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

Abstract

The transmission system, the mover position detection method and the computer readable storage medium of the embodiment of the application comprise a stator, a mover and a processing unit, the stator comprises a plurality of stator modules, the plurality of stator modules are arranged along a transmission path in sequence, each stator module comprises a stator coil, a first sensing unit, a second sensing unit and a third sensing unit, the mover 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 arranged correspondingly, 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 encoding signal data of the second sensing medium array; when data information that all the third sensing units generate effective signals is acquired, the processing unit acquires absolute position determined by the displacement signal data read by the corresponding first sensing unit and the encoding signal data read by the second sensing unit as absolute position of the mover on the stator.

Description

Technical Field

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

[0002] Linear transmission systems typically consist of a stator and a mover. The stator has a transport track, and the mover can move along the transport track to achieve the transmission function. However, existing linear transmission systems struggle to quickly and effectively detect the position of the mover on their own.

[0003] Therefore, there is an urgent need for a system that can quickly and efficiently transmit 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 multiple stator modules arranged sequentially along a transmission path. Each stator module 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, and 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 displacement signal data from the first sensing medium array. The second sensing medium array consists of several N-pole and several S-pole magnets arranged in a preset order along the transmission path. The second sensing unit is used to read encoded signal data from the second sensing medium array. The processing unit acquires 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] The stator module further includes two sets of third sensing units. These third sensing units are used to sense the magnetic poles in the first sensing medium array to obtain a valid signal data. One set of the third sensing units is positioned opposite one edge of the first sensing unit, and the other set is positioned opposite the other edge of the first sensing unit. The processing unit is used for:

[0006] When the mover moves along the transmission path, it is determined whether both sets of third sensing units in the current stator module where the mover is located generate valid signals;

[0007] When it is determined that both sets of third sensing units in the current stator module have generated valid signals, the absolute position jointly determined by the first sensing unit and the second sensing unit in the current stator module is taken as the absolute position of the mover on the stator.

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

[0009] After determining the absolute position of the mover on the stator, and while the mover continues to move along the transmission path, it is determined whether both sets of third sensing units in the next stator module have generated valid signals.

[0010] After determining that both sets of third sensing units in the next stator module have generated valid signals, it is determined whether the absolute position of the mover on the stator has reached the switching position.

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

[0012] In some embodiments, the switching position is the midpoint 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 sets of third sensing units are arranged at intervals along the transmission path, and each third sensing unit includes a plurality of first sensors arranged sequentially along the transmission path. In the two sets of third sensing units, the first sensor in any set of third sensing units that is closer to the other set of third sensing units along the transmission path corresponds to the edge of the first sensing unit.

[0014] In some embodiments, the second sensing unit includes two sensor arrays consisting of multiple second sensors arranged sequentially along the transmission path. The two sensor arrays are staggered along the transmission path. In the two sets of third sensing units, the first sensor in any set of third sensing units that is closest to the other set of third sensing units along the transmission path corresponds to the second sensor in the two sensor arrays that is at the outermost end of the transmission path.

[0015] In some embodiments, the second sensing unit includes a plurality of sensor arrays arranged staggered along the transmission path, each sensor array including a plurality of second sensors arranged sequentially along the transmission path. In the two sets of third sensing units, the position of one set of third sensing units corresponds to the second sensor at one outermost end of the plurality of sensor arrays along the transmission path, and the position of the other set of third sensing units corresponds to the second sensor at the other outermost end of the plurality of sensor arrays along the transmission path.

[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 the two is a first margin, the first margin being the distance the mover travels along the transmission path at its maximum speed during the time 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 two differ by a second margin, which is the distance the mover travels along the transmission path at its maximum speed during the time the second sensing unit is reset.

[0020] To achieve the above objectives, this application also provides a method for detecting the position of a moving part in a transmission system, applied to a processing unit in any of the transmission systems described above, the method comprising:

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

[0022] When it is determined that both sets of third sensing units in the current stator module have generated valid signals, the absolute position jointly determined by the first sensing unit and the second sensing unit in the current stator module is taken as the absolute position of the mover on the stator.

[0023] To achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the method described above.

