METHOD FOR OPERATING A PLAARAN DRIVE SYSTEM AND PLAARAN DRIVE SYSTEM

Description

[0001] The invention relates to a method for operating a planar drive system and a planar drive system.

[0002] Planar drive systems can be used in automation technology, particularly in manufacturing, handling, and process engineering. Planar drive systems allow a moving element of a system or machine to be moved or positioned in at least two linearly independent directions. Planar drive systems can comprise a permanent magnet planar motor with a planar stator and a rotor that moves on the stator in at least two directions.

[0003] In a permanent magnet planar motor, a driving force is exerted on the rotor by the magnetic interaction of energized coil arrangements of a stator unit with the drive magnets of several magnet arrangements of the rotor. Planar drive systems with rectangular and longitudinally elongated coil arrangements and rectangular and longitudinally elongated magnet arrangements of the rotor are known from the prior art. Such a planar drive system is described, for example, in German patent application DE 10 2017 131 304 A1. With such a planar drive system, linear and translational movement of the rotor is made possible, in particular.This means that, using such a planar drive system, the rotor can be moved freely parallel to the stator surface above which the rectangular and elongated coil arrangements are located, and perpendicular to the stator surface at least at various distances from it. Furthermore, such a planar drive system is capable of tilting and rotating the rotor by a few degrees. These latter movements can be performed above any point on the stator surface. In particular, the rotor can be rotated up to 20° from a normal position.

[0004] A control unit is used to manage such a planar drive system. This unit converts predefined rotor trajectories into current information for the coil assemblies and then controls the current flow to these assemblies. Actual rotor positions, determined by position sensors, can be used to regulate the current flow to the coil assemblies. Inputs to and outputs from the planar drive system are handled by the control unit. The control unit can, for example, include a user interface such as a keyboard, a computer mouse, and a screen for inputting and outputting information; for haptic input, see also PERLIN KEN ET AL: "Madgets: Actuating Widgets on Interactive Tabletops", UIST '10: PROCEEDINGS OF THE TWENTY-THIRD ANNUAL ACM SYMPOSIUM ON USER INTERFACE SOFTWARE AND TECHNOLOGY, October 3, 2010 (2010-10-03), pages 293-302, XP093020392, US DOI: 10.1145 / 1866029.1866075.

[0005] One object of the invention is to provide a method with an alternative input and output option for a planar drive system. A further object is to provide a planar drive system with an alternative input and output option. These objects are achieved by the method and the planar drive system of the independent claims. Advantageous embodiments are specified in the dependent claims.

[0006] A planar drive system comprises at least one stator module and a rotor, wherein the stator module includes at least one stator unit with at least one coil assembly. The coil assembly can be energized and is configured to generate a stator magnetic field above a stator surface upon energization. The stator module further comprises at least one magnetic field sensor. The rotor has a magnet assembly and can be moved above the stator surface by means of an interaction between the stator magnetic field and a rotor magnetic field of the magnet assembly. The rotor can also be used as an input instrument and / or as an output instrument.A control unit is configured to compare the position of the rotor's magnetic field, detected by the magnetic field sensor, with a position expected based on the current applied to the coil assemblies. Any deviation of the rotor's position from the expected position is then interpreted as an external movement, thereby recognizing an input. Alternatively or additionally, the control unit is configured to control an output via a predefined movement of the rotor. To this end, the coil assemblies are energized in such a way that the rotor moves as defined by the predefined movement.

[0007] The rotor of the planar drive system thus serves as an input and / or output device. When the planar drive system is used in automation technology, particularly in manufacturing, handling, and process engineering, operators and / or monitors can perform their tasks more easily. For example, individuals without knowledge of control unit programming can modify the rotor's movement or input commands to the control unit via the rotor's movements. This eliminates the need for programming aids for the control system, allows for short-term adjustments in a production process, and enables the demand-driven provision of transport services.

[0008] Furthermore, outputs can be made directly by the runner, eliminating the need to monitor a screen and to keep the view from the planar drive system.

[0009] An input instrument for a control unit of a planar drive system serves, for example, to transmit control commands for controlling the planar drive system, in particular for controlling the movement of the runner, from a machine operator to the control unit. Input instruments in the form of computer keyboards, computer mice, touch displays, or similar devices are known in the prior art. According to the invention, it can be provided, in particular, that input to the control unit is made via the runner itself as the input instrument. An output instrument for a control unit of a planar drive system serves, for example, to transmit status or process information from the control of the planar drive system, in particular with regard to the control of the movement of the runner, from the control unit to a machine operator. Output instruments in the form of computer screens, indicator lights, or similar devices are known in the prior art.Output from the control unit can be transmitted via the runner. The runner of the planar drive system can therefore be used for human-machine communication or machine-human communication. The runner can detect signals from its environment, particularly haptic signals, possibly generated by a machine operator, for example, by tapping the runner. In this case, the runner serves as an input device for human-machine communication, enabling a flow of information from the human to the machine. Likewise, the runner can also be used to output information, such as status information, thus enabling a flow of information from the machine to the human. In this case, the runner can perform specific movements to communicate a status to the machine operator.Furthermore, the runner can be equipped with additional actuators, such as lights, which enable additional or alternative information output. The runner is therefore also an output device for human-machine communication.

