Detection system, detection method and detection device

Abstract

The embodiment of the invention relates to a detection system, a detection method and a detection device, and relates to the technical field of automatic control. The detection system is applied to the multi-rotor motor system. The multi-rotor motor system comprises a stator and a plurality of rotors; the plurality of rotors are used for moving on the stator; the detection system comprises a plurality of magnetic grids and a plurality of Hall sensors; the plurality of magnetic grids are arranged on the plurality of rotors in a one-to-one correspondence manner, and each magnetic grid comprises a plurality of magnetic poles arranged in a column; and the plurality of Hall sensors are arranged on the stator and are used for detecting the magnetic field intensity of the magnetic grid. Therefore, the magnetic grid can be designed to be relatively simple.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of automatic control, and particularly to a detection system, a detection method and a detection device. Background Art

[0002] A multi-rotor motor system includes a stator and multiple rotors. In some scenarios, the multiple rotors can move on the stator serving as a track. The multi-rotor motor system can be configured with a detection system to detect the positions of the rotors. For example, the detection system includes multiple magnetic gratings and multiple Hall sensors. A magnetic grating is arranged on each rotor, and multiple Hall sensors are arranged on the stator. When the rotor carrying the magnetic grating passes by the Hall sensor, the Hall sensor can detect the magnetic field signal of the magnetic grating, so as to know that the rotor moves to the position of the Hall sensor. In this way, the rotor can be positioned. However, the current magnetic gratings are designed relatively complexly. Summary of the Invention

[0003] The present application provides a detection system, a detection method and a detection device, which can design the magnetic grating relatively simply.

[0004] To achieve the above object, the present application adopts the following technical solutions: In a first aspect, a detection system is provided. The detection system is applied to a multi-rotor motor system. The multi-rotor motor system includes a stator and multiple rotors. The multiple rotors are used to move on the stator. The detection system includes multiple magnetic gratings and multiple Hall sensors. The multiple magnetic gratings are used to be arranged on the multiple rotors one by one, and each magnetic grating includes multiple magnetic poles arranged in a column. The multiple Hall sensors are all used to be arranged on the stator, and the Hall sensor is used to detect the magnetic field intensity of the magnetic grating.

[0005] In the above technical solution, the magnetic grating in the detection system can include a single-column magnetic pole. The magnetic field signal of the magnetic grating is collected by the Hall sensor arranged on the stator, so as to obtain the position of the rotor where the magnetic grating is located. The design of the magnetic grating with a single-column magnetic pole is relatively simple, the size is small, the hardware cost is low, which is convenient for the miniaturization of the size of the rotor such as the motor. And it is not limited to wired connection, and the flexibility is good.

[0006] In a possible implementation manner of the first aspect, the arrangement mode of some or all of the magnetic poles of each magnetic grating is: the N poles and the S poles are arranged at intervals. In the above possible implementation manner, the magnetic field signal of the magnetic poles arranged at intervals of the N poles and the S poles is relatively stable and clear, and the positioning effect of the magnetic grating is good.

[0007] In a possible implementation of the first aspect, the plurality of magnetic gratings include a first magnetic grating and a second magnetic grating. The first magnetic grating is configured to be disposed at a first distance from the stator, and the second magnetic grating is configured to be disposed at a second distance from the stator, where the first distance is different from the second distance. Alternatively, the number of magnetic poles of the first magnetic grating is a first number, and the number of magnetic poles of the second magnetic grating is a second number, where the first number is different from the second number. Alternatively, the magnetic intensity of the magnetic poles of the first magnetic grating is a first intensity, and the magnetic intensity of the magnetic poles of the second magnetic grating is a second intensity, where the first intensity is different from the second intensity. In the above possible implementation, the plurality of magnetic gratings can be distinguished by the different distances from the stator, or by the number of magnetic poles, or by the magnetic intensity of the magnetic poles, so as to number the plurality of magnetic gratings. Such a coding method is very simple.

[0008] In a possible implementation of the first aspect, the distance between the magnetic gratings disposed on two adjacent movers among the plurality of magnetic gratings is a preset value. In the above possible implementation, the distance between the magnetic gratings disposed on two adjacent movers can be limited to a preset value, so as to number each magnetic grating. In this way, the requirements for the magnetic gratings are less, and the plurality of second magnetic gratings can be indistinguishable, which is convenient for mass production, and the unique coding of the movers can be realized in a simple manner.

[0009] In a possible implementation of the first aspect, the detection system further includes a processing device. The processing device is configured to obtain the detection results of at least two Hall sensors among the plurality of Hall sensors, and the detection results are used to indicate the magnetic field intensity of the magnetic grating to be detected. The processing device is further configured to obtain the magnetic grating information of the magnetic grating to be detected according to the detection results of at least two Hall sensors, and the magnetic grating information is used to indicate that the magnetic grating to be detected is the first magnetic grating or the second magnetic grating. In the above possible implementation, the processing device distinguishes the first magnetic grating and the second magnetic grating by the magnetic field intensity detected by the Hall sensor, and the processing overhead of the processing device is small.

[0010] In a possible implementation of the first aspect, the distance between the magnetic gratings disposed on two adjacent movers among the plurality of magnetic gratings is a preset value. The number of the second magnetic gratings is plural. The magnetic grating to be detected is the second magnetic grating. The processing device is further configured to obtain the number of the magnetic grating to be detected according to the position of the first magnetic grating, the position of the magnetic grating to be detected, and the preset value. In the above possible implementation, the processing device distinguishes different second magnetic gratings according to the preset value, and the processing overhead of the processing device is small.

[0011] In a possible implementation of the first aspect, among multiple magnetic gratings, the number of magnetic poles and the arrangement pattern of all magnetic poles of at least two magnetic gratings are the same. In the above possible implementation, the number of magnetic poles and the arrangement pattern of all magnetic poles of at least two magnetic gratings are the same. Even if the number of movers in the multi-mover motor system is large, the number of magnetic poles in the magnetic grating does not need to increase accordingly, and the hardware cost is low. Moreover, it is easy to process in batches, and the processing cost is low.