[0024] Compared with existing technologies, this invention improves the stability of the stator driving the movement of the mover by setting up multiple stator modules in the transmission system, and setting stator coils that can drive the mover to move, a first sensing unit and a third sensing unit of a first sensing medium array that can sense the mover, and a second sensing unit of a second sensing medium array that can sense the mover in the stator. By determining the effective state of the first sensing unit based on the change of the effective signal detected by the third sensing unit, the second sensing unit and the first sensing unit corresponding to the current position of the mover can be accurately locked. The absolute position of the mover on the stator can be determined by the displacement signal data read by the corresponding first sensing unit and the coded signal data read by the second sensing unit. The absolute position of the mover on the stator when the stator is just energized can be accurately determined, which improves the accuracy of the mover position determination and makes the position of the mover fast and effective.

[0025] Other features and advantages of the embodiments of the present invention will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the techniques described above in the embodiments of the present invention.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the planar structure of a transmission system provided in an embodiment of this application.

[0029] Figure 2 for Figure 1 The diagram shows the planar structure of the second and third sensing units in the stator module of the transmission system.

[0030] Figure 3 This is a schematic diagram of the planar structure of the second sensing unit and the third sensing unit in a stator module provided in an embodiment of this application.

[0031] Figure 4 This is a schematic diagram of the planar structure of the second sensing unit and the third sensing unit in a stator module provided in an embodiment of this application.

[0032] Figure 5This is a schematic diagram of the planar structure of the second sensing unit and the third sensing unit in a stator module provided in an embodiment of this application.

[0033] Figure 6 This is a schematic diagram of a planar structure of a first sensing array provided in an embodiment of this application.

[0034] Figure 7 This is a flowchart of a method for detecting the position of a moving part in a transmission system, provided in an embodiment of the present invention. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0037] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0038] First, in the description of the embodiments of this application, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0039] Secondly, the terms "first," "second," and "third" are used only to distinguish descriptions and have no order or distinction of importance. They should not be interpreted as indicating or implying relative importance. Features marked "first" or "second" may explicitly or implicitly include one or more of the same feature.

[0040] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," not that the structure must be completely horizontal, but can be slightly tilted; the term "along a certain direction" does not imply that it must be absolutely parallel to that direction, but can be offset, that is, it can have a component in that direction.

[0041] Furthermore, it should be noted in the description of this application that, unless otherwise explicitly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, an electromagnetic connection, or even a communication connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two units. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] Furthermore, in this application, "and / or," such as "feature 1 and / or feature 2," refers to three possibilities: feature 1 alone, feature 2 alone, or feature 1 plus feature 2.

[0043] If the aforementioned functions are implemented as 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 this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0044] like Figure 1As shown, the transmission system of this embodiment includes a stator, a mover 20, and a processing unit 30. The stator includes multiple stator modules 10, which are arranged sequentially along the transmission path 40. Each stator module 10 includes a stator coil 11. The mover 20 includes a power magnet array 21. The stator coil 11 and the power magnet array 21 interact to drive the mover 20 to move along the transmission path 40 on the stator. More specifically, as follows:

[0045] Combination Figure 2 In the transmission system of this application embodiment, 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 with several N poles and several S poles 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.

[0046] Combination Figure 2 In the transmission system of this application embodiment, each stator module 10 further includes two sets 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 data of a valid signal. The first sensing medium array 22 and the second sensing medium array 23 are arranged correspondingly along the transmission path 40. In the two sets of third sensing units 14, the position of one set of third sensing units 14 corresponds to one edge of the first sensing unit 12, and the position of the other set of third sensing units 14 corresponds to the other edge of the first sensing unit 12, to ensure... When the first sensing medium array 22 completely covers the two sets of third sensing units 14, the second sensing medium array 23 completely covers the corresponding second sensing unit 13. This ensures that when both sets 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. Thus, by determining that both sets of third sensing units 14 sense valid signals, errors in the position detection of the mover 20 caused by the encoded signal data read by the second sensing unit 13 when it is not completely covered can be avoided.

[0047] It should be noted that the aforementioned coverage refers to the sensing medium array being sensed by the sensors in the corresponding sensing units, but is not limited to this.

[0048] Combination Figure 2 In the transmission system of this application embodiment, the processing unit 30 is communicatively connected to the first sensing unit 12 and the second sensing unit 13 in each stator module 10, and the processing unit 30 is used for:

[0049] When the mover 20 moves along the transmission path 40 under the drive of the stator coil 11, it is determined whether both sets of third sensing units 14 in the current stator module 10 where the mover 20 is located have generated valid signals.