[0010] The deviation of the position from the expected position can include a positional tracking error, i.e., a real deviation of the position. Furthermore, the deviation of the position from the expected position can be used alternatively or additionally to calculate an external force acting on the rotor if the rotor is held in position by the coil arrangements and the external movement results in an additional current being applied to the coil arrangements to maintain the position. The magnitude of this current can then be used to infer the external force.

[0011] According to the invention, a method for operating the planar drive system, in which the rotor can be used as an input instrument, is implemented as follows. An input is detected by recording the position of the rotor's magnetic field using the magnetic field sensor and comparing it with a position expected due to current being supplied to the coil arrangements. A deviation of the position from the expected position is determined as an external movement.

[0012] A deviation of the position from the expected position is typically due to the rotor being moved within the planar drive system without the coil assemblies being energized. This can then be recognized as input, and further functions of the planar drive system can be controlled based on this input.

[0013] In one embodiment of the method, a movement parallel to the stator surface is detected when comparing the current position with the expected position. The input can therefore be such that the rotor moves parallel to the stator surface. For example, a movement in a direction parallel to the stator surface can trigger a movement of the rotor in that direction, as the input implies that the rotor should be moved in that direction by means of the coil arrangements. Movement parallel to the stator surface thus provides a first input option.

[0014] In one embodiment of the method, a movement perpendicular to the stator surface is detected when comparing the current position with the expected position. This can be used, for example, to specify that the rotor should not be moved further initially, and only after a second movement, identified as input, perpendicular to the stator surface, is the rotor released and moved parallel to the stator surface by means of the coil arrangements. The movement perpendicular to the stator surface thus provides a second input possibility.

[0015] In one embodiment of the method, a rotation of the rotor around a first axis parallel to the stator surface is detected when comparing the position with the expected position. This rotation around the first axis provides a third input option.

[0016] In one embodiment of the method, a rotation of the rotor about a second axis perpendicular to the stator surface is detected when comparing the position with the expected position. This rotation about the second axis provides a fourth input option.

[0017] The first, second, third, and fourth input options can also be used in parallel if corresponding deviations of the position from the expected position are evaluated. Each individual input option can include the positional tracking error and / or the calculation of the external force acting on the runner. Furthermore, any combination of positional tracking error and / or the calculation of the external force acting on the runner is conceivable for different input options.

[0018] In one embodiment of the method, one or more coil arrangements are energized based on external movement such that the runner and / or another runner performs a predetermined movement. This can be achieved, for example, by allowing an operator to move one runner in various directions, and the energizing of the coil arrangements then moves the other runner in those directions. The runner thus serves as a kind of remote control for the other runner.

[0019] In one embodiment of the method, the rotor is first held at a predetermined height by means of the interaction between the stator magnetic field and the rotor magnetic field, and the movement of the rotor parallel to the stator surface along a path is executed as an external movement. Subsequently, the rotor moves along the path by energizing the coil assemblies. This allows, for example, a complex path of movement for the rotor to be entered by an operator without requiring in-depth programming knowledge.

[0020] In one embodiment of the method, the external movement of the rotor is used to determine when it is being moved away from the stator surface. The coil assemblies are energized in such a way that the rotor is moved towards the stator surface and attracted by a magnetic force. This can, for example, serve as theft protection for the rotors, as unauthorized removal of the rotor can be prevented. In this embodiment, the force acting on the rotor can be evaluated, and the magnetic force that attracts the rotor towards the stator surface can only be generated when the force acting on the rotor, determined by comparing the actual position with the expected position, exceeds a predetermined value.

[0021] When evaluating the force acting on the runner, determined from comparing the position with the expected position, a movement of the runner towards a stop can also be detected, whereby the touching of the stop can then be used as input.

[0022] Alternatively or in addition to input via the runner, other input devices can also be provided. For example, input can be via a touchscreen, a 6D pen, and / or sensors for capturing human behavior, whereby the sensors for capturing human behavior could include, for example, a microphone and speech recognition for inputting voice commands or a camera with image recognition.

[0023] A method for operating the planar drive system, not part of the invention, in which the rotor can be used as an output device, can be implemented as follows. Output is achieved via a predetermined movement of the rotor, wherein the coil arrangements are energized such that the rotor moves as defined by the predetermined movement. Information can be output to an operator via this predetermined movement.

[0024] In one embodiment of the method, the predetermined movement of the rotor during output comprises a back-and-forth movement in a direction parallel to the stator surface. This enables a first output option.

[0025] In one embodiment of the method, the predetermined movement of the rotor during output comprises a back-and-forth movement in a direction perpendicular to the stator surface. This enables a first output option.

[0026] In one embodiment of the method, the predetermined movement of the rotor during output comprises a rotational oscillation about a first axis parallel to the stator surface. This enables a third output option.

[0027] In one embodiment of the method, the rotational oscillation has a frequency such that an audible tone, in particular a tone in the frequency range between 20 hertz and 20 kilohertz, is generated by the rotational oscillation. This allows the fourth output option to also be an acoustic output option.

[0028] One example of the method involves the predefined movement of the rotor during output, a rotational oscillation around a second axis perpendicular to the stator surface. This enables a fifth output option.

[0029] Alternatively or in addition to output via the runner, further output units can be provided. For example, output can be achieved using output units such as light signals or loudspeakers mounted on the runner, whereby data transmission and power transfer from the stator module to the runner may occur, and the runner has a corresponding control system. Different light signals, such as different colors, and / or different tones or tone sequences can be used for different outputs.