[0012] In a second aspect, a detection method is provided. The detection method is executed by a detection system, and the detection system is applied to a multi-mover motor system. The multi-mover motor system includes a stator and multiple movers. The multiple movers are used to move on the stator. The detection system includes multiple magnetic gratings and multiple Hall sensors. The multiple magnetic gratings are used to be arranged on the multiple movers one by one. Each magnetic grating includes multiple magnetic poles arranged in a column. The multiple Hall sensors are all used to be arranged on the stator, and the Hall sensor is used to detect the magnetic field intensity of the magnetic grating. The multiple magnetic gratings include a first magnetic grating and a second magnetic grating. The first magnetic grating is used to be arranged at a first distance from the stator, and the second magnetic grating is used to be arranged at a second distance from the stator. The first distance is different from the second distance. Alternatively, the number of magnetic poles of the first magnetic grating is a first number, the number of magnetic poles of the second magnetic grating is a second number, and the first number is different from the second number. Alternatively, the magnetic intensity of the magnetic poles of the first magnetic grating is a first intensity, the magnetic intensity of the magnetic poles of the second magnetic grating is a second intensity, and the first intensity is different from the second intensity. The method includes: obtaining the detection results of at least two Hall sensors among the multiple Hall sensors, and the detection results are used to indicate the magnetic field intensity of the magnetic grating to be detected. According to the detection results of the at least two Hall sensors, the magnetic grating information of the magnetic grating to be detected is obtained, and the magnetic grating information is used to indicate that the magnetic grating to be detected is the first magnetic grating or the second magnetic grating.

[0013] In a possible implementation of the second aspect, the distance between the magnetic gratings arranged on two adjacent movers among the multiple magnetic gratings is a preset value. The number of the second magnetic gratings is multiple. The magnetic grating to be detected is the second magnetic grating. The method further includes: obtaining the number of the magnetic grating to be detected according to the position of the first magnetic grating, the position of the magnetic grating to be detected, and the preset value.

[0014] In a third aspect, a detection device is provided. The detection device includes a module for executing the method provided in the second aspect or any possible implementation of the second aspect.

[0015] In a fourth aspect, a computer-readable storage medium is provided. Program code is stored in the computer-readable storage medium, and the program code can be called by a processor to execute the processing method provided in the second aspect or any possible implementation of the second aspect.

[0016] In another aspect of the present application, there is provided a computer program product which, when running on a computer, causes the computer to execute the processing method provided by the second aspect or any possible implementation manner of the second aspect.

[0017] It can be understood that any of the above-provided detection methods, detection devices, computer storage media or computer program products are applied to the corresponding detection system provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding detection system provided above, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of a multi-rotor motor system provided by an embodiment of the present application; Figure 2 Schematic diagram of a position reading device provided by an embodiment of the present application; Figure 3 Schematic diagram of a magnetic grating provided by an embodiment of the present application Figure 1 ; Figure 4 Schematic diagram of a magnetic grating provided by an embodiment of the present application Figure 2 ; Figure 5 Schematic diagram of a detection system provided by an embodiment of the present application Figure 1 ; Figure 6 Schematic diagram of a detection system provided by an embodiment of the present application Figure 2 ; Figure 7 Schematic diagram of a magnetic grating provided by an embodiment of the present application Figure 3 ; Figure 8 Schematic diagram of a magnetic grating provided by an embodiment of the present application Figure 4 ; Figure 9 Schematic diagram of a magnetic grating provided by an embodiment of the present application Figure 5 ; Figure 10 Schematic diagram of a magnetic grating provided by an embodiment of the present application Figure 6 ; Figure 11 Schematic diagram of a magnetic grating provided by an embodiment of the present application Figure 7 ; Figure 12 Schematic diagram of a magnetic grating provided by an embodiment of the present application Figure 8 ; Figure 13 Schematic diagram of a detection process provided by an embodiment of the present application; Figure 14 Schematic diagram of a detection method provided by an embodiment of the present application; Figure 15 Schematic diagram of a detection device provided by an embodiment of the present application. Detailed implementation manners

[0019] It should be noted that the terms "first", "second", etc. involved in the embodiments of the present application are only used for the purpose of distinguishing the same type of features, and cannot be understood as indicating relative importance, quantity, order, etc. The step numbers in the embodiments of the present application are only used to distinguish different steps, and cannot be understood as indicating relative importance, quantity, order, etc.

[0020] The term "exemplary" or "for example" and other words involved in the embodiments of the present application are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, using the words "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0021] The terms "coupled" and "connected" involved in the embodiments of the present application should be understood in a broad sense. For example, it can refer to a direct physical connection, or an indirect connection realized through electronic devices, such as a connection realized through resistors, inductors, capacitors or other electronic devices.

[0022] First, the application scenarios of the embodiments of the present application are introduced. The embodiments of the present application can be applied to a multi-rotor motor system, such as Figure 1 As shown, the multi-rotor motor system 1000 includes a stator 110 and a plurality of rotors 120. In some examples, the plurality of rotors 120 can be used to move on the stator 110. In the multi-rotor motor system 1000, especially in the multi-rotor linear motor system, accurately positioning each rotor 120 is of great significance and necessity in aspects such as motor control, system scheduling, and power-off data recovery.

[0023] In some possible implementation manners, a wired communication method can be adopted for the rotor 120 to achieve positioning, that is, the positioning information of the rotor 120 is transmitted in a wired manner. However, the wired method limits the flexibility of the multi-rotor motor system 1000.

[0024] In some other possible implementation manners, a wireless communication method can be adopted for the rotor 120 to perform positioning. For example, a position reading device is used to achieve the positioning of the plurality of rotors 120.

[0025] In some examples, such as Figure 2 As shown, the position reading device 2000 includes a plurality of magnetic gratings 210 ( Figure 2Only one (only one is shown) and multiple Hall sensors 220 are shown. The number of magnetic gratings 210 can be the same as the number of movers 120, and one magnetic grating 210 is arranged on each mover 120. Each magnetic grating 210 includes multiple magnetic poles arranged in multiple columns. For example, Figure 2 The shown magnetic grating 210 includes 2 columns of magnetic poles. The multiple Hall sensors 220 are all arranged on the stator 110, and the Hall sensors 220 are used to detect the magnetic field signals of the magnetic grating 210.

