METHOD FOR OPERATING AN AUTOMATION SYSTEM AND AUTOMATION SYSTEM

Description

[0001] The invention relates to a method for operating an automation system, as well as an automation system.

[0002] Automation systems can include drive systems for moving objects. A drive system can move or position a movable element of a plant, machine, building, or stage in at least one direction. Drive systems can include a permanent magnet electromagnetic motor with a stator and a rotor that moves on the stator in at least one direction. In particular, the drive system can be a planar drive system in which the stator is planar and the rotor can move in at least two directions. These drive systems can be used, among other things, in automation technology, especially in manufacturing, handling, process engineering, stage and show technology, and building and catering technology.

[0003] In a permanent magnet planar motor, a driving force is exerted on the rotor by the magnetic interaction of energized coil groups of a stator unit with the drive magnets of several magnet arrangements of the rotor. Planar drive systems with rectangular and longitudinally elongated coil groups 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 DE 10 2017 131 304 A1 or DE 10 2020 127 012 A1. With such a planar drive system, linear and translational movement of the rotor is made possible, in particular.This means that, by means of such a planar drive system, the rotor can be moved freely parallel to the stator surface above a stator surface, beneath which the rectangular and elongated coil groups are arranged, and perpendicular to the stator surface at least at various distances from the stator surface. Furthermore, linear drive systems are also known from the prior art.

[0004] If such a drive system, particularly a planar drive system, is used in automation technology, especially in manufacturing, handling, process engineering, stage and show technology, or building and catering technology, information relevant to the operation of the drive system can be displayed to a human operator or supervisor via a screen or display. However, this means that the operator or supervisor must regularly look away from the drive system to view the screen or display. As a result, the operator or supervisor may not perceive all relevant information in time and may react too late to information displayed on the screen or display.

[0005] A method comprising the features of the preamble of claim 1 is known from US 2020 / 290093 A1. Further prior art is described in US 2016 / 210738 A1 and CA 2 863 566 A1.

[0006] One object of the invention is to provide an improved automation system. A further object of the invention is to provide a method for operating such an automation system. This method should make it possible to perceive information without having to take one's eyes off the drive system.

[0007] These tasks are solved by the method for operating an automation system and the automation system of the independent patent claims. Advantageous further developments are specified in the dependent patent claims.

[0008] According to a first aspect, the invention comprises a method for operating an automation system. The automation system includes a drive system and an optical projection unit. The drive system includes a movable runner that can be driven by means of a drive. A control system of the automation system performs the steps described below.

[0009] Position information for a runner is determined. Furthermore, an object to be displayed is linked to the runner's position. Subsequently, a projection to be displayed by the optical projection unit is rendered based on the position information of the runner and the object to be displayed. Finally, the rendered projection is output to the optical projection unit, which then displays the rendered projection on a surface and / or as a hologram in the immediate vicinity of the drive system and / or the runner of the drive system.

[0010] The first two steps—determining the position information of the runner and linking the object to be displayed to the runner—can be performed sequentially in any order or simultaneously. Rendering can, in particular, involve assembling the projection to be displayed based on the position information and the object being displayed.

[0011] The object to be displayed includes display information, which may include information relevant to a human operator or monitor. Since the object to be displayed is projected onto a surface and / or as a hologram in the immediate vicinity of the drive system, it becomes possible for the human operator or monitor to perceive relevant information without having to take their eyes off the drive system.

[0012] The drive system is a planar drive system, whereby the surface onto which the object to be displayed is output can at least partially comprise a stator surface of the planar drive system.

[0013] A second aspect, which is not part of the scope of the claim, comprises a control system for an automation system. The control system is configured to execute the steps of the method according to the invention. Specifically, the control system is configured to determine the position information of a runner and to link a display object to the runner's position. Furthermore, the control system is configured to subsequently render a projection to be displayed by the optical projection unit based on the position information of the runner and the display object. The control system is also configured to output the rendered projection to the optical projection unit. The optical projection unit can then output the rendered projection onto a surface and / or as a hologram in the immediate vicinity of the drive system and / or the runner of the drive system.