[0050] When it is determined that both sets of third sensing units 14 in the current stator module 10 have generated valid signals, 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.

[0051] Specifically as follows:

[0052] When the stator 10 is energized, the mover 20 starts to move along the transmission path 40 under the drive of the stator coil 11. In order to determine the first absolute position of the mover 20 on the stator, the processing unit 30 acquires 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 third sensing units 14 in the stator module 20.

[0053] If both third sensing units 14 in the stator module 10 where the mover 20 is located generate valid signals, the position range (or lower precision position) of the mover 20 on the stator is determined based on the encoded signal data read by the second sensing unit 13 in the stator module 20. Combined with the displacement signal data read by the first sensing unit 12 in the stator module 20, the specific position (or higher precision position) of the mover 20 on the stator is further determined, that is, the absolute position. The first absolute position of the mover 20 after the stator is energized is accurately determined, which improves the accuracy of the mover position determination.

[0054] If both third sensing units 14 in the stator module 10 where the mover 20 is located do not generate valid signals, and the two third sensing units 14 in the stator module 10 where the mover 20 is located still do not generate valid signals as the mover 20 continues to move along the transmission path 40, then when both 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 will be taken as the first absolute position of the mover 20 on the stator. That is, the position range (or position with lower precision) of the mover 20 on the stator will be 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 position with higher precision) of the mover 20 on the stator, that is, the absolute position, will be further determined.

[0055] After determining the first absolute position of the mover 20 on the stator, as the mover 20 continues to move along the transmission path 40 under the drive of the stator coil 11, it is determined whether both sets of third sensing units 14 in the current stator module 10 where the mover 20 is located have generated valid signals. When it is determined that both sets of third sensing units 14 in the current stator module 10 have generated valid signals, 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.

[0056] Simultaneously, the second sensing medium array 23 disposed on the mover 20 moves relative to the second sensing unit 13 along the transmission path 40. Since the second sensing medium array 23 consists of several N poles and several S poles 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 acquire different encoded values ​​and form encoded 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 sequentially with several second sensing units 13 arranged at intervals along the transmission path 40. The second sensing units 13 interacting with the second sensing medium array 23 can read the encoded signal data of the second sensing medium array 23 for the processing unit 30 to acquire and analyze.

[0057] The processing unit 30 can identify the first sensing unit 12 (or the second sensing unit 13 corresponding to the acquired displacement signal data) and determine the range of the transmission path 40 where the mover 20 is currently located based on the position of the corresponding first sensing unit 12 (or second sensing unit 13). For example, when the processing unit 30 acquires the data read by the first sensing unit 12 numbered m, it can determine that the mover 20 is currently within the range that the first sensing unit 12 numbered m can sense on the transmission path 40. Based on this, the processing unit 30 can analyze and process the acquired 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 distinguish the first sensing unit 12 (or the second sensing unit 13 corresponding to the acquired displacement signal data) and determine the current position of the mover 20 within the range of the transmission path 40 based on the position of the corresponding first sensing unit 12 (or second sensing unit 13). On this basis, the processing unit 30 combines the analysis results of the processor to determine the absolute position of the mover 20 on the stator.

[0058] Specifically, the first sensing medium array 22 includes multiple magnets with alternating N and S magnetic poles arranged along the transmission path 40. During the movement of the mover 20, the first sensing unit 12 can read the periodically changing signal. Then, 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 to use other sensing methods, not limited to magnetic sensing; for example, it could also use optical sensing.

[0059] Specifically, each pole pair in the first sensing medium array 22 can be pre-numbered to form a unique sequence number corresponding to each pole pair, i.e., the sequence number corresponds one-to-one with the pole pair. Based on this, the second sensing unit 13 can obtain each coded value from the second sensing medium array 23 and form a correspondence with the pole pair sequence number in the first sensing medium array 22 that is opposite to the first sensing unit 12 when each coded value is obtained. This correspondence is pre-stored 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 pole pair sequence number on the first sensing medium array 22 that is opposite to the first sensing unit 12 at this time according to the coded value read by the second sensing unit 13. That is, the processing unit 30 can identify the position of the pole pair on the first sensing medium array 22 that is opposite to the first sensing unit 12 in real time. Based on this, combined with the periodic displacement signal data read by the first sensing unit 12, the absolute position of the mover 20 can be determined. In this context, a pole pair is a combination of adjacent N poles and S poles in the first sensing array. Each N pole in the first sensing array belongs to a pole pair corresponding to a unique index, and each S pole in the first sensing array also belongs to a pole pair corresponding to a unique index.