[0026] Among them, the arrangement modes of the multiple magnetic poles of each magnetic grating 210 among the multiple magnetic gratings 210 are all different. This means that the arrangement modes of all the magnetic poles of each magnetic grating 210 are not completely the same. It can also be understood that there is at least one position where the magnetic poles of each magnetic grating 210 are different from those of other magnetic gratings 210. For example, as Figure 3 shown, taking the position reading device 2000 including 4 magnetic gratings 210 as an example. These 4 magnetic gratings 210 include magnetic grating 210A, magnetic grating 210B, magnetic grating 210C, and magnetic grating 210D. The arrangement mode of the second column of magnetic poles of magnetic grating 210A is N pole, N pole, S pole, S pole. The arrangement mode of the second column of magnetic poles of magnetic grating 210B is N pole, S pole, S pole, N pole. The arrangement mode of the second column of magnetic poles of magnetic grating 210C is S pole, N pole, N pole, S pole. The arrangement mode of the second column of magnetic poles of magnetic grating 210D is S pole, S pole, N pole, N pole. It can be seen that the arrangement modes of the second column of magnetic poles of these 4 magnetic gratings 210 are all different.

[0027] In addition, the distances between the multiple magnetic gratings 210 and the stator 110 are the same, and the distances between the multiple columns of magnetic poles of each magnetic grating 210 and the stator 110 are also the same. That is, Figure 2 and Figure 3 The shown magnetic grating 210 can be a top view of the magnetic grating 210 arranged on the mover 120 in practice. The distances between the magnetic gratings 210 arranged on two adjacent movers 120 among the multiple magnetic gratings 210 can be variable. For example, as Figure 4 shown, taking the position reading device 2000 including 4 magnetic gratings 210 as an example. These 4 magnetic gratings 210 include magnetic grating 210A, magnetic grating 210B, magnetic grating 210C, and magnetic grating 210D. The distances between these 4 magnetic gratings 210 and the stator 110 are all h1. During the actual operation, the distance between magnetic grating 210B and magnetic grating 210C can change. For example, the distance between magnetic grating 210B and magnetic grating 210C is first x1, and after running for a period of time, as the distance between the movers 120 changes, the distance between magnetic grating 210B and magnetic grating 210C becomes x2. Since the movement of the mover 120 is irregular, the distance between magnetic grating 210B and magnetic grating 210C is unknown.

[0028] In Figures 2 to 4In the shown embodiment, the position reading module uses a magnetic grating 210 including multiple columns of magnetic poles to achieve the purpose of positioning and encoding. The position reading module uses a relatively large number of modules and the process is relatively complex. The magnetic grating 210 including multiple columns of magnetic poles has a large size and a high hardware cost. Moreover, when the number of movers 120 in the multi-mover motor system 1000 is large, the number of magnetic poles in the magnetic grating 210 is also large, further increasing the hardware cost. In addition, the arrangement modes of the multiple magnetic poles of each magnetic grating 210 are different, resulting in difficulty in batch processing of the magnetic grating 210 and a high processing cost.

[0029] Based on this, the embodiment of the present application provides a detection system, which can use a magnetic grating including a single column of magnetic poles to realize the detection of the multi-mover motor system 1000. This detection system can be applied to Figure 1 the shown multi-mover motor system 1000.

[0030] In some examples, as Figure 5 shown, the detection system 3000 includes multiple magnetic gratings 310 ( Figure 5 only one is shown in the figure) and multiple Hall sensors 320. The multiple magnetic gratings 310 are used to be correspondingly arranged on the multiple movers 120 one by one. It can be understood that the number of the multiple magnetic gratings 310 is the same as the number of the multiple movers 120, and one magnetic grating 310 is arranged on each mover 120. In some special cases, the number of the multiple magnetic gratings 310 can be greater than the number of movers 120, and one or more magnetic gratings 310 can be arranged on each mover 120. Each of the magnetic gratings 310 includes multiple magnetic poles arranged in a column. The multiple Hall sensors 320 are all used to be arranged on the stator 110, and the Hall sensors 320 are used to detect the magnetic field signals of the magnetic gratings 310. Figure 5 Only 6 Hall sensors 320 are shown in the figure, and there can be more or fewer Hall sensors 320 in practice. Figure 5 Only 4 magnetic poles of one magnetic grating 310 are shown in the figure, and there can be more or fewer magnetic poles in practice. The embodiment of the present application does not limit this.

[0031] As Figure 6As shown, the detection system 3000 may further include a master station, a plurality of controllers 330, a plurality of slave stations, and at least one magnetic grating 310. For example, the at least one magnetic grating 310 may include a No. 1 magnetic grating 310, a No. 2 magnetic grating 310, …, a No. N magnetic grating 310. Each slave station may include at least one Hall sensor 320 and a controller 330. The at least one Hall sensor 320 and the controller 330 may be coupled in a wired or wireless manner. The plurality of slave stations may be coupled to the master station in a wired or wireless manner. The Hall sensor 320 in each slave station sends the detected magnetic field signal to the controller 330 for processing, and the controller 330 then sends the processing result to the master station. Thus, the master station can obtain the position of each mover 120.

[0032] In practice, the detection system 3000 may also include a multi-mover motor system 1000. The stator 110 of the multi-mover motor system 1000 is divided into multiple parts, and each slave station includes one part of the stator 110 (such as a part of the track). The at least one Hall sensor 320 of this slave station is fixed on this part of the stator 110. The user can splice the stator 110 parts in the plurality of slave stations into a complete stator 110, fix the magnetic grating 310 in each slave station to the mover 120, and then the user can use the system. Among them, the mover 120 may be passive, and the controller 330 may be fixed on the stator 110 or may not be fixed on the stator 110.

[0033] Next, it is introduced how the Hall sensor 320 detects the magnetic field signal of the magnetic grating 310.

