense the second sensing medium array 23 to obtain the encoded sequence value, the first position (d1) can be determined; by using the first sensing unit 12 to sense the first sensing medium array 22, the second position (d2) is obtained, and the absolute position of the mover is d1 + d2. For example: the length of the transmission path 40 is in the range of 0 - 10 m, and the measurement accuracy of d1 is 1 cm, that is, the first position can only measure the absolute position of the mover as 1.01 m, 1.02 m..., and it is impossible to measure to the millimeter level; while the value of d2 is between 0 - 1 cm and can measure an offset value of 0.1 cm. The sum of the two is the high-precision absolute position value.

[0068] It should be noted that in all the drawings, the direction indicated by the arrow S is the direction of the transmission path, but not limited thereto.

[0069] Corresponding to the transmission system provided in the above embodiment, the present application also provides a method for detecting the position of the mover of the transmission system, which is applied to the processing unit 30 in the transmission system provided in the above embodiment. The method for detecting the position of the mover includes:

[0070] Step S102: When the stator is just powered on, obtain the data information of whether at least two groups of the third sensing units 14 in a stator module 10 all generate valid signals;

[0071] Step S104: When obtaining the data information that at least two groups of the third sensing units 14 all generate valid signals, use the absolute position jointly determined by the corresponding first sensing unit 12 and the second sensing unit 13 as the absolute position of the mover 20 on the stator.

[0072] The mover position detection method of the above transmission system provided in this embodiment, and a stator coil 11 capable of driving the mover 20 to move, a first sensing unit 12 and a third sensing unit 14 capable of sensing the first sensing medium array 22 of the mover 20, and a second sensing unit 13 capable of sensing the second sensing medium array 23 of the mover 20 are arranged in the stator module 10, which improves the stability of the stator driving the mover 20 to move. By determining the first sensing unit 12 in the effective state based on the change state of the effective signal detected by the third sensing unit 14, the second sensing unit 13 and the first sensing unit 12 corresponding to the current arrival position of the mover can be accurately locked. The absolute position of the mover 20 on the stator can be determined by the displacement signal data read by the corresponding first sensing unit 12 and the encoded signal data read by the second sensing unit 13. The absolute position of the mover 20 on the stator when the stator is just powered on can be accurately determined, which improves the accuracy of determining the mover position.

[0073] In one embodiment, the mover position detection method further includes:

[0074] A switching position is preset between the first sensing unit 12 in the stator module 10 and the first sensing unit 12 in any adjacent stator module 10 along the transmission path 40; the processing unit 30 is further configured to:

[0075] When the mover 20 moves along the transmission path 40 and the absolute position of the mover 20 obtained from the data information of the current stator module 10 is acquired, determine whether the absolute position of the mover 20 obtained from the data information of the next stator module 10 is acquired;

[0076] When the absolute position of the mover 20 obtained from the data information of the next stator module 10 is acquired, determine whether the absolute position of the mover 20 obtained from the data information of the current stator module 10 is at the switching position;

[0077] When it is determined that the absolute position of the mover 20 obtained from the data information of the current stator module 10 is at the switching position, use the absolute position of the mover 20 obtained from the data information of the next stator module 10 as the current absolute position of the mover 20.

[0078] For the method provided in this embodiment, its implementation principle and the technical effects produced are the same as those of the foregoing embodiments. For the sake of brief description, for the parts not mentioned in the method embodiment, reference may be made to the corresponding content in the foregoing transmission system embodiment.

[0079] An embodiment of the present application provides a computer-readable medium, wherein the computer-readable medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the method described in the foregoing embodiments.

[0080] Compared with the prior art, since the transmission system of the embodiment of the present application includes a stator, a rotor 20 and a processing unit 30, the stator includes a plurality of stator modules 10, and the plurality of stator modules 10 are arranged in sequence along a transmission path 40. Each stator module 10 includes a stator coil 11, a first sensing unit 12 and a second sensing unit 13. The rotor 20 includes a dynamic magnet array 21, a first sensing medium array 22 and a second sensing medium array 23. The stator coil 11 interacts with the dynamic magnet array 21 to drive the rotor 20 to move along the transmission path 40. The first sensing unit 12 and the second sensing unit 13 are correspondingly arranged. The first sensing unit 12 is used to read the displacement signal data of the first sensing medium array 22. The second sensing medium array 23 is a magnet in which a plurality of N poles and a plurality of S poles are arranged along the transmission path 40 in a preset order. The second sensing unit 13 is used to read the encoded signal data of the second sensing medium array 23. The processing unit 30 obtains the displacement signal data read by the first sensing unit 12 and the encoded signal data read by the second sensing unit 13, and determines the absolute position of the rotor 20 on the stator based on the displacement signal data and the encoded signal data. Wherein, the stator module 10 further includes at least two groups of third sensing units 14, and the third sensing units 14 are used to sense the magnetic poles in the first sensing medium array 22 to obtain data of a valid signal. The position of one group of third sensing units 14 corresponds to one edge of the first sensing unit 12, and the position of the other group of third sensing units 14 corresponds to the other edge of the first sensing unit 12. The processing unit 30 is configured to: when the stator is just powered on, obtain data information on whether all of the at least two groups of third sensing units 14 in a stator module 10 generate valid signals; when obtaining the data information that all of the at least two groups of third sensing units 14 generate valid signals, use the absolute position jointly determined by the corresponding first sensing unit 12 and second sensing unit 13 as the absolute position of the rotor 20 on the stator.