[0014] The control system can include at least one processing unit. Optionally, the control system can also include a first control unit with a first processing unit and a second control unit with a second processing unit. The first control unit can then, in particular, be used to control the drive system and provide the position information of the runner, while the second control unit reads the position information, links the object to be displayed to the runner, renders the projection to be displayed based on the position information of the runner and the object to be displayed, and outputs the rendered projection to the optical projection unit.

[0015] Optionally, the second control unit, along with a second processing unit, can in turn comprise an additional control unit and another additional processing unit. This additional control unit transmits information about the projection area onto the runner to the second control unit and receives adapted information for this projection area from the second projection unit. The additional processing unit then renders the projection area and transmits the rendered projection to another projection unit.

[0016] According to a third aspect, the invention comprises an automation system with a drive system and an optical projection unit. The drive system includes a movable runner. The runner can be driven by means of a drive. The automation system further comprises a control system according to the invention.

[0017] In one embodiment of the method, the position information is determined based on the position of the rotor relative to the automation system and / or the drive system. This can, for example, include determining the position of the rotor relative to a stator unit of the drive system and can be done, in particular, by means of a position sensor. If the rotor includes a magnetic unit, the position sensor can have a magnetic field sensor. This allows for an output of the object to be displayed that is aligned with the position of the rotor.

[0018] In one embodiment of the method, the position of the runner is determined at least twice as often, and in particular three times as often, as the projection to be displayed is rendered. This ensures that the output of the object to be displayed, synchronized with the position of the runner, can be performed quickly enough, and that the projection to be displayed can move along with the runner without jerking or interference.

[0019] In one embodiment of the method, communication within the control system is real-time capable. This means, in particular, that information within the control system can be exchanged so quickly that tracking the object to be displayed is possible even during rapid movement of the runner, and the object to be displayed moves with the runner without any offset.

[0020] In one embodiment of the method, the projection to be displayed is first calculated in a virtual figure space based on a virtual object and then rendered for a real space using a viewport of the figure space. The rendered projection of the viewport enriches the detection and / or perception of the runner, its structures, transported goods, and / or the surface with information from the figure space. This enables efficient calculation and rendering of the object to be displayed.

[0021] Real space can be linked to multidimensional figure space via a linking rule. Objects arranged in real space, such as components of the drive system, can be assigned figures in figure space through an assignment rule. A linking rule between real space and figure space determines how the virtual objects of figure space are projected into real space in order to then output the rendered viewport.

[0022] The movement of objects arranged in real space, such as a runner, can be transferred to character space. A virtual object assigned to the object in real space can then also be moved in character space. The projection to be displayed can then also be changed based on the position of the virtual object and thus moved within the rendered projection being displayed.

[0023] By linking real space and figure space, a high degree of abstraction can be achieved, which allows the method according to the invention to be adapted to a large number of applications.

[0024] The character space can, for example, contain a 3D model (or sections thereof) of a machine, a building, a stage, or similar. Real-world objects can be linked to virtual representations in the character space via a control unit. When interaction occurs with the virtual space, the respective real-world objects and any virtual extensions thereof react accordingly.

[0025] It can be provided that the position and size of the character space and the characters assigned to the objects to be controlled are automatically determined according to the position and size of the detected, movable objects. This simplifies the creation of a character space assigned to a real space.

[0026] In one embodiment, the position information is determined based on the position of the runner in relation to the figure space.

[0027] In one embodiment of the method, the figure space contains various elements. One of these elements is selected as the object to be displayed based on information from the control system and / or the automation system, and is taken into account when rendering the projection. This can be advantageous if multiple elements can contain different information, thus allowing different information to be displayed.

[0028] In one embodiment of the method, a property is assigned to the object to be displayed in figure space. The element is selected based on this property.