[0034] As Figure 7 shown, the mover 120 moves the magnetic grating 310 on the stator 110. A plurality of Hall sensors 320 are arranged on the stator 110. For example, the plurality of Hall sensors 320 include a Hall sensor 320A, a Hall sensor 320B, and a Hall sensor 320C. The Hall sensor 320A is arranged at the position of 0 cm, the Hall sensor 320B is arranged at the position of 20 m, and the Hall sensor 320C is arranged at the position of 40 cm. The magnetic field signal generated by the magnetic grating 310 is Asin(θ), and this magnetic field signal is a sine signal, where A is the amplitude and θ is the phase. When the magnetic grating 310 moves, the reading of the Hall sensor 320 covered by the magnetic grating 310 is not 0, and the reading of the Hall sensor 320 not covered by the magnetic grating 310 is 0.

[0035] Figure 5Among them, according to the fact that the readings of Hall sensor 320A and Hall sensor 320B are not zero, it can be known that Hall sensor 320A and Hall sensor 320B are covered by the magnetic grating 310; according to the fact that the reading of Hall sensor 320C is zero, it can be known that Hall sensor 320C is not covered by the magnetic grating 310. From this, it can be obtained that the absolute position of the magnetic grating 310 is 20 cm, that is, the magnetic grating 310 has at least passed through the position of 20 cm.

[0036] As Figure 8 shown, the magnetic grating 310 moves a distance Δx, and Δx can also be called the relative displacement. Hall sensor 320A can read the magnetic field signal Asin(θ1) generated by the magnetic grating 310, and Hall sensor 320B can read the magnetic field signal Asin(θ2) generated by the magnetic grating 310. According to Asin(θ1) and Asin(θ2), the known phase difference between Hall sensor 320A and Hall sensor 320B, and the known formula between Δx and the change of the phase, the value of Δx can be obtained. In practice, the value of Δx can be calculated according to the readings of more Hall sensors 320. Finally, the actual position of the magnetic grating 310 can be located as the absolute position + relative displacement, that is, 20 cm + Δx, that is, the position of the mover 120 where the magnetic grating 310 is located is 20 cm + Δx.

[0037] In Figures 7 to 8 the embodiment shown, the magnetic grating 310 in the detection system 3000 may include a single row of magnetic poles. The magnetic field signal of the magnetic grating 310 is collected by the Hall sensor 320 arranged on the stator 110, so as to obtain the position of the mover 120 where the magnetic grating 310 is located. The design of the magnetic grating 310 with a single row of magnetic poles is relatively simple, the size is small, the hardware cost is low, and it is convenient for the miniaturization of the size of the mover such as the motor. And it is not limited to wired connection, and the flexibility is good.

[0038] In some possible embodiments, by Figure 7 and Figure 8 the method in to position the magnetic grating 310, it is necessary to rely on the magnetic poles arranged in the N-level, S-level, N-level, S-level manner, and the Hall sensor 320 uses the magnetic field signal generated by the magnetic poles arranged in the N-level, S-level, N-level, S-level manner during positioning.

[0039] In some examples, the arrangement of some or all of the magnetic poles of each magnetic grating 310 is such that the N poles and S poles are arranged alternately. Among them, the alternate arrangement of the N poles and S poles can be N, S, N, S, or S, N, S, N. That is, the first magnetic pole can be an S pole or an N pole, and the last magnetic pole can be an S pole or an N pole. Furthermore, the arrangement of some of the magnetic poles of the magnetic grating 310 is such that the N poles and S poles are arranged alternately, which means that the arrangement of the other part of the magnetic poles of the magnetic grating 310 can be different. For example, the magnetic grating 310 has a total of 6 magnetic poles, and the first 4 magnetic poles are arranged in the order of N, S, N, S, and the last 2 magnetic poles are both S poles. In this embodiment, the magnetic field signals of the magnetic poles arranged alternately with N and S are relatively stable and clear, and the positioning effect of the magnetic grating 310 is better.

[0040] In some possible embodiments, the detection system 3000 can not only position the mover 120, but also number the mover 120. In the embodiments of the present application, numbering the magnetic grating 310 can be regarded as numbering the mover 120.

[0041] In some examples, multiple magnetic gratings 310 can be numbered according to the different order in which they pass through a Hall sensor 320. For example, when the reading of the Hall sensor 320 is 0, no magnetic grating 310 passes through the Hall sensor 320. When the reading of the Hall sensor 320 is non-zero for the first time, the magnetic grating 310 passing through the Hall sensor 320 is numbered 1. When the reading of the Hall sensor 320 becomes 0 again, no magnetic grating 310 passes through the Hall sensor 320. When the reading of the Hall sensor 320 is non-zero for the second time, the magnetic grating 310 passing through the Hall sensor 320 is numbered 2.

[0042] In other examples, other sensors can be set, such as a weight sensor. Multiple movers 120 can be numbered according to their different weights. For example, the mover 120 with a weight of 1 kg is numbered 1, and the mover 120 with a weight of 2 kg is numbered 2.

[0043] In still other examples, the multiple magnetic gratings 310 include a first magnetic grating and a second magnetic grating, and the first magnetic grating and the second magnetic grating have different characteristics, and the magnetic gratings 310 can be numbered according to the different characteristics. This different characteristic can be embodied in various ways, and three ways will be introduced next.

[0044] In the first method, the first magnetic grating is configured to be disposed at a first distance from the stator 110, and the second magnetic grating is configured to be disposed at a second distance from the stator 110, where the first distance is different from the second distance. That is, after the first magnetic grating and the second magnetic grating are disposed on the mover 120, the distance between the first magnetic grating and the stator 110 is different from the distance between the second magnetic grating and the stator 110.

[0045] Exemplarily, after each magnetic grating 310 in the detection system 3000 is disposed on the mover 120, the distance between each magnetic grating 310 and the stator 110 is different. As Figure 9 shown, the distance between the magnetic grating 310A and the stator 110 is h2, the distance between the magnetic grating 310B and the stator 110 is h3, the distance between the magnetic grating 310C and the stator 110 is h4, and the distance between the magnetic grating 310D and the stator 110 is h5. Among the magnetic gratings 310A and 310B, the magnetic grating 310A corresponds to the first magnetic grating, and the magnetic grating 310B corresponds to the second magnetic grating.