[0030] The invention is explained in more detail with reference to the accompanying figures. These show: Fig. 1 a planar drive system; Fig. 2 a flowchart for input detection; Fig. 3 a top view of a planar drive system; Fig. 4 a side view of a planar drive system; Fig. 5 a side view of a planar drive system; Fig. 6 a top view of a planar drive system; Fig. 7 a top view of a planar drive system; Fig. 8 a side view of a planar drive system; Fig. 9 a flowchart for performing an output; Fig. 10 an isometric view of a planar drive system; and Fig. 11 a side view of a planar drive system.

[0031] The same reference symbols can be used for identical features in the following. Furthermore, for the sake of clarity, it may be necessary not to show all elements in every figure. Similarly, for the sake of clarity, it may be necessary not to provide each element with its own reference symbol in every drawing.

[0032] Figure 1Figure 1 shows a planar drive system 1 with six stator modules 10, the stator modules 10 being arranged to form a rectangle two by three stator modules 10. Other arrangements of the stator modules 10 are also conceivable; more or fewer than six stator modules 10 can also be arranged. The internal structure of the stator module 10 shown in the upper right is sketched, the stator module 10 comprising four stator units 11, the four stator units 11 being arranged within a stator module 10 in a square two-by-two arrangement. Furthermore, it is shown for two stator units 11 that the stator units 11 comprise coil assemblies 12, the coil assemblies 12 being shown with different orientations. The coil assemblies 12 serve to generate a stator magnetic field. The coil arrangements 12 are designed in the illustrated embodiment as rectangular and longitudinally extended coil arrangements 12.In each stator unit 11 of the stator modules 10, three individual, rectangular, and longitudinally oriented coils of a coil arrangement 12 are shown. Likewise, in an embodiment not shown, a different number of individual rectangular and longitudinally oriented coils could form a coil arrangement 12. Their longitudinal orientation is oriented parallel to one of the edges of the respective stator unit 11. Below each of the depicted coil arrangements 12, further coils are present, which have an orientation rotated by 90° with respect to their longitudinal orientation. This grid of longitudinally oriented and rectangular coils of a coil arrangement 12 can be formed multiple times above one another. In reality, neither the stator units 11 nor the coil arrangements 12 are visible, as they are enclosed by a housing of the stator module 10. The six stator modules 10 form a continuous stator surface 13 above the stator units 11.Furthermore, a rotor 100 is arranged, the rotor having a plurality of magnetic units 114 for generating a rotor magnetic field. The coil arrangements 12 can interact with the magnetic units 114 when energized accordingly, thereby moving the rotor 100 within the planar drive system 1 above the stator surface 13. The stator surface 13 thus defines a plane of motion for the rotor 100. The illustration in . Figure 1The diagram is simplified because each stator unit 11 contains several coil arrangements 12, each positioned at a 90° angle to the others, although only one layer of coil arrangements 12 is shown. The magnet units 114 are arranged circumferentially within the rotor 100 and can each interact with the coil arrangements 12 to move the rotor 100. The rotor's movements can occur, in particular, in a plane defined by a first direction 21 and a second direction 22. Furthermore, these movements can be superimposed, allowing the rotor 100 to move in all directions parallel to the stator surface 13. An additional rotor 105 is also shown, which is constructed analogously to the rotor 100 and can therefore also interact with the coil arrangements 12 to generate movement of the additional rotor 105.The arrangement of four stator units 11 within a stator module 10 corresponds to the stator modules 10 marketed by the applicant under the name XPlanar for a planar drive system 1. Alternatively, it is possible to arrange more or fewer stator units 11 within a stator module 10. For example, each stator module 10 can comprise only one stator unit 11 or more than four stator units 11.

[0033] Also in Figure 1 A control unit 20 is shown, which is connected to one of the stator modules 10. The stator modules 10 can be configured to transmit communication signals to each other. Alternatively, each stator module 10 can be connected to the control unit 20 (not shown in the figure). Figure 1(shown). The control unit 20 is configured to output control commands to the stator modules 10, the stator modules 10 being configured to energize the coil assemblies 12 based on the control signals and thereby control a movement of the rotor 100 parallel to the stator surface 13. The coil assemblies 12 can also be energized such that the rotor 100 is moved perpendicular to the stator surface 13.

[0034] Continue in Figure 1 Magnetic field sensors 14 are shown in one of the stator modules 10, and the other stator modules 10 can also have magnetic field sensors 14. The position of the rotor 100 or the other rotor 105 can be determined by means of the magnetic field sensors 14 and transmitted to the control unit 20. The magnetic field sensors 14 can, for example, be designed as Hall sensors, in particular as 3D Hall sensors.

[0035] The in Figure 1The planar drive system 1 shown can be used in automation technology, in particular in manufacturing technology, handling technology and process engineering, to transport objects. The objects can, for example, be arranged on the runner 100.