[0029] In one embodiment of the method, the virtual object is moved in the figure space based on the position information of the runner. This allows for easy tracking of the object to be displayed as the runner moves.

[0030] In one embodiment of the method, the projection to be displayed is rendered in such a way that the object to be displayed moves along with the runner, and a relative position between the runner and the object to be displayed is fixed. This also allows for easy tracking of the object to be displayed as the runner moves.

[0031] In one embodiment of the method, the object to be displayed is projected onto the runner. In another embodiment, the object to be displayed is projected next to the runner at a predetermined distance. In both cases, a human operator or supervisor can easily recognize the simple association of information transmitted via the object to be displayed with a specific runner.

[0032] In one embodiment of the method, the determination of the position information, the rendering of the projection to be displayed, and the output of the rendered projection are performed again at least after each change in the position of the runner. This also enables easy tracking of the object to be displayed as the runner moves.

[0033] In one embodiment of the method, the object to be displayed is linked to a real measured quantity, in particular a real measured quantity of the drive system. The real measured quantity can be, in particular, a temperature, energy consumption, force, or weight of at least one rotor or at least one motor element of the drive.

[0034] In one embodiment of the method, display information is read in via an interface, and the object to be displayed is set based on this information. For example, real-world measurements or other information to be displayed can be read in via the interface, information that would otherwise not be available to the control system. This allows for greater flexibility in the information to be displayed and enables, for example, the reading in of additional information relevant to the human operator or monitor.

[0035] According to the invention, the position information includes the distance of a runner surface from the surface. This distance is taken into account when rendering the projection to be displayed. If the drive system is a planar drive system, the distance can be determined, in particular, based on the runner's flight altitude. This makes it possible to adjust the projection to be displayed to the distance, for example, by focusing on the runner surface.

[0036] In one embodiment of the method, the automation system includes an additional optical projection unit. Before rendering the projection to be displayed, the system uses position information to determine whether the rendered projection should be projected from the optical projection unit and / or from the additional optical projection unit. This information is taken into account during rendering. This also enables more complex representations using multiple optical projection units.

[0037] In one embodiment of the method, in a transition area the rendered projection is projected by both the optical projection unit and the other optical projection unit.

[0038] In one embodiment of the automation system, the drive system is a planar drive system. The planar drive system comprises at least one stator unit with a plurality of coil groups for generating a stator magnetic field, a stator surface above the stator unit, and a rotor. The surface corresponds to the stator area. The rotor also has a plurality of magnet units for generating a rotor magnetic field. The coil groups and the magnet units together constitute the drive mechanism. The rotor can be moved parallel to the stator surface by means of an interaction between the stator magnetic field and the rotor magnetic field.

[0039] In one embodiment of the automation system, a data connection between the drive system, the control system and the optical projection unit is provided by means of a real-time communication bus.

[0040] The invention is explained in more detail with reference to the accompanying figures. These show: Fig. 1 shows a cross-section of an automation system; Fig. 2 shows a top view of the automation system. Fig. 1 Fig. 3 shows another top view of the automation system of the Fig. 1 and 2 after a runner's movement; Fig. 4 another top view of the automation system of the Fig. 1 bis 3 ; Fig. 5 a side view of another automation system; and Fig. 6 a representation of the creation of the rendered projection.

[0041] In the following descriptions of the figures, identical elements are identified by identical reference symbols. It is possible that some figures contain reference symbols that are not explained in connection with that figure. In this case, the explanations of these reference symbols in connection with other figures can be used to describe the elements identified by these reference symbols. Furthermore, features and properties in the figure descriptions are sometimes marked as optional. These features and properties marked as optional are not mandatory and can be omitted if necessary.