[0046] Next, the reason for such a configuration is introduced. According to Figure 7 and Figure 8 the shown detection principle, based on the known phase difference between the Hall sensors 320A and 320B according to Asin(θ1) and Asin(θ2), the values of the three unknowns A, θ1, and θ2 can be solved. The above positioning method only utilizes the values of θ1 and θ2 and does not utilize the value of A. There is also a known formula relationship between the distance between the magnetic grating 310 and the stator 110 and A. Since the distance between each magnetic grating 310 and the stator 110 is different, the value of A solved for each magnetic grating 310 is also different. Therefore, the value of A can be used to number the magnetic gratings 310. For example, if the distance between the magnetic grating 310A and the stator 110 is h2, then the magnetic grating 310A can be numbered as h2. If the distance between the magnetic grating 310B and the stator 110 is h3, then the magnetic grating 310B can be numbered as h3. If the distance between the magnetic grating 310C and the stator 110 is h4, then the magnetic grating 310C can be numbered as h4. If the distance between the magnetic grating 310D and the stator 110 is h5, then the magnetic grating 310D can be numbered as h5.

[0047] Also exemplarily, the distance between some of the magnetic gratings 310 in the detection system 3000 and the stator 110 is the first distance, and the distance between another part of the magnetic gratings 310 and the stator 110 is the second distance. As Figure 10 shown, the distance between the magnetic grating 310A and the stator 110 is h6, and the distances between the magnetic gratings 310B, 310C, and 310D and the stator 110 are all h7. Among the magnetic gratings 310A, 310B, 310C, and 310D, the magnetic grating 310A corresponds to the first magnetic grating, and the magnetic gratings 310B, 310C, and 310D correspond to the second magnetic grating.

[0048] Next, the reasons for such settings will be introduced. According to Figure 7 and Figure 8 shown in the detection principle, since the distances between the first magnetic grating and the stator 110 and between the second magnetic grating and the stator 110 are different, the values of A obtained by the first magnetic grating and the second magnetic grating are also different. Therefore, the first magnetic grating and the second magnetic grating can be distinguished by the value of A. Similarly to the above, the magnetic grating 310A can be numbered as h6, and the magnetic gratings 310B, 310C, and 310D can be numbered as h7. If there are multiple second magnetic gratings but it is not necessary to distinguish them, only the first magnetic grating and the second magnetic grating need to be distinguished, then such numbering can be used.

[0049] Furthermore, if it is necessary to distinguish multiple second magnetic gratings, the following settings can be made: the distances between the magnetic gratings 310 arranged on two adjacent movers 120 among the multiple magnetic gratings 310 are preset values. As Figure 10 shown, the distance between the magnetic grating 310A and the magnetic grating 310B is preset as x3, the distance between the magnetic grating 310B and the magnetic grating 310C is preset as x4, and the distance between the magnetic grating 310C and the magnetic grating 310D is preset as x5. According to Figure 7 and Figure 8 shown in the principle, each magnetic grating 310 can be positioned. When the positions of each magnetic grating 310 are known and the distances between every two adjacent magnetic gratings 310 are also known, then each second magnetic grating can be numbered.

[0050] It can be understood that the principle of doing this is that the preset values (such as x3, x4, and x5) are known. In the embodiments of the present application, the preset values of the distances between every two adjacent magnetic gratings 310 can be different and fixed, for example, x3, x4, and x5 are all different and fixed. These multiple preset values can also be the same and fixed values, for example, x3, x4, and x5 are equal and fixed. These multiple preset values can also be variable. For example, if the speed at which the mover 120 carrying the magnetic grating 310 moves is known, then x3, x4, and x5 can be calculated, and the numbering function of the present application can also be realized.

[0051] In the second method, the number of magnetic poles of the first magnetic grating is the first number, the number of magnetic poles of the second magnetic grating is the second number, and the first number is different from the second number.

[0052] Exemplarily, the number of magnetic poles of each magnetic grating 310 in the detection system 3000 is different. As Figure 11As shown, the number of magnetic poles of the magnetic grating 310A is 4, and these 4 magnetic poles are arranged in the pattern of N pole, S pole, N pole, S pole. The number of magnetic poles of the magnetic grating 310B is 5, and these 5 magnetic poles are arranged in the pattern of N pole, S pole, N pole, S pole, N pole. The number of magnetic poles of the magnetic grating 310C is 6, and these 6 magnetic poles are arranged in the pattern of N pole, S pole, N pole, S pole, N pole, S pole. The number of magnetic poles of the magnetic grating 310D is 7, and these 7 magnetic poles are arranged in the pattern of N pole, S pole, N pole, S pole, N pole, S pole, N pole. In the magnetic gratings 310A and 310B, the magnetic grating 310A is equivalent to the first magnetic grating, and the magnetic grating 310B is equivalent to the second magnetic grating.

[0053] Next, the reasons for such settings will be introduced. In Figure 7 and Figure 8 In the detection principle shown, if the reading Asin(θ) of the Hall sensor 320A is greater than 0, it means that the magnetic pole passing through the Hall sensor 320A at this time is the N pole. If the reading Asin(θ) of the Hall sensor 320A is less than 0, it means that the magnetic pole passing through the Hall sensor 320A at this time is the S pole. Through this, the magnetic pole type and number of the magnetic grating 310 can be obtained. Therefore, the magnetic grating 310 can be numbered using the number of magnetic poles of each magnetic grating 310. For example, the N pole is numbered 0, the S pole is numbered 1, the magnetic grating 310A can be numbered 0101, the magnetic grating 310B can be numbered 01010, the magnetic grating 310C can be numbered 010101, and the magnetic grating 310D can be numbered 0101010.

[0054] Exemplarily again, the number of magnetic poles of some magnetic gratings 310 in the detection system 3000 is the first number, and the number of magnetic poles of another part of the magnetic gratings 310 is the second number. As Figure 12 shown, the number of magnetic poles of the magnetic grating 310A is 4, and these 4 magnetic poles are arranged in the pattern of N pole, S pole, N pole, S pole. The number of magnetic poles of the magnetic gratings 310B, 310C, and 310D is all 6, and their 6 magnetic poles are all arranged in the pattern of N pole, S pole, N pole, S pole, N pole, S pole. Among the magnetic gratings 310A, 310B, 310C, and 310D, the magnetic grating 310A is equivalent to the first magnetic grating, and the magnetic gratings 310B, 310C, and 310D are equivalent to the second magnetic grating.