[0036] The runner 100 can in the in Figure 1The planar drive system 1 shown serves as an input instrument. In this case, the control unit 20 is configured to compare the position of the rotor's magnetic field, detected by a magnetic field sensor 14, with a position expected due to the current energizing the coil arrangements 12. Any deviation of the position from the expected position is identified as an external movement, thereby recognizing an input. In particular, the point of application, direction, and magnitude of an external force acting on the rotor 100 can be detected using the described deviation detection. The control unit 20 can then assign a specific event to the parameters thus determined. The deviation between the position and the expected position can also be referred to as position tracking error.The control unit 20 can detect the positional tracking errors for each individual axis of motion of each individual runner 100, 105, whereby the axes of motion can include linear movements parallel to the first direction 21 and the second direction 22, as well as to a third direction perpendicular thereto, and rotations about rotational axes parallel to the first direction 21 and the second direction 22, as well as to a third direction perpendicular thereto. For example, the magnetic field sensors 14 can be used to determine the positional tracking error, and the runner magnetic field generated by the magnetic units 114 can be evaluated.

[0037] The goal of a controlled system is typically to minimize positional tracking error. This can also be implemented in the described planar drive system 1. If a positional tracking error is detected by the control unit, the current set in the coil groups 12 below the relevant rotor 100, 105 is changed. From this current set in the coil groups 12, the resulting forces and moments on the rotor 100, 105 can be deduced. The system is therefore not only able to detect an external influence on the rotor via the positional tracking error. The planar drive system 1, or rather the control unit 20, is thus not only able to determine the tracking error itself, but can also determine the magnitude of the acting force by adjusting the coil currents.The planar drive system 1 or the control unit 20 is also configured to determine the direction of the applied force from the aforementioned parameters.

[0038] The runner 100 can in the in Figure 1 The planar drive system 1 shown serves as an output instrument. In this case, the control unit 20 is configured to control an output via a predefined movement of the rotor 100 and to energize the coil arrangements 12 such that the rotor 100 moves as defined by the predefined movement.

[0039] In Figure 1An optional input unit 25, connected to the control unit 20, is also shown. Alternatively or additionally to input via the runner 100, input via the input unit 25 can also be provided. For example, input can be via a touchscreen, a 6D pen, and / or sensors for capturing human behavior, where the sensors for capturing human behavior may include, for example, a microphone and speech recognition for inputting voice commands or a camera with image recognition. The touchscreen, the 6D pen, and / or the sensors for capturing human behavior can be located within the input unit 25.

[0040] In Figure 1 An optional output unit 26 is also shown, which is connected to the control unit 20. Furthermore, an output unit 26 can also be arranged on the runner 100 (not shown in the figure). Figure 1 (shown). Alternatively or in addition to output via the runner 100, output can also be provided via the output unit 26. For example, output can be provided by means of output units 26 arranged on the runner 100, such as light signals or loudspeakers, whereby data transmission and power transfer from the stator module 10 to the runner 100 may take place, and the runner 100 has a corresponding control system. Different light signals, such as different colors, and / or different tones or tone sequences can be used for different outputs.

[0041] The other characters may include those related to Figure 1 The reference numerals explained below. These reference numerals may not be discussed further in the subsequent description, as the parts of the planar drive system 1 described by these reference numerals are related to Figure 1 were explained.

[0042] Figure 2Figure 200 shows a first flowchart of a method for operating a planar drive system 1, in which an input is detected by means of a rotor 100. In a decision step 201, a deviation of the rotor 100's position from its expected position due to the current energizing of the coil units 12 is determined. In decision step 201, it is therefore specifically determined whether a position of the rotor's magnetic field detected by the magnetic field sensor 14 is compared with a position of the rotor's magnetic field expected due to the current energizing of the coil arrangements 12. If these positions match, a normal operating cycle 202 without input is carried out, and after a predetermined time, decision step 201 is performed again.If, in decision step 201, the position of the rotor magnetic field detected by the magnetic field sensor 14 deviates from the position of the rotor magnetic field expected due to the current being supplied to the coil arrangements 12, an input is detected in detection step 203. In an optional reaction step 204, a reaction can then take place, whereby the reaction can be the current being supplied to the drive coils 12 such that a specific movement of the rotor 100 is executed.

[0043] The deviation of the position from the expected position can include a positional tracking error, i.e., a real deviation of the position. Furthermore, the deviation of the position from the expected position can be used alternatively or additionally to calculate an external force acting on the runner 100 if the runner 100 is held in its position by means of the coil arrangements 12 and an additional current is applied to the coil arrangements 12 due to the external movement in order to maintain the position. The magnitude of the current can then be used to infer the external force. This can be carried out in particular in decision step 201.

[0044] Figure 3Figure 1 shows a top view of a planar drive system 1, in which the rotor 100 can be moved in the first direction 21 and the second direction 22 by means of the drive coils 12. The control unit 20 is further configured to detect the position of the rotor's magnetic field using the magnetic field sensors 14 and to compare it with a position expected due to the energizing of the coil arrangements 12. From any deviation of the position from the expected position, an external movement in a first external direction 121 and a second external direction 122 is determined. The first external direction 121 is oriented in the same direction as the first direction 21, and the second external direction 122 is oriented in the same direction as the second direction 22. The deviation can again be determined as a positional tracking error or as a force.

[0045] Figure 4Figure 1 shows a side view of a planar drive system 1. The control unit 20 is configured to detect the position of the rotor's magnetic field using the magnetic field sensors 14 and to compare this position with the position expected based on the current applied to the coil assemblies 12. Any deviation of the position from the expected position is used to determine an external movement in a third external direction 123. This third external direction 123 is oriented in the same direction as a third direction 23 perpendicular to the first direction 21 and the second direction 22. The deviation can again be determined as a positional tracking error or as a force. The positional tracking error can be derived directly from a measurement of the position of the magnetic units 114 using the magnetic field sensors 14. The force can be determined from this by determining the current applied to the coil groups 12 that is necessary to hold the rotor 100 in position.A force is then generated by means of the coil groups 12, which is directed against the external movement.