[0060] In the transmission system of this application embodiment, the position of the mover 20 when the two sets of third sensing units 14 in the next stator module 10 change from not generating valid signals to generating valid signals is the first position, and the position of the mover 20 when the two sets of third sensing units 14 in the current stator module 10 change from generating valid signals to not generating valid signals is the second position. A switching position is preset between the first position and the second position along the transmission path. That is, a switching position is preset within the range of motion of the mover 20 along the transmission path during a period of time when both sets of third sensing units 14 in the current stator module 10 and both sets of third sensing units 14 in the next stator module 10 generate valid signals.

[0061] Processing unit 30 is also used for:

[0062] After determining the absolute position of the mover 20 on the stator, and while the mover 20 continues to move along the transmission path 40, it is determined whether both sets of third sensing units 14 in the next stator module 10 have generated valid signals.

[0063] When it is determined that both sets of third sensing units 14 in the next stator module 10 have generated valid signals, it is determined whether the absolute position of the mover 20 on the stator has reached the switching position.

[0064] After determining that the absolute position of the mover 20 on the stator has reached the switching position, the absolute position jointly determined by the corresponding first sensing unit 12 and the second sensing unit 13 is taken as the absolute position of the mover 20 on the stator.

[0065] Specifically, in this embodiment, after determining the starting position of the mover, the mover continues to move along the transmission path 40. The mover may cross two stator modules 10. At the same time, the processing unit 30 may acquire displacement signal data read by the first sensing unit 12, encoded signal data read by the second sensing unit 13, and 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 aforementioned switching position along the mover's movement direction, the stator module 10 located in front along the mover's movement direction is used. The corresponding absolute position is used as the current absolute position; if the mover 20 is located after the above-mentioned switching position along the mover movement direction, the absolute position corresponding to the stator module 10 located behind along the mover 20 movement direction is used as the current absolute position; similarly, if the mover is located at a certain position between the first sensing units 12 in the two stator modules 10 along the mover movement direction, that is, at the above-mentioned switching position, the absolute position corresponding to the stator module 10 located behind along the mover 20 movement direction is used instead of the absolute position corresponding to the stator module 10 located in front, and is used as the current absolute position.

[0066] For example, but not limited to, the switching position can be the midpoint of the portion of the transmission path between the first position and the second position mentioned above. The sensing unit requires reset time, and the required reset distance is long during high-speed movement. Choosing the midpoint ensures that the mover 20 has sufficient reset distance length whether moving forward or backward along the transmission path 40.

[0067] like Figure 3 As shown in this embodiment, the third sensing units 14 are arranged at intervals along the transmission path 40. Each third sensing unit 14 includes two first sensors 141 arranged sequentially along the transmission path 40. The first sensor 141 closer to another third sensing unit along the transmission path in the third sensing unit 14 corresponds to the edge of the first sensing unit 12, ensuring that when the first sensing medium array 22 completely covers the two sets of third sensing units 14, the second sensing medium array 23 completely covers the corresponding first sensing unit 12. The first sensor 141 is used to sense the N or S magnetic poles 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 unit 14 includes one, three, four, five, or other varying numbers of first sensors 141, and they are all arranged sequentially along the transmission path 40. With appropriate design, similar effects can also be achieved.

[0068] like Figure 4As shown, in one embodiment, the second sensing unit 13 includes two sensor arrays, each consisting of multiple second sensors 131 arranged sequentially along the transmission path 40. The two sensor arrays are staggered along the transmission path 40. In the two sets of third sensing units 14, the first sensor 141 in one set of third sensing units 14 closest to the other set corresponds to the second sensor 131 at the outermost end of the two sensor arrays along the transmission path 40. Similarly, the first sensor 141 in the other set of third sensing units 14 closest to the first set corresponds to the second sensor 131 at the other outermost end of the two sensor arrays along the transmission path 40. This ensures that when the first sensing medium array 22 completely covers both sets of third sensing units 14, the second sensing medium array 23 completely covers the corresponding first sensing unit 12. Of course, in other embodiments, the third sensing unit 14 may also include one, three, four, five, or other varying numbers of first sensors 141, all arranged sequentially along the transmission path 40. With appropriate design, similar effects can also be achieved.