[0055] Next, the reasons for such settings will be introduced. According to the above detection principle, it can be known that the magnetic pole type and number of the magnetic grating 310 can be obtained through the reading of the Hall sensor 320. Therefore, the first magnetic grating and the second magnetic grating can be distinguished using the number of magnetic poles. Similar to the above, the magnetic grating 310A can be numbered 0101, and the magnetic gratings 310B, 310C, and 310D can be numbered 010101. If the number of the second magnetic gratings is multiple, but it is not necessary to distinguish multiple second magnetic gratings, only the first magnetic grating and the second magnetic grating need to be distinguished, then such numbering can be used.

[0056] Further, if it is necessary to distinguish multiple second magnetic gratings, the following settings can be made: The distance between the magnetic gratings 310 disposed on two adjacent movers 120 among the multiple magnetic gratings 310 is a preset value. This preset value can refer to Figure 10 the preset value in Figure 7 and Figure 8 The position of each magnetic grating 310 can be located according to the principles shown in

[0057] It can be understood that the principle of doing this is that the preset values (such as x3, x4, and x5) are known. In the embodiments of the present application, the preset values of the distances between every two adjacent magnetic gratings 310 can be different and fixed. For example, x3, x4, and x5 are all different and remain unchanged. These multiple preset values can also be the same and fixed values. For example, x3, x4, and x5 are equal and remain unchanged. These multiple preset values can also be variable. For example, if the speed at which the mover 120 carrying the magnetic grating 310 moves is known, then x3, x4, and x5 can be calculated, and the numbering function of the present application can also be realized.

[0058] In the third method, the magnetic intensity of the magnetic poles of the first magnetic grating is the first intensity, the magnetic intensity of the magnetic poles of the second magnetic grating is the second intensity, and the first intensity is different from the second intensity. The principle and possible implementation methods of the third method can refer to the first two embodiments, and will not be elaborated in the embodiments of the present application.

[0059] In this embodiment, multiple magnetic gratings 310 can be distinguished by the different distances from the stator 110, or by the number of magnetic poles, or by the magnetic intensity of the magnetic poles, so as to number the multiple magnetic gratings 310. Such a coding method is very simple.

[0060] Further, it can also be specified that the distance between the magnetic gratings 310 disposed on two adjacent movers 120 is a preset value, so as to number each magnetic grating 310. This requires less for the magnetic gratings 310. The multiple second magnetic gratings can be indistinguishable, which is convenient for mass production, and the unique coding of the mover 120 can be realized in a simple manner.

[0061] In some possible embodiments, the detection system 3000 further includes a processing device. This processing device can be Figure 6 the controller 330 in Figure 6 or the master station in Figure 6The controller 330 and the master station in [the relevant context] are jointly implemented. The processing device can be a processing circuit, a processor chip, or an electronic device or a processing system with processing functions. The embodiments of the present application do not limit the form of the processing device.

[0062] In some examples, the processing device is used to obtain the detection results of at least two Hall sensors 320 among the multiple Hall sensors 320, and the detection results are used to indicate the magnetic field strength of the magnetic grating 310 to be detected. The processing device is also used to obtain the magnetic grating information of the magnetic grating 310 to be detected according to the detection results of at least two Hall sensors 320, and the magnetic grating information is used to indicate that the magnetic grating 310 to be detected is the first magnetic grating or the second magnetic grating.

[0063] Among them, the processing device can obtain the position of the magnetic grating 310 to be detected, the distance between the magnetic grating 310 to be detected and the stator 110, and the number of magnetic poles of the magnetic grating 310 to be detected through the foregoing principle. If the distances between each magnetic grating 310 and the stator 110 are different, or the numbers of magnetic poles of each magnetic grating 310 are different, then the processing device can number the magnetic grating 310 to be detected according to the magnetic grating information, or obtain the number of the magnetic grating 310 to be detected.

[0064] If the distances between some magnetic gratings 310 and the stator 110 are the same, and the numbers of magnetic poles of these magnetic gratings 310 are the same, then the distance between the above two adjacent magnetic gratings 310 needs to be used for numbering. Exemplarily, the distance between the magnetic gratings 310 disposed on two adjacent rotors 120 among the multiple magnetic gratings 310 is a preset value; the number of the second magnetic gratings is multiple; the magnetic grating 310 to be detected is the second magnetic grating. The processing device is also used to obtain the number of the magnetic grating 310 to be detected according to the position of the first magnetic grating, the position of the magnetic grating 310 to be detected, and the preset value.

[0065] Take Figure 10 as an example. The processing device is used to obtain the position of the magnetic grating 310 to be detected and the distance between the magnetic grating 310 to be detected and the stator 110 according to the detection results of at least two Hall sensors 320. The processing device can determine that the magnetic grating 310 to be detected is the second magnetic grating according to the distance between the magnetic grating 310 to be detected and the stator 110. The processing device is also used to obtain that the magnetic grating 310 to be detected is the first magnetic grating 310 behind the magnetic grating 310A, that is, the magnetic grating 310B, according to the position of the magnetic grating 310A (for example, 0 cm), the position of the magnetic grating 310 to be detected (for example, 20 cm), and the preset value (for example, 20 cm), and it can be numbered as 2.

[0066] In this embodiment, the processing device distinguishes the first magnetic grating and the second magnetic grating through the magnetic field strength detected by the Hall sensor 320, and the processing overhead of the processing device is small. The processing device distinguishes different second magnetic gratings according to the preset value, and the processing overhead of the processing device is still small.

[0067] In some possible implementation manners, among the multiple magnetic gratings 310 of the detection system 3000, the number of magnetic poles of at least two magnetic gratings 310 and the arrangement manner of all the magnetic poles are the same. Exemplarily, the number of the first magnetic grating is one, the number of the second magnetic gratings is multiple, and the number of magnetic poles of the multiple second magnetic gratings and the arrangement manner of all the magnetic poles are the same.