[0046] The details of the Figure 3 and 4These inputs can also be combined, so that inputs triggered by an operator of the planar drive system can be recognized as movements of the runner 100 in the first external direction of movement 121, the second external direction of movement 122, and the third external direction of movement 123. Furthermore, it can be provided that, alternatively or additionally, rotational movements of the runner 100 about an axis parallel to the first direction 21 and / or the second direction 22 and / or the third direction 23 are detected and interpreted as input. This can also be done using the position of the magnetic units 114, determined by the magnetic field sensors 14, for example, when a magnetic unit 114 moves closer to the stator module 10 during a rotation about the axis parallel to the first direction 21, and a magnetic unit 114 moves away from the stator module 10.Furthermore, the evaluation described above regarding the force can also be carried out here, whereby an additional force is generated on the runner 100 by means of the coil arrangements 12, which is directed against the rotation.

[0047] For example, in the third direction 23, the detection of a positional drift error can be configured as follows. An operator of the planar drive system presses down on the rotor 100, causing it to move in the opposite direction to the third external direction of motion 123. The rotor 100 is thus pushed downwards, for example, towards the stator module 10, out of its position. This is detected as a positional deviation or positional drift error in the third direction 23. The current in the coil groups 12 can then be adjusted to bring the rotor 100 back to its target height. This can be done analogously for the first direction 21 and the second direction 22. If the input is in the form of a touch, a long-term adjustment of the current in the coil groups 12 is not necessary, as the touch only lasts a short time.After contact, a positional drag error would be detected again due to the adjusted current and the force no longer present on the runner 100 due to the pressing, and the current in the coil groups 12 would be adjusted again so that the runner is brought back to the target height.

[0048] Alternatively, only the brief positional drift error caused by pressing is detected, and the current is not adjusted. After pressing is stopped, the rotor 100 is automatically returned to the target height by the previously set current of the coil groups 12.

[0049] By recording a positional tracking error over time, different durations of touch, such as a light tap versus a longer press, can be detected. Similarly, the detection can indicate whether a runner 100 has been loaded. If a persistent positional tracking error occurs, which must be compensated for by adjusting the current in the coil groups 12, this positional tracking error, in conjunction with its temporal component, can be associated with an event, such as the loading of the runner 100.

[0050] Alternatively, the applied force can also be evaluated. An applied force corresponds to a relationship between a specific position of the runner in the first direction 21 and / or the second direction 22 and / or the third direction 23 (or a combination of different positions) and a set current of the coil groups 12 within the influence area of ​​the runner 100. For example, an initially empty runner 100 can be loaded with a product. This leads to a positional tracking error in the third direction 23. A new force is set by energizing the coil groups 12.

[0051] Thus, as previously described, a short-term positional drag error resulting from an input via runner 100, as well as a long-term increase in applied force, can be detected and distinguished by evaluating the duration of the current change in the coil groups 12. If both conditions are met, the event "runner 100 is loaded" can be derived.

[0052] A positional tracking error in the first direction 21 and / or the second direction 22 and / or the third direction 23 (or a combination of different positional tracking errors) can then be assigned to an event. For example, a positional tracking error in the second direction 22 could mean that the runner 100 was tapped. This detected tap of the runner can then be linked within the control unit 20 to a specific event, as will be described below with an example.

[0053] The in Figures 2 to 4The presented input detection methods can be assigned to any event via the control unit 20. These events are either stored in the control unit 20 or can be predefined by a machine operator in the control unit 20. These events can include specific control commands for the runner 100 or other runners 105, as well as specific control, program, or programming steps within the control program running in the control unit 20. They can also trigger specific actions or work processes of other machine elements in connection with the planar drive system 1, or independently thereof. The following section describes a selection of detected positional tracking errors and their associated events as examples. However, this list is not exhaustive, and there is no fixed assignment between the described positional tracking errors and their respective events.Any combinations and events are conceivable within the framework of the system according to the invention and are covered by the scope of protection.

[0054] A positional tracking error in the third direction that exceeds a defined limit can, for example, be assigned to the event "runner 100 was tapped in the center". This event can, in turn, be assigned to a command within the context of human-machine interaction, such as moving runner 100 a predetermined distance in a predetermined direction, for example, one meter in the first direction 21.

[0055] A force acting in the first direction 21 for longer than a predetermined time period, for example three seconds, can be assigned to the event "runner 100 is pushed". This event can, for example, be assigned to the command "move runner 100 in the first direction 21".

[0056] A positive positional drag error in a rotational axis parallel to the second direction 22 can be assigned to the event "Runner 100 was tapped on the right half". This event can, for example, be assigned to the command "Stop runner 100", so that runner 100 is subsequently not moved further.

[0057] A negative positional tracking error in a rotational axis parallel to the second direction 22 can be assigned to the event "Runner 100 was tapped on the left half". This event can, for example, be assigned to the command "Move runner 100".