[0042] Fig. 1 Figure 1 shows a cross-section of an automation system 1 with a drive system 5 and an optical projection unit 100, wherein the drive system 5 comprises a movable runner 50. The runner 50 can be driven by means of a drive 6. The automation system 1 also includes a control system 30. The control system 30 is configured to perform the steps described below. The control system 30 is configured to determine position information of the runner 50 and to associate a display object with the runner 50. Furthermore, the control system 30 is configured to render a projection to be displayed by the optical projection unit 100 based on the position information of the runner 50 and the display object.Furthermore, the control system 30 is set up to output the rendered projection to the optical projection unit 100, so that the optical projection unit 100 outputs the rendered projection on a surface 7 and / or as a hologram 8 in the immediate vicinity of the runner on the runner 50 of the drive system 5.

[0043] The object to be displayed can include, in particular, the information to be displayed, including the type of representation, without yet defining the position at which the object is to be displayed. The projection to be displayed can include not only the object itself but also the position within the automation system at which the object is to be displayed.

[0044] The optical projection unit 100 can, for example, include a projector that can output a two-dimensional, multi-colored image with a predefined resolution. Alternatively or additionally, the optical projection unit 100 can include a laser light source that can output a two-dimensional, single- or multi-colored image. Alternatively or additionally, the optical projection unit 100 can also generate a three-dimensional, multi-colored image, also known as a hologram 8, using holographic projection.

[0045] Optional, but also in Fig. 1 The figure shows that the drive system 5 is a planar drive system 10. The planar drive system 10 comprises at least one stator unit 13 with a plurality of coil groups 14 for generating a stator magnetic field, a stator surface 15 above the stator unit 13, and the rotor 50. The surface 7 corresponds to the stator surface 15. The rotor 50 has a plurality of magnet units 51 for generating a rotor magnetic field. The coil groups 14 and the magnet units 51 form the drive 6. The rotor 50 is movable above the stator surface 15 by means of an interaction between the stator magnetic field and the rotor magnetic field parallel to the stator surface 15. The stator unit 13 with a plurality of coil groups 14 for generating a stator magnetic field is shown only for one stator module 12, whereas the planar drive system 10 comprises several stator modules 12. Each stator module 12 can have an identical structure.Furthermore, it can be provided that several stator units 13 with coil groups 14 are arranged within a stator module 12. Optionally, further magnet units 51 and further coil groups 14 can also be arranged, so that the rotor 50 is in . Fig. 1 It can be moved both to the right and left, as well as into or out of the drawing plane.

[0046] It may be provided that the drive system 5 is used instead of the one in Fig. 1 The planar drive system 10 shown may include a different drive system, such as a linear transport system. All properties and characteristics described below for the planar drive system 10 can also be used in a linear transport system or in a differently designed drive system 5.

[0047] The stator modules 12 can optionally include magnetic field sensors 16, which can be used to detect the position of the magnet units 51 and thus of the rotor 50. Alternatively, position sensors can be provided that allow the position of the rotor 50 to be detected based on a different measuring principle. The magnetic field sensors 16 can be Hall sensors, in particular 3D Hall sensors.

[0048] The control system 30 optionally comprises a first control unit 31 with a first processing unit 33 and a second control unit 32 with a second processing unit 34. The first control unit 31 can then be used, in particular, to control the drive system 5 and provide the position information of the rotor, for example, by means of the magnetic field sensors 16. The second control unit 32 can read the position information, link the object to be displayed with the rotor 50, render the projection to be displayed based on the position information of the rotor 50 and the object to be displayed, and output the rendered projection to the optical projection unit 100. For this purpose, the first control unit 31, the second control unit 32, the stator modules 12, and the optical projection unit 100 are interconnected via a communication bus 35. The communication bus 35 can optionally be real-time capable, so that no interruptions occur in the process steps.Furthermore, communication bus 35 can include a well-known bus such as EtherCAT. In . Fig. 1 It is further shown that the communication bus 35 is connected to all stator modules 12. Alternatively, it is also conceivable to connect the communication bus 35 to only one stator module 12 if the stator modules 12 also have a communication connection among themselves. Alternatively (not shown) Fig. 1 (as shown) the control system 30 can also comprise only one computing unit, in which case the computing unit can take over the tasks of both the first computing unit 33 and the second computing unit 34.