[0069] like Figure 5 As shown, in one embodiment, the second sensing unit 13 includes two sensor arrays staggered along the transmission path 40. Each sensor array includes multiple second sensors 131 arranged sequentially along the transmission path 40. The position of one set of third sensing units 14 corresponds to the second sensor 131 at the outermost end of the two sensor arrays along the transmission path 40, and the position of the other set of third sensing units 14 corresponds to the second sensor 131 at the other outermost end of the two sensor arrays along the transmission path 40, to ensure that when the first sensing medium array 22 completely covers the two sets of third sensing units 14, the second sensing medium array 23 completely covers the corresponding first sensing unit 12. Of course, in other embodiments, the second sensing unit includes one, three, four, or other sensor arrays, which are staggered along the transmission path 40. The position of one set of third sensing units 14 corresponds to the second sensor 131 at the outermost end of all sensor arrays along the transmission path 40, and the position of the other set of third sensing units 14 corresponds to the second sensor 131 at the other outermost end of the two sensor arrays along the transmission path 40, but this is not a limitation.

[0070] In one embodiment, the length of the first sensing medium array 22 along the transmission path 40 is greater than the length of the transmission path 40 between the midpoints of the first sensing units 12 on two adjacent stator modules 10, to ensure that the first sensing medium array 22 can cover the first sensing unit 12 along the transmission path 40, avoiding the situation where the first sensing medium array 22 does not correspond to the first sensing unit 12. Specifically, the length of the first sensing medium array 22 along the transmission path 40 is longer than the length of 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, the distance the mover 20 moves at its maximum speed within the reset time of the first sensing unit 12, so as to provide sufficient reset time for a sensing unit 12. The reset time refers to the time after the sensing unit is initialized and enters the position feedback state, but is not limited to this.

[0071] 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, 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. The second margin 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 distance the mover 20 moves at its 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 after the sensing unit is initialized and enters the position feedback state, but is not limited to this.

[0072] For example, the first sensor 141 is a Hall sensor, and the first sensing medium array 22 includes multiple magnets with N and S magnetic poles alternately arranged along the transmission path 40 (e.g., Figure 6 As shown, the third sensing unit 14 includes two first sensors 141 arranged sequentially along the transmission path 40, that is, two Hall sensors arranged sequentially 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 transition signal, which cannot accurately determine whether the signal detected by the Hall sensor is valid. However, by using two adjacent Hall sensors as a third sensing unit 14, when the detection signal of the sensor group composed of two adjacent Hall sensors is valid, no signal transition will occur, which can accurately determine whether the third sensing unit 14 has detected a valid signal, thereby improving the accuracy of the mover position detection. Similarly, the same effect can be achieved by changing the number of first sensors 141 included in the third sensing unit 14 from two to multiple.

[0073] For example, but not limited to, the second sensor 131 is a Hall sensor, and the second sensing unit 13 can sense the second sensing medium array 23 composed of a number of N poles and a number of S poles arranged in a preset order along the transmission path 40 to form coded signal data composed of 0 / 1, thereby determining the pole pair number in the first sensing medium array 22 that is opposite to the first sensing unit 12.

[0074] For example, but not limited to, the first sensing unit includes an AMR sensor (Anisotropic MagnetoResistance sensor). The AMR sensor can generate an angle signal for each pole pair passing through it. The angle signal can be converted into the current displacement value, thereby further determining the precise position of the mover 30 in the pole pair determined by the second sensing unit 13. That is, the processing unit 30 can identify the position of the pole pair on the first sensing medium array 22 opposite to the first sensing unit 12 in real time. Based on this, combined with the periodic displacement signal data read by the first sensing unit 12, the absolute position of the mover 20 can be determined.

[0075] For example, but not limited to this, the first position (d1) can be determined by using the second sensing unit 13 to sense the second sensing medium array 23 and obtain the coded sequence value; the second position (d2) can be obtained by using the first sensing unit 12 to sense the first sensing medium array 22. The absolute position of the mover is d1 + d2. For example, the length of the transmission path 40 is in the range of 0-10m. The measurement accuracy of d1 is 1cm, which means that the first position can only measure the absolute position of the mover as 1.01m, 1.02m, etc., and cannot measure to the millimeter level; while the value of d2 is between 0-1cm, and can measure an offset value of 0.1cm. The sum of the two is the high-precision absolute position value.