[0058] A force acting continuously (for longer than a predetermined time period, for example, three or five seconds) in the opposite direction 23 can be associated with the event "Runner 100 has been loaded". The event "Runner 100 has been loaded" can be linked to the command "Runner 100 is to be moved to a predetermined position of the planar drive system 1".

[0059] Any positional drag errors or forces can be assigned to any event, optionally in combination with an evaluation of a time duration. These events can, in turn, be assigned to any commands in human-machine communication. The Runner 100 thus becomes a flexibly programmable universal element of this communication, serving as an input instrument.

[0060] Figure 5Figure 1 shows a side view of a planar drive system 1 in which a movement of the rotor 100 in the first external direction of movement 121 and / or the third external direction of movement 123 was detected by the magnetic field sensors 14, which was not caused by energizing the coil assemblies 12. A movement in the second external direction of movement 122 can also be detected. It may be intended that this movement is detected as an attempt to remove the rotor 100 from the planar drive system 1. Then, as part of the theft protection, it may be provided that the control unit 20 issues control commands to the relevant stator module 10 such that the coil assemblies 12 are energized so that the rotor 100 is moved towards the stator module 10 and attracted by the stator module 10 with a predetermined force, thus preventing theft. This is shown in Figure 6As indicated on the right. Alternatively, it can be provided that the removal of the rotor 100 is permitted during operation and that the coil arrangements 12 are energized in such a way that the rotor 100 is de-energized and can be removed without overcoming any force. It can be provided that the removed rotor is simultaneously deactivated by the planar drive system 1 via software, so that the control unit 20 no longer considers this rotor 100. Both alternatives can be triggered, for example, in reaction step 204.

[0061] Figure 6 shows a top view of a planar drive system 1, which is associated with the Figures 1 to 4 The input options for runner 100, as described above, are included as an input instrument. A movement path 120 of runner 100 can be recorded as an external input. This can be combined with the input options associated with the Figure 3The possibilities described include the ability to initiate external movements, particularly in the first external direction 121 and the second external direction 122. Specifically, the coil arrangements 12 can be energized such that the runner 100 is de-energized with respect to movements in the first direction 21 and the second direction 22 and either hovers above or rests on the stator surface 13. The runner 100 is then moved manually, and the magnetic field of the magnet arrangements 114 is determined using the magnetic field sensors 14, from which the path of movement 120 is calculated. The coil arrangements 12 can then be energized such that the runner 100 moves along the path of movement 120. The runner 100 is thus used as an input instrument for path detection. The runner 100 used for path detection, as well as any other runners, can subsequently traverse the path once detected.Switching between path detection mode and normal operating mode can be done, for example, by tapping runner 100 and can be detected as described above.

[0062] Furthermore, in Figure 6 An alternative embodiment is shown in which an additional runner 105 can be used as an input instrument. The additional runner 105 is moved in the first external direction of movement 121 and the second external direction of movement 122 by an operator of the planar drive system 1 analogously to a joystick, and the resulting input can be used to energize the coil arrangements 12 such that the runner 100 is moved along the path of movement 120.

[0063] It is also possible that an external movement of the runner 100 or the further runner 105 in the first external direction of movement 121 and / or in the second external direction of movement 122 and / or the third external direction of movement 123 is detected, whereby a predetermined movement of the runner 100 is triggered by current energizing the coil arrangements 12.

[0064] Figure 7Figure 1 shows a top view of a planar drive system 1, which includes further input options for the rotor 100. If the rotor 100 is arranged above the stator surface 13, an external input can be achieved by rotating the rotor 100 about a first axis 131, where the first axis 131 is parallel to the stator surface 13, thus defining two first axes 131 for a rotor 100. Even a rotation of just a few degrees about the first axis 131 can be detected by the magnetic field sensors 14 and identified as an external input, particularly when the current is supplied to the coil groups 12 such that the rotor 100 is aligned parallel to the stator surface 13.For example, the runner 100 can be configured to have a first quadrant 101, a second quadrant 102, a third quadrant 103, and a fourth quadrant 104, whereby tapping the runner 100 in the first through fourth quadrants 101, 102, 103, 104 triggers a different rotation about the first axes 131, thus allowing for four different inputs. A tap in the first quadrant 101 can, for example, be interpreted as an input that the runner 100 should move to a first predefined position in the planar drive system 1 and that the coil arrangements 12 should be energized accordingly. A tap in the second quadrant 102 can, for example, be interpreted as an input that the runner 100 should move to a second predefined position in the planar drive system 1 and that the coil arrangements 12 should be energized accordingly.A tap in the third quadrant 103, for example, can be interpreted as an input that the runner 100 should travel a predetermined distance in a predetermined direction and that the coil assemblies 12 should be energized accordingly. A tap in the fourth quadrant 104, for example, can be interpreted as an input that the runner 100 should perform another predetermined movement and that the coil assemblies 12 should be energized accordingly. Of course, further predetermined movements are also possible. The movements can be controlled accordingly during the reaction step.

[0065] Also in Figure 7 A second axis 132 perpendicular to the stator surface 13 is shown. A rotation of the rotor 100 about the second axis 132, which was not triggered by a current being supplied to the coil arrangements 12, can also be considered as input and processed according to the methods described.