[0081] The above-disclosed are only the preferred examples of the present application, which are convenient for those skilled in the art to understand and implement accordingly. However, they cannot be used to limit the scope of the rights of the present application. Therefore, equivalent changes made according to the scope recorded in the present application still fall within the scope covered by the present application.

Claims

1. A transmission system, characterized in that: The transmission system includes a stator, a mover and a processing unit, the stator includes a plurality of stator modules, the plurality of stator modules are arranged in sequence along the transmission path, each of the stator modules includes a stator coil, a first sensing unit and a second sensing unit, the mover includes a power magnet array, a first sensing medium array and a second sensing medium array; the stator coil interacts with the power magnet array to drive the mover to move along the transmission path; the first sensing unit and the second sensing unit are correspondingly arranged, the first sensing medium array and the second sensing medium array are correspondingly arranged along the transmission path, the first sensing unit is used to read the displacement signal data of the first sensing medium array, the second sensing medium array is a magnet with a plurality of N poles and a plurality of S poles arranged in a preset order along the transmission path, and the second sensing unit is used to read the coded signal data of the second sensing medium array; The processing unit acquires the displacement signal data read by the first sensing unit and the coded signal data read by the second sensing unit, and determines the absolute position of the mover on the stator based on the displacement signal data and the coded signal data; Each of the stator modules further comprises two groups of third sensing units, the third sensing units are used to sense the magnetic poles in the first sensing medium array to obtain data of an effective signal, and the positions of one group of the third sensing units correspond to one edge of the first sensing unit, and the positions of the other group of the third sensing units correspond to the other edge of the first sensing unit; the processing unit is used to: When the mover moves along the transmission path, determining whether two groups of third sensor units in the current stator module where the mover is located all generate valid signals; When it is determined that both groups of third sensor units in the current stator module generate valid signals, the absolute position jointly determined by the first sensor unit and the second sensor unit in the current stator module is used as the absolute position of the mover on the stator.

2. The transmission system according to claim 1, characterized in that The position of the mover when the two groups of third sensor units in the next stator module change from not all generating valid signals to all generating valid signals is the first position, and the position of the mover when the two groups of third sensor units in the current stator module change from all generating valid signals to not all generating valid signals is the second position, and a switching position is preset along the transmission path between the first position and the second position; the processing unit is further used for: After determining the absolute position of the mover on the stator, and when the mover continues to move along the transmission path, determining whether both groups of third sensor units in the next stator module generate valid signals; After determining that both groups of third sensor units in the next stator module generate valid signals, determining whether the absolute position of the mover on the stator reaches the switching position; After determining that the absolute position of the mover on the stator reaches the switching position, the absolute position determined jointly by the first sensor unit and the second sensor unit in the next stator module is used as the absolute position of the mover on the stator.

3. The transmission system according to claim 2, characterized in that The switching position is a midpoint position of a portion of the transmission path between the first position and the second position in the transmission path.

4. The transmission system according to claim 1, characterized in that The two groups of third sensing units are arranged at intervals along the transmission path, and each of the third sensing units includes a plurality of first sensors arranged in sequence along the transmission path. In the two groups of third sensing units, a first sensor in any one group of the third sensing units that is closer to the other group of the third sensing units along the transmission path corresponds to an edge of the first sensing unit.

5. The transmission system according to claim 4, characterized in that The second sensing unit includes two sensor arrays composed of multiple second sensors arranged in sequence along the transmission path, and the two sensor arrays are staggered along the transmission path. In the two groups of third sensing units, the first sensor of any one group of the third sensing units, which is closest to the other group of the third sensing units along the transmission path, corresponds to the outermost second sensor of the two sensor arrays along the transmission path.

6. The transmission system according to claim 1, characterized in that The second sensing unit includes a plurality of sensor arrays staggered along the transmission path, and the sensor arrays each include a plurality of second sensors arranged in sequence along the transmission path. In the two groups of third sensing units, the position of one group of the third sensing units corresponds to the second sensors at the outermost end of the plurality of sensor arrays along the transmission path, and the position of the other group of the third sensing units corresponds to the second sensors at the other outermost end of the plurality of sensor arrays along the transmission path.

7. The transmission system according to claim 1 or 6, characterized in that: The length of the first sensing medium array along the transmission path is greater than the length between the midpoints of the first sensing units on two adjacent stator modules along the transmission path; and / or, The length of the second sensing medium array along the transmission path is greater than the length between the midpoints of the second sensing units on two adjacent stator modules along the transmission path.

8. The transmission system according to claim 1, characterized in that The length of the first sensing medium array along the transmission path is longer than the length between the midpoints of the first sensing units on two adjacent stator modules along the transmission path, and the difference between the two is a first margin, and the first margin is the distance that the mover moves along the transmission path at its maximum speed within the time when the first sensing unit is reset; or, The length of the second sensing medium array along the transmission path is longer than the length between the midpoints of the second sensing units on two adjacent stator modules along the transmission path, and the two differ by a second margin, which is the distance that the mover moves along the transmission path at its maximum speed within the time it takes for the second sensing unit to reset.

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 two groups of third sensor units in the current stator module where the mover is located all generate valid signals; When it is determined that both groups of third sensor units in the current stator module generate valid signals, the absolute position jointly determined by the first sensor unit and the second sensor unit in the current stator module is used as the absolute position of the mover on the stator.

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

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