[0049] Alternatively to displaying the Fig. 1 A stator module 12 can comprise four stator units 13, wherein the four stator units 13 are arranged within a stator module 12 in a square two-by-two configuration. Furthermore, the stator units 13 can comprise coil groups 14, wherein the coil groups 14 can be arranged with different orientations. The coil groups 14 serve to generate a stator magnetic field. The coil groups 14 can be configured as rectangular and elongated coil groups 14. In each stator unit 13 of the stator modules 12, three individual rectangular and elongated coils of a coil group 14 can be arranged. Likewise, in another embodiment, a different number of individual rectangular and elongated coils could form a coil group 14. Furthermore, several coil groups 14 can be arranged one above the other, each having an orientation rotated by 90° with respect to its longitudinal extent.This grid of elongated, rectangular coils of a coil group 14 can be stacked multiple times. When energized, the coil groups 14 can interact with the magnet units 51, thereby moving the rotor 50 within the planar drive system 10 above the stator surface 15. The stator surface 15 thus defines a plane of motion for the rotor 50. The coil groups 14 can be arranged parallel to the outer edges of the stator modules 12. If the stator modules 12 each have outer edges at 90° angles to each other, two different orientations of the coil groups 14 are possible and necessary for the movement of the rotor 50. The magnet units 51 can be arranged parallel to the outer edges of the rotor 50.Furthermore, the magnetic units 51 can be arranged circumferentially within the rotor 50 at the rotor's outer edges and can each interact with the coil groups 14 to move the rotor parallel to the outer edges of the stator modules 12. A superposition of two movements parallel to the outer edges is also possible, so that the rotor 50 can be moved in all directions parallel to the stator surface 15. The arrangement of four stator units 13 within a stator module 12 corresponds to the stator modules 12 marketed by Beckhoff Automation GmbH & Co KG under the name XPlanar for a planar drive system 10. Alternatively, it is possible to arrange more or fewer stator units 3 within a stator module 2. For example, each stator module 2 can comprise only one stator unit 3 or more than four stator units 3, as described, for example, in German patent application DE 10 2017 131 304 A1.

[0050] The other characters may include those related to Figur 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 Figur 1 were explained.

[0051] Fig. 2 shows a top view of automation system 1 of the Fig. 1 The optical projection unit 100 is not shown. A rendered projection 110 in the form of a rectangle is displayed on a runner surface 52 or its superstructures and / or transported goods, the rectangle being a placeholder for the information to be output. Furthermore, an alternative rendered projection 111 is displayed on the stator surface 15. It may be provided that both the rendered projection 110 and the alternative rendered projection 111 are output. The stator surface 15 also comprises six stator modules 12, although a different number of stator modules 12 may also be provided.

[0052] The rendered projection 110 and also the alternative rendered projection 111 can be rendered in such a way that the object to be displayed is linked to a real measured quantity, in particular a real measured quantity of the drive system 5. For example, the rendered projection 110 and / or the alternative rendered projection 111 can indicate a load on the runner 50, for example by including a numerical value of the runner's mass or by including a color code for the load on the runner 50 (for example: green for unloaded, red for fully loaded, and yellow for loaded, but not to capacity).Information displayed using the rendered projection 110 or the alternative rendered projection 111 can therefore be easily perceived by a human operator or supervisor of the automation system 1 without having to take their eyes off the automation system 1.

[0053] Another optional display option is in Fig. 2 The stator surface 15 is divided into a first area 21 and a second area 22, where the first area 21 can be illuminated in a different color than the second area 22. This can, for example, reflect the temperature of the stator modules 12 or parts thereof. For instance, the temperature in the first area 21 might be elevated, and therefore the first area would be illuminated in red. The second area might not have an elevated temperature and therefore be illuminated in green or not illuminated at all. In this case, it can be arranged that the rotors 50 move primarily in the second area 22, which can be easily checked by a human operator or monitor without having to take their eyes off the automation system 1.