[0066] The ones related to the Fig. 6 and 7 The inputs described above can be combined, for example by first tapping one of the first to fourth quadrants 101, 102, 103, 104 or by tapping the center of the runner 100 in connection with Fig. 6 The described mode is activated, and then the coil arrangements 12 are energized such that the rotor 100 is de-energized with respect to movements in the first direction 21 and the second direction 22 and hovers above or lies on the stator surface 13. The rotor 100 can now serve as an input instrument for entering the movement path 120 and subsequently, by further tapping one of the first to fourth quadrants 101, 102, 103, 104 or by tapping the rotor 100 in the center, the movement path 120 can be set. Fig. 6The described mode can be deactivated. The runner 100 can then be moved again in the first direction 21 and / or the second direction 22 by energizing the coil groups 12. The [unclear] in connection with Fig. 6 The described mode can, for example, be called the learning mode.

[0067] Due to the issues related to the Fig. 3 to 7 The input methods described above, using a runner 100, 105 of the planar drive system as an input instrument, make it possible to control the movements of the runner 100 without having to write program code for the control unit 20. This simplifies the operation of the planar drive system 1, since the runners 100 of the planar drive system 1 can be controlled, for example, with intuitive gestures or actions by the machine operator.

[0068] Figure 8Figure 1 shows a side view of a planar drive system 1, in which the runner 100 can be used to transport a person 140. This means, in particular, that the interaction between the runner's magnetic field and the drive's magnetic field is large enough to support the weight of the person 140. The person 140 can control the runner 100 by shifting their weight. In the left section of the Figure 8The person 140 is depicted with their weight shifted to the right, causing the runner 100 to tilt to the right and thus rotate a few degrees around a first axis 131. This deviation between the position determined by the magnetic field sensors 14 and the position of the runner 100 expected by the current energizing the coil assemblies 12 can be detected using the methods already described as input. The input can include the signal that the runner 100 should move to the right, i.e., in the direction of the weight shift of the person 140, and that the coil assemblies 12 should be energized accordingly. Furthermore, if several runners 100 are provided, the current energizing of the coil assemblies 12 can be controlled in such a way as to prevent collisions between the runners 100, in particular collisions between several runners 100 and persons 140.

[0069] Figure 9Figure 210 shows a second flowchart of a method for operating a planar drive system 1, in which output is provided by a runner 100. In a further decision step 211, it is determined that output should occur. This can be the case, for example, if a product transported on the runner 100 is detected as damaged, for example, by means of cameras. If no output is to occur, a further normal operation 212 without output is carried out, and after a predetermined time, the further decision step 211 is carried out again. In output step 213, the output is carried out by energizing the coil arrangements 12 such that the runner 100 performs a predetermined movement. In an optional further reaction step 214, a reaction can then occur, whereby the reaction can be an additional energizing of the drive coils 12 such that a specific movement of the runner 100 is executed.This can be used, for example, if a defective product is first signaled and then removed from the production process by means of runner 100.

[0070] Figure 10Figure 1 shows an isometric view of a planar drive system 1 in which output step 213 is performed. The output can be achieved by moving the rotor 100 parallel to the stator surface 13, i.e., in a first direction of movement 125 parallel to the first direction 21 and / or in a second direction of movement 126 parallel to the second direction 22. Movements that include a superposition of the first direction of movement 125 and the second direction of movement 126 are also possible. In particular, the specified movement of the rotor 100 during output can be a back-and-forth movement in a direction parallel to the stator surface 13, i.e., in the first direction 21 or the second direction 22, or a superposition of the first direction 21 and the second direction 22.Alternatively or additionally, the output can be achieved by moving the rotor 100 perpendicular to the stator surface 13, i.e., in a third direction of movement 127 parallel to the third direction 23. In particular, this movement of the rotor 100 during output can be a back-and-forth movement in the third direction 23 perpendicular to the stator surface 13. Alternatively or additionally, the specified movement of the rotor 100 during output can include a rotational oscillation about a first axis 131 parallel to the stator surface 13. Alternatively or additionally, the specified movement of the rotor 100 during output can include a rotational oscillation about a second axis 132 perpendicular to the stator surface 13. These movements can each be visually perceived by an operator.

[0071] All movements of the runner 100, acting as an output instrument, can be defined, according to a convention for machine-human communication, as signaling a specific state of affairs. The output thus encompasses the signaling of this state of affairs. These states of affairs, i.e., the linking of a specific event within the control sequence and / or a specific state of the planar drive system or its components, can either be stored in the control unit 20 or a machine operator can define this linking beforehand in the control unit 20.

[0072] For example, a movement of the rotor 100 in the third direction 23, alternating upwards (away from the stator modules 10) and downwards (towards the stator modules 10), can indicate that this rotor 100 should not be loaded. A back-and-forth movement of the rotor 100 in the first direction 21 and / or the second direction 22 can result in the output of an error message for this rotor. A circular movement of the rotor 100, for example, can indicate that the rotor 100 should be cleaned.