[0076] It should be noted that in all the attached figures, the direction indicated by arrow S is the direction of the transmission path, but this is not a limitation.

[0077] Corresponding to the transmission system provided in the above embodiments, this application also provides a method for detecting the position of a moving part in a transmission system, applied to the processing unit 30 in the transmission system provided in the above embodiments. The method for detecting the position of a moving part includes:

[0078] Step S102: When the stator is just powered on, acquire data information on whether at least two sets of third sensing units 14 in a stator module 10 have all generated valid signals;

[0079] Step S104: When at least two sets of data information of the third sensing unit 14 all generating valid signals are obtained, the absolute position jointly determined by the corresponding first sensing unit 12 and second sensing unit 13 is taken as the absolute position of the mover 20 on the stator.

[0080] The moving part position detection method of the transmission system provided in this embodiment is equipped with a stator coil 11 that can drive the moving part 20 to move, a first sensing unit 12 and a third sensing unit 14 of a first sensing medium array 22 that can sense the moving part 20, and a second sensing unit 13 of a second sensing medium array 23 that can sense the moving part 20 in the stator module 10. This improves the stability of the stator driving the moving part 20 to move. By determining the effective state of the first sensing unit 12 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 position of the moving part can be accurately locked. The absolute position of the moving part 20 on the stator is 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 moving part 20 on the stator when the stator is just energized can be accurately determined, thus improving the accuracy of the moving part position determination.

[0081] In one embodiment, the mover position detection method further includes:

[0082] The first sensing unit 12 in the stator module 10 and any adjacent first sensing unit 12 in the stator module 10 are pre-set to have a switching position along the transmission path 40; the processing unit 30 is also used for:

[0083] When the mover 20 moves along the transmission path 40 and obtains the absolute position of the mover 20 obtained from the data information of the current stator module 10, it is determined whether the absolute position of the mover 20 obtained from the data information of the next stator module 10 has been obtained.

[0084] When the absolute position of the mover 20 obtained from the data information of the next stator module 10 is obtained, it is determined whether the absolute position of the mover 20 obtained from the data information of the current stator module 10 is in a switching position.

[0085] When it is determined that the absolute position of the mover 20, obtained from the data information of the current stator module 10, is in a switching position, the absolute position of the mover 20, obtained from the data information of the next stator module 10, is taken as the current absolute position of the mover 20.

[0086] The method provided in this embodiment has the same implementation principle and technical effect as the aforementioned embodiments. For the sake of brevity, any parts not mentioned in the method embodiment can be referred to the corresponding content in the aforementioned transmission system embodiment.

[0087] This application provides a computer-readable medium storing computer-executable instructions. When these computer-executable instructions are invoked and executed by a processor, they cause the processor to implement the methods described in the above embodiments.

[0088] Compared with the prior art, the transmission system of this application embodiment includes a stator, a mover 20, and a processing unit 30. The stator includes multiple stator modules 10, which are arranged sequentially along the transmission path 40. Each stator module 10 includes a stator coil 11, a first sensing unit 12, and a second sensing unit 13. The mover 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 mover 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 consists of several N poles and several S poles arranged in a preset order along the transmission path 40. The second sensing unit 13 is used to read the encoded signal data of the second sensing medium array 23. The processing unit 30 acquires the data read by the first sensing unit 12. The displacement signal data and the encoded signal data read by the second sensing unit 13 are used to determine the absolute position of the mover 20 on the stator. The stator module 10 also includes at least two sets 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 data of a valid signal. The position of one set of third sensing units 14 corresponds to one edge of the first sensing unit 12, and the position of the other set of third sensing units 14 corresponds to the other edge of the first sensing unit 12. The processing unit 30 is used to: when the stator is just energized, acquire data information on whether all at least two sets of third sensing units 14 in a stator module 10 have generated valid signals; when data information on all at least two sets of third sensing units 14 having generated valid signals is acquired, the absolute position jointly determined by the corresponding first sensing unit 12 and the second sensing unit 13 is taken as the absolute position of the mover 20 on the stator.