[0068] In this implementation manner, the number of magnetic poles of at least two magnetic gratings 310 and the arrangement manner of all the magnetic poles are the same. Even if the number of movers 120 in the multi-mover motor system 1000 is large, the number of magnetic poles in the magnetic gratings 310 does not need to increase accordingly, and the hardware cost is low. Moreover, it is easy to process in batches, and the processing cost is low.

[0069] Next, according to Figure 5 and Figure 6 the specific application scenarios shown, the solutions of the embodiments of the present application will be introduced.

[0070] The Hall sensors 320 are arranged on the stator 110 along the moving direction of the mover 120. The number of the first magnetic grating is one, the number of the second magnetic gratings is multiple, the distance between the first magnetic grating and the stator 110 is a first distance, the distances between the multiple second magnetic gratings and the stator 110 are all a second distance, and the number of magnetic poles of the first magnetic grating and the multiple second magnetic gratings are the same.

[0071] As Figure 13As shown, after the detection system 3000 is powered on, each controller 330 controls the corresponding Hall sensor 320 to detect the magnetic field intensity in real time, so as to realize the real-time detection of the magnetic field intensity by all the Hall sensors 320 on the stator 110. The controller 330 determines whether there is a mover 120 on the Hall sensor 320 according to the magnetic field intensity detected by the Hall sensor 320. If so, the controller 330 obtains the position information of the mover 120 according to the magnetic field intensity. Specifically, the controller 330 determines the absolute position and relative offset of the mover 120, and adds the absolute position and relative offset to realize the accurate positioning of the mover 120. The controller 330 can update the position information of the mover 120 in real time. The controller 330 can also update information such as the moving direction and speed of the mover 120 in real time. The slave station can update information such as whether the mover 120 enters and leaves, and the number of movers 120. The controller 330 also determines whether the mover 120 is an initial mover according to the magnetic field intensity. The initial mover refers to the mover 120 provided with the first magnetic grating. When the magnetic grating 310 of the initial mover passes by a Hall sensor 320, its magnetic field intensity is quite different from that of the magnetic grating 310 of the non-initial mover. The magnetic field intensities of the magnetic gratings 310 of the non-initial movers are basically the same. The controller 330 sends the obtained information to the master station. The controller 330 stores the real-time updated information. The master station performs operations such as control calculation and scheduling. The master station determines the position of the initial mover according to the information sent by multiple controllers 330. The master station distinguishes each non-initial mover according to the position of the initial mover, the position of each non-initial mover, and the above preset values.

[0072] In this way, by matching the mover 120 with the magnetic grating 310 of a single row of magnetic poles and using two kinds of information, namely the magnetic grating 310 sequence and intensity, the passive positioning and numbering of multiple movers are realized, which is convenient for individual scheduling or combined scheduling of the movers 120. Compared with other positioning and coding schemes for multiple movers 120, it is convenient to number and read the movers 120, without the need to write the information of the movers 120 in advance, which is beneficial to the miniaturization of the movers 120. The magnetic grating 310 sequences are the same, which is beneficial to mass production and reduces the processing cost.

[0073] The embodiment of the present application also provides a detection method, which is executed by a detection system 3000. The detection system 3000 is applied to a multi-rotor motor system 1000. The multi-rotor motor system 1000 includes a stator 110 and a plurality of rotors 120. The plurality of rotors 120 are used to move on the stator 110. The detection system 3000 includes a plurality of magnetic gratings 310 and a plurality of Hall sensors 320. The plurality of magnetic gratings 310 are used to be arranged on the plurality of rotors 120 one by one. Each magnetic grating 310 includes a plurality of magnetic poles arranged in a column. The plurality of Hall sensors 320 are all used to be arranged on the stator 110. The Hall sensor 320 is used to detect the magnetic field intensity of the magnetic grating 310. The plurality of magnetic gratings 310 include a first magnetic grating and a second magnetic grating. The first magnetic grating is used to be arranged at a first distance from the stator 110, and the second magnetic grating is used to be arranged at a second distance from the stator 110. The first distance is different from the second distance; or, the number of magnetic poles of the first magnetic grating is a first number, and the number of magnetic poles of the second magnetic grating is a second number. The first number is different from the second number; or, the magnetic intensity of the magnetic poles of the first magnetic grating is a first intensity, and the magnetic intensity of the magnetic poles of the second magnetic grating is a second intensity. The first intensity is different from the second intensity.

[0074] As Figure 14 shown, the method includes: The detection system 3000 obtains the detection results of at least two Hall sensors 320 among the plurality of Hall sensors 320. The detection results are used to indicate the magnetic field intensity of the magnetic grating 310 to be detected. The detection system 3000 obtains the magnetic grating 310 information of the magnetic grating 310 to be detected according to the detection results of the at least two Hall sensors 320. The magnetic grating 310 information is used to indicate that the magnetic grating 310 to be detected is the first magnetic grating or the second magnetic grating.

[0075] In some possible implementation manners, the distance between the magnetic gratings 310 arranged on two adjacent rotors 120 among the plurality of magnetic gratings 310 is a preset value. The number of the second magnetic gratings is multiple. The magnetic grating 310 to be detected is the second magnetic grating. The method further includes: obtaining the number of the magnetic grating 310 to be detected according to the position of the first magnetic grating, the position of the magnetic grating 310 to be detected, and the preset value.

[0076] It can be understood that the detection method is applied to the aforementioned detection system 3000, and its functions and effects can refer to the functions and effects of the embodiment of the aforementioned detection system 3000. The embodiment of the present application will not be elaborated herein.

[0077] The embodiment of the present application also provides a detection device, which is applied to the above detection system 3000. As Figure 15As shown in the figure, the detection device 400 includes a receiving module 410 and an obtaining module 420. The receiving module 410 is configured to obtain the detection results of at least two of the plurality of Hall sensors 320, and the detection results are used to indicate the magnetic field intensity of the magnetic grating 310 to be detected. The obtaining module 420 is configured to obtain the magnetic grating information of the magnetic grating 310 to be detected according to the detection results of at least two Hall sensors 320, and the magnetic grating information is used to indicate that the magnetic grating 310 to be detected is a first magnetic grating or a second magnetic grating.