[0073] Figure 11Figure 1 shows a side view of a planar drive system 1 in which output is achieved by means of a rotational oscillation about the first axis 131, wherein the rotational oscillation has a frequency such that an audible tone, in particular a tone in the frequency range between 20 Hertz and 20 Kilohertz, is generated by the rotational oscillation. This tone can then be output as sound waves 150. Thus, acoustic output is possible. Certain facts can also be signaled by means of the acoustic output in accordance with a convention for machine-human communication. In particular, it can be provided that the coil groups 12 are energized in such a way that the resulting rotational oscillation generates sound waves 150. Reference symbol list

[0074] 1 Planar drive system 10 Stator module 11 Stator unit 12 Coil arrangement 13 Stator area 14 Magnetic field sensor 20 Control unit 21 First direction 22 Second direction 23 Third direction 25 Input unit 26 Output unit 100 Runner 101 First quadrant 102 Second quadrant 103 Third quadrant 104 Fourth quadrant 105 Additional runner 114 Magnet unit 120 Path of motion 121 First external direction of motion 122 Second external direction of motion 123 Third external direction of motion 125 First direction of motion 126 Second direction of motion 127 Third direction of motion 131 First axis 132 Second axis 140 Person 150 Sound waves 200 First flowchart 201 Decision step 202 Control operation 203 Detection step 204 Reaction step 210 Second flowchart 211 Further decision step 212 Further normal operation 213 Output step 214 Further reaction step

Claims

1. A method for operating a planar drive system (1), the planar drive system (1) comprising at least a stator module (10) and a rotor (100), the stator module (10) comprising at least a stator assembly (11) having at least one coil arrangement (12), the coil arrangement (12) being capable of being energized and being set up to generate a stator magnetic field above a stator surface (13) due to an energization, wherein the rotor (100) comprises a magnet arrangement (114) and may be moved above the stator surface (13) with the aid of an interaction between the stator magnetic field and a rotor magnetic field of the magnet arrangement (114), wherein the rotor (100) may be used as an input device, characterized in that the stator module (10) comprises at least a magnetic field sensor (14), wherein the magnetic field sensor (14) detects the rotor magnetic field in order to determine the position of the rotor, wherein an input is detected by comparing a position of the rotor expected on the basis of a energization of the coil arrangements (12) to a detected position of the rotor, and a deviation of the position from the expected position is evaluated as a position drag error and detected over time, and / or that the amount of an additional energization of the coil arrangements (12), which is carried out in order to maintain the position of the rotor to be expected due to the energization of the coil arrangements (12), is determined and evaluated as an external force and detected over time, wherein the position drag error and / or the external force is evaluated as an external movement in combination with the respective time duration and is assigned to a predetermined input event.

2. The method according to claim 1, wherein a movement parallel to the stator surface (13) is detected when comparing the position and the expected position.

3. The method according to claim 1 or 2, wherein a movement perpendicular to the stator surface (13) is detected when comparing the position and the expected position.

4. The method according to any one of claims 1 to 3, wherein a rotation of the rotor (100) about a first axis (131) in parallel to the stator surface (13) is detected when comparing the position and the expected position.

5. The method according to any one of claims 1 to 4, wherein a rotation of the rotor (100) about a second axis (132) perpendicular to the stator surface (13) is detected when comparing the position and the expected position.

6. The method according to any one of claims 1 to 5, wherein the input event is used to energize one or more coil arrangements (12) in such a way that the rotor (100) and / or a further rotor (105) carries out a predetermined movement.

7. The method according to claim 6, wherein the external movement of the rotor (100) is used to determine that the rotor (100) removed from the stator surface (13), wherein the energization of the coil assembly (12) is such that the rotor (100) is moved toward the stator surface (13) and is attracted by a magnetic force.

8. The method according to claim 6, wherein the external movement of the rotor (100) is used to determine that the rotor (100) is being removed from the stator surface (13), wherein the energization of the coil arrangements (12) is such that the rotor (100) is forcelessly switched in a first direction (21), a second direction (22), and a third direction (23).

9. The method according to any one of claims 1 to 8, wherein the rotor (100) may be additionally used as an output device, wherein an output is provided via a predetermined movement of the rotor (100), wherein the coil arrangements (12) are energized in such a way that the rotor (100) moves as defined by the predetermined movement.

10. The method according to claim 9, wherein the predetermined movement of the rotor (100) during the output comprises a back-and-forth movement in a direction parallel to the stator surface (13).

11. The method according to claim 8 or 9, wherein the predetermined movement of the rotor (100) during the output comprises a back-and-forth movement in a direction perpendicular to the stator surface (13).

12. The method according to any one of claims 9 to 11, wherein the predetermined movement of the rotor (100) in the output comprises a rotational oscillatory movement about a first axis (131) parallel to the stator surface (13).

13. The method according to claim 12, wherein the rotational oscillation comprises a frequency such that the rotational oscillation produces an audible sound, particularly a sound in the frequency range between 20 hertz and 20 kilohertz.

14. The method according to any one of claims 9 to 13, wherein the predetermined movement of the rotor (100) in the output comprises a rotational oscillatory movement about a second axis (132) perpendicular to the stator surface (13).

15. A planar drive system (1) having at least a stator module (10) and a rotor (100), wherein the stator module (10) comprises at least a stator assembly (11) with at least a coil arrangement (12), wherein the coil arrangement (12) may be energized and is set up to generate a stator magnetic field above a stator surface (13) due to an energization, wherein the stator module (10) comprises at least one magnetic field sensor (14), wherein the rotor (100) comprises a magnet arrangement (114) and may be moved above the stator surface (13) with the aid of an interaction between the stator magnetic field and a rotor magnetic field of the magnet arrangement (114), wherein the rotor (100) may be used as an input device, wherein a controller (20) is set up to carry out the method according to any one of claims 1 to 14.