[0054] The objects to be displayed can be, in particular, physical measured quantities such as temperatures of the stator modules 12 or the coil groups 14, energy consumption during a drive of the rotor 50, forces acting on a rotor 50, or the weight of a load on a rotor 50. Furthermore, the objects to be displayed can also include values ​​calculated from the physical measured quantity.

[0055] Additionally or instead of the first area 21 or the second area 22, an overview map or boundary lines can be projected onto the stator surface 15 using the optical projection unit 100. A human operator or supervisor can then easily check whether these boundary lines or the limits specified by the overview map are being observed. Furthermore, the human operator or supervisor can also use an input device to control the movements of a runner 50 and thereby ensure compliance with the boundary lines or the limits specified by the overview map, since they can be perceived visually.

[0056] A like in the Fig. 1 and 2The automation system 1, as shown, can therefore be operated as follows: First, position information for a runner 50 is determined, and an object to be displayed is linked to the position of the runner 50. These steps can be performed simultaneously or sequentially in any order. Subsequently, a projection to be displayed by the optical projection unit 100 is rendered based on the position information of the runner 50 and the object to be displayed, and the rendered projection 110 or the alternative rendered projection 111 is output to the optical projection unit 100, so that the optical projection unit 100 outputs the rendered projection 110, 111 on a surface 7 and / or on the runner 50 or its superstructures and / or transported goods of the drive system 5.

[0057] The position information can optionally be determined based on the position of the runner 50, for example by means of the magnetic field sensors 16. The position of the runner 50 can be determined relative to the automation system 1 or relative to the drive system 5, for example the planar drive system 10, and in particular also relative to a component of the drive system 5 such as a stator unit 13.

[0058] In one embodiment, the position of the runner 50 is determined at least twice as often, and in particular three times as often, as the rendered projection 110, 111 is rendered. This enables real-time implementation, since the position information is determined with a better temporal resolution compared to the frame rate of the optical projection unit 100. This makes it possible, in particular, to ensure that all movements of the runner 50 are translated into a suitable rendered projection 110 or alternative rendered projection 111, in which the object to be displayed moves directly with the runner 50.

[0059] In one embodiment, the rendered projection 110 or the alternative rendered projection 111 is rendered such that the object to be displayed moves with the runner 50 and a relative position between the runner 50 and the object to be displayed is fixed. This means that the runner 50 is positioned in the representation of the Fig. 2 can move over the stator surface 15 and thereby move the rendered projection 110 or the alternative rendered projection 111 with the runner 50 in such a way that the rendered projection 110 or the alternative rendered projection 111 is always arranged at an identical position relative to the runner 50.

[0060] Fig. 3 shows another top view of automation system 1 of the Fig. 1 or 2, in which the runner 50 was moved and the rendered projection 110 or the alternative rendered projection 111 was moved along with the runner 50, so that the relative position remained identical.

[0061] In the depictions of the Fig. 2 and 3 The object to be displayed, and thus the rendered projection 110, is projected onto the runner 50 or its superstructure and / or transported goods, or the object to be displayed, and thus the alternative rendered projection 111, is projected next to the runner 50 at a specified distance from the runner 50. As already described, only either the rendered projection 110 or the alternative rendered projection 111 can be projected.

[0062] In one embodiment of the method, the determination of the position information, the rendering of the projection to be displayed, and the output of the rendered projection 110 or the alternative rendered projection 111 are performed again at least after each change in position of the runner 50.

[0063] Furthermore, the first area 21 and the second area 22 are in Fig. 3 arranged differently than in Fig. 2 This may be caused, for example, by a change in the temperature distribution of the stator modules 12, since other areas of the stator surface 15 may now have an increased temperature.

[0064] In one embodiment, display information is provided via an interface 36, such as in Fig. 1 shown, read in, and the object to be displayed was set based on the display information.