[0089] The above-disclosed examples are merely preferred embodiments of this application, intended to facilitate understanding and implementation by those skilled in the art. However, they cannot be used to limit the scope of this application. Therefore, equivalent variations made within the scope of this application are still within the scope of this application.

Claims

1. A transmission system, characterized in that, The transmission system includes a stator, a mover, and a processing unit. The stator includes multiple stator modules arranged sequentially along the transmission path. Each stator module 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, and 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 consists of several N-pole and several S-pole magnets 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 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 includes two sets of third sensing units. These third sensing units are used to sense the magnetic poles in the first sensing medium array to obtain a valid signal data. Of the two sets of third sensing units, one set corresponds to one edge of the first sensing unit, and the other set corresponds to the other edge of the first sensing unit. The processing unit is used for: When the mover moves along the transmission path, it is determined whether both sets of third sensing units in the current stator module where the mover is located generate valid signals; When it is determined that both sets of third sensing units in the current stator module have generated valid signals, the absolute position jointly determined by the first sensing unit and the second sensing unit in the current stator module is taken as the absolute position of the mover on the stator.

2. The transmission system as described in claim 1, characterized in that, The position of the mover when the two sets of third sensing units in the next stator module change from not all generating valid signals to all generating valid signals is the first position; the position of the mover when the two sets of third sensing units in the current stator module change from all generating valid signals to not all generating valid signals is the second position; a switching position is preset between the first position and the second position along the transmission path; the processing unit is further configured to: After determining the absolute position of the mover on the stator, and while the mover continues to move along the transmission path, it is determined whether both sets of third sensing units in the next stator module have generated valid signals. After determining that both sets of third sensing units in the next stator module have generated valid signals, it is determined whether the absolute position of the mover on the stator has reached the switching position. After determining that the absolute position of the mover on the stator has reached the switching position, the absolute position jointly determined by the first sensing unit and the second sensing unit in the next stator module is taken as the absolute position of the mover on the stator.

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

4. The transmission system as described in claim 1, characterized in that, The two sets of third sensing units are arranged at intervals along the transmission path. Each third sensing unit includes multiple first sensors arranged sequentially along the transmission path. In the two sets of third sensing units, the first sensor in any set of third sensing units that is closer to the other set of third sensing units along the transmission path corresponds to the edge of the first sensing unit.

5. The transmission system as described in claim 4, characterized in that, The second sensing unit includes two sensor arrays consisting of multiple second sensors arranged sequentially along the transmission path. The two sensor arrays are staggered along the transmission path. In the two sets of third sensing units, the first sensor in any set of third sensing units that is closest to the other set of third sensing units along the transmission path corresponds to the second sensor at the outermost end of the transmission path in the two sensor arrays.

6. The transmission system as described in claim 1, characterized in that, The second sensing unit includes multiple sensor arrays arranged in a staggered manner along the transmission path. Each sensor array includes multiple second sensors arranged sequentially along the transmission path. In the two sets of third sensing units, the position of one set of third sensing units corresponds to the second sensor at the outermost end of the multiple sensor arrays along the transmission path, and the position of the other set of third sensing units corresponds to the second sensor at the other outermost end of the multiple sensor arrays along the transmission path.

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

8. The transmission system as described in claim 1, characterized in that, The length of the first sensing medium array along the transmission path is longer than the length of the transmission path between the midpoints of the first sensing units on two adjacent stator modules, and the two differ by a first margin, which is the distance the mover travels along the transmission path at its maximum speed during the time the first sensing unit is reset; or, The length of the second sensing medium array along the transmission path is longer than the length of the transmission path between the midpoints of the second sensing units on two adjacent stator modules, and the two differ by a second margin, which is the distance the mover travels along the transmission path at its maximum speed during the time the second sensing unit is reset.

9. A method for detecting the position of a moving part in a transmission system, characterized in that, The moving part position detection method, applied to a processing unit in the transmission system according to any one of claims 1-8, comprises: When the mover moves along the transmission path, it is determined whether both sets of third sensing units in the current stator module where the mover is located generate valid signals; When it is determined that both sets of third sensing units in the current stator module have generated valid signals, the absolute position jointly determined by the first sensing unit and the second sensing unit in the current stator module is taken as the absolute position of the mover on the stator.

10. A computer-readable storage medium storing a computer program thereon, characterized in that, The computer program is executed by the processor to perform the steps of the method of claim 9.

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