[0078] In some possible implementation manners, the distance between the magnetic gratings 310 disposed on two adjacent movers 120 among the plurality of magnetic gratings 310 is a preset value. The number of the second magnetic gratings is multiple. The magnetic grating 310 to be detected is a second magnetic grating. The obtaining module 420 is further configured to obtain the number of the magnetic grating 310 to be detected according to the position of the first magnetic grating, the position of the magnetic grating 310 to be detected, and the preset value.

[0079] The above-mentioned receiving module 410 and obtaining module 420 can be understood as software or hardware. Whether it is specifically implemented in a software manner or a hardware manner should be determined according to specific circumstances.

[0080] It can be understood that the detection device 400 is applied to the foregoing detection system 3000, and its functions and effects can refer to the functions and effects of the embodiments of the foregoing detection system 3000, which will not be elaborated herein in the embodiments of the present application.

[0081] The embodiments of the present application further provide a computer-readable storage medium, in which program codes are stored. When it runs on a device (for example, the device can be a single-chip microcomputer, a chip, a computer, or a processor, etc.), the program codes therein can be called by the processor to execute one or more steps in the foregoing method embodiments.

[0082] Based on such an understanding, the embodiments of the present application further provide a computer program product including instructions. Essentially, or the part that contributes to the prior art, or all or part of the technical solution of the present application 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 can be a personal computer, a server, or a network device, etc.) or a processor therein to execute all or part of the steps of the methods described in the embodiments of the present application.

[0083] Finally, it should be noted that the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A detection system, characterized in that: The detection system is applied to a multi-motor motor system; the multi-motor motor system comprises a stator and a plurality of movers; the plurality of movers are used to move on the stator; the detection system comprises a plurality of magnetic grids and a plurality of Hall sensors; The plurality of magnetic grids are used to be arranged on the plurality of movers in a one-to-one correspondence, and each of the magnetic grids includes a plurality of magnetic poles arranged in a row; The multiple Hall sensors are all used to be arranged on the stator, and the Hall sensors are used to detect the magnetic field strength of the magnetic grid.

2. The system according to claim 1, characterized in that The arrangement of part or all of the magnetic poles of each magnetic grid is: N-level and S-level are arranged alternately.

3. The system according to claim 1 or 2, characterized in that: The plurality of magnetic grids include a first magnetic grid and a second magnetic grid; The first magnetic grid is used to be arranged at a first distance from the stator, and the second magnetic grid is used to be arranged at a second distance from the stator, and the first distance is different from the second distance; or, The number of magnetic poles of the first magnetic grid is a first number, the number of magnetic poles of the second magnetic grid is a second number, and the first number is different from the second number; or, The magnetic strength of the magnetic poles of the first magnetic grid is a first strength, and the magnetic strength of the magnetic poles of the second magnetic grid is a second strength, and the first strength is different from the second strength.

4. The system according to claim 3, characterized in that The distance between the magnetic grids arranged on two adjacent movers among the plurality of magnetic grids is a preset value.

5. The system according to claim 3, characterized in that The detection system also includes a processing device; The processing device is used to obtain detection results of at least two Hall sensors among the plurality of Hall sensors, wherein the detection results are used to indicate the magnetic field strength of the magnetic grid to be detected; The processing device is further used to obtain magnetic grating information of the magnetic grating to be detected according to the detection results of the at least two Hall sensors, wherein the magnetic grating information is used to indicate that the magnetic grating to be detected is the first magnetic grating or the second magnetic grating.

6. The system according to claim 5, characterized in that The distance between the magnetic grids arranged on two adjacent movers among the plurality of magnetic grids is a preset value; the number of the second magnetic grids is a plurality; the magnetic grid to be detected is the second magnetic grid; The processing device is further used to obtain the serial number of the magnetic grid to be detected according to the position of the first magnetic grid, the position of the magnetic grid to be detected and the preset value.

7. The system according to claim 1, characterized in that Among the multiple magnetic grids, at least two of the magnetic grids have the same number of magnetic poles and the same arrangement of all magnetic poles.

8. A detection method, characterized in that: The detection method is performed by a detection system, and the detection system is applied to a multi-motor motor system; the multi-motor motor system includes a stator and a plurality of movers; the plurality of movers are used to move on the stator; the detection system includes a plurality of magnetic grids and a plurality of Hall sensors; the plurality of magnetic grids are used to be arranged on the plurality of movers in a one-to-one correspondence, and each of the magnetic grids includes a plurality of magnetic poles arranged in a row; the plurality of Hall sensors are used to be arranged on the stator, and the Hall sensors are used to detect the magnetic field strength of the magnetic grids; the plurality of magnetic grids include a first magnetic grid and a second magnetic grid; The first magnetic grid is used to be arranged at a first distance from the stator, and the second magnetic grid is used to be arranged at a second distance from the stator, and the first distance is different from the second distance; or, The number of magnetic poles of the first magnetic grid is a first number, the number of magnetic poles of the second magnetic grid is a second number, and the first number is different from the second number; or, The magnetic strength of the magnetic poles of the first magnetic grid is a first strength, the magnetic strength of the magnetic poles of the second magnetic grid is a second strength, and the first strength is different from the second strength; The method comprises: Acquire detection results of at least two Hall sensors among the plurality of Hall sensors, wherein the detection results are used to indicate the magnetic field strength of the magnetic grid to be detected; According to the detection results of the at least two Hall sensors, magnetic grating information of the magnetic grating to be detected is acquired, where the magnetic grating information is used to indicate that the magnetic grating to be detected is the first magnetic grating or the second magnetic grating.

9. The method according to claim 8, characterized in that The distance between the magnetic grids arranged on two adjacent movers among the plurality of magnetic grids is a preset value; the number of the second magnetic grids is a plurality; the magnetic grid to be detected is the second magnetic grid; the method further includes: The serial number of the magnetic grating to be detected is obtained according to the position of the first magnetic grating, the position of the magnetic grating to be detected and the preset value.

10. A detection device, characterized in that: The detection device comprises a module for executing the method according to claim 8 or 9.

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