[0065] In one embodiment, the position information includes the distance of a runner surface 52 from the surface 7. This distance is taken into account when rendering the projection to be displayed. This allows, for example, the flight altitude of the runner 50 in the planar drive system 10 to be considered. The higher the runner 50 flies, the smaller the rendered projection 110 can be in order to be displayed on the runner 50, the runner surface 52, or its superstructures and / or transported goods of identical size.

[0066] Fig. 4 shows a top view of automation system 1 of the Fig. 1 bis 3 and corresponds to the representation of Fig. 2 Unless otherwise described below, the first area 21 and the second area 22 are again arranged differently in this example, compared to the representations of the Fig. 2 and 3For the rotor 50, only a rendered projection 110 is shown, which is displayed on the rotor surface 52 or its superstructures and / or transported goods. Furthermore, another rotor 60 is arranged above the stator surface 15, which can correspond to the rotor 50 in its structure. The other rotor 60 thus has another rotor surface 62 with superstructures and / or transported goods, and furthermore additional magnet units with which it can be driven by means of the coil groups 14. The additional magnet units are shown in the illustration of the Fig. 4 However, it is not visible. Another rendered projection 120 is arranged on the other runner surface 62 or its superstructures and / or transported goods. All features and process steps explained in connection with the rendered projection 110 for the runner 50 can be repeated for the other runner 60, thus creating and displaying the other rendered projection 120.

[0067] In the presentation of the Fig. 4 The additional rotor 60 is partially located in the first area 21 of the stator surface 15. A human operator or monitor can immediately recognize that this is the case if the first area 21 is colored red, for example, due to its temperature. In this case, the human operator or monitor can decide whether intervention is necessary or whether movement of the additional rotor 60 in the first area can (still) be tolerated. This can be done without having to take their eyes off the automation system 1.

[0068] Fig. 5 shows a side view of another automation system 1, which is part of the automation system 1 of the Fig. 1 bis 4 This corresponds unless differences are described below. The drive system 5 is again a planar drive system 10 and has three stator modules 12 arranged side by side. It can remain open how many stator modules 12 are arranged one behind the other in the plane of the drawing. Furthermore, a rotor 50 with a rendered projection 110 and another rotor 60 with a further rendered projection 120 are shown. The control system 30 is shown in a simplified form and can be described as in connection with Fig. 1 It should be explained in detail.

[0069] Automation system 1 includes another optical projection unit 101. This is also connected to the control system 30 via the communication bus 35. Before rendering the projection to be displayed, the position information determines whether the rendered projection 110, 120 is to be projected from optical projection unit 100 and / or from the other optical projection unit 101. In the case of displaying the Fig. 5 This results in the rendered projection 110 being displayed by optical projection unit 100, since the runner 50 is outside the display area (indicated by a dashed line) of the additional optical projection unit 101. Furthermore, the additional rendered projection 120 can be displayed by both optical projection unit 100 and the additional optical projection unit 101, meaning that optical projection unit 100 and / or the additional optical projection unit 101 can be selected to display the additional rendered projection 120. This is taken into account when rendering the projection to be displayed. The additional optical projection unit 101 can be configured analogously to optical projection unit 100.

[0070] In one embodiment, an automation system 1 is used as in Fig. 5 In a transition area 102, the further rendered projection 120 is projected by both the optical projection unit 100 and the further optical projection unit 101. If the runner 50 is located in the transition area 102 instead of the further runner 60, the rendered projection 110 can also be projected by both the optical projection unit 100 and the further optical projection unit 101. This allows transitions of the runner 50 or the further runner 60 between the display areas of the optical projection units 100 and 101 without interrupting the projection.

[0071] If several optical projection units 100, 101 are provided, it may be provided that a second control unit 32 takes over the calculations for all optical projection units 100, 101, or that a separate second control unit 32 is used for each optical projection unit 100, 101. Furthermore, it may be provided that the optical projection unit 100 or the additional optical projection unit 101 has a different number of stator modules 12 in the respective display area.

[0072] Fig. 6 Figure 1 shows a schematic representation of an automation system 1, in which a drive system 5 can be a planar drive system 10 with a rotor 50 or a further rotor 60, in which the control system 30 has a first control unit 31 and a second control unit 32, and in which an optical projection unit 100 and optionally a further optical projection unit 101 are provided. The automation system 1 also has a virtual figure space 200, which can be implemented by means of a third control unit 37. Alternatively, the virtual figure space 200 can also be assigned to the first control unit 31 or the second control unit 32.

[0073] The projection to be displayed is first calculated in the virtual figure space 200 based on a virtual object 201 and then rendered for a real space. The virtual object 201 can comprise the runner 50 or the additional runner 60 and, in addition to the physical design of the runner 50 or the additional runner 60, also include the information to be displayed in connection with the runner 50 or the additional runner 60. The real space can, for example, be designed as a virtual viewport 202 onto the figure space 200. The output rendered projection 110, 111 of the viewport 202 enhances the detection and / or perception of the runner 50 or the additional runner 60 and / or the surface 7.The virtual viewport 202 can be passed on to the second control unit 32 in order to generate the rendered projection 110, alternative rendered projection 111, or further rendered projection 120 based on the virtual viewport 202. It may be possible to determine the position of the bishop 50 or the further bishop 60 relative to the figure space 200.

[0074] The character space serves to merge the representation of the real drive system 5 with the other information to be displayed and can therefore encompass an adapted or enhanced reality (augmented reality, AR) of the automation system 1.

[0075] In one embodiment, the figure space comprises 200 different elements. One of these elements is selected as the object to be displayed using information from the control system 30 and / or the automation system 1, and the selected element is taken into account when rendering the projection to be displayed. This allows multiple elements to be considered for display in the figure space 200, although only one is ultimately selected for display. This enables an efficient calculation method if the selected element needs to be changed, since sufficient information is already available for all elements.

[0076] In one embodiment, a property is assigned to the object to be displayed in figure space 200. The element is selected based on this link. This further simplifies the calculation. The property can refer to a display mode. For example, the property "Load" can be assigned to the object to be displayed, in which case the load is to be output as a numerical value. In another example, the property "Temperature" is assigned to the object to be displayed, which can be represented in different colors using the illuminations already described.

[0077] In one embodiment, the virtual object 201 is moved in the figure space 200 based on the position information of the runner 50 or the other runner 60. This also allows for a further simplification of the calculation.

[0078] If several optical projection units 100, 101 are provided, it may be provided that a second control unit 32 takes over the calculations for all optical projection units 100, 101 or that a separate second control unit 32, connected to the figure space 200, is used for each optical projection unit 100, 101.

[0079] The first control unit 31 can send at least one data point for speed and / or position specification to the drive system 5. After the runner 50 has been moved according to this speed and / or position specification, the drive system can send current speed and / or position data of the runner 50 to the first control unit 31. The speed and / or position data of the runner 50 can be determined, for example, using the magnetic field sensors 16 or other position sensors, or calculated from the data of such position sensors or magnetic field sensors. Communication between the drive system 5 and the first control unit 31 can take place via the communication bus 35, which can be implemented, for example, as a real-time capable fieldbus such as EtherCAT.

[0080] A bus driver, for example a fieldbus driver, of the automation system 1, linked to the communication bus 35, can directly forward the data received from the drive system 5 as properties of the virtual object 201 to a software module of the figure space 200 via a computing unit that calculates and manages the figure space. This software module can, for example, be operated on the third control unit 37, or alternatively on the second control unit 32. If the speed and / or position data have changed compared to the last reception, the virtual object 201 moves in the figure space 200 directly based on the speed and / or position data.

[0081] The optical projection unit 100 projects information from the figure space 200 at a predetermined repetition frequency that does not interfere with the natural perception of the drive system 5 or the runners 50 and 60. The communication speed and data rate of the communication bus 35 between the second control unit 32 and the optical projection unit 100 must be at least equal to the predetermined repetition frequency. If the optical projection unit 100 and the second optical projection unit 101 have different repetition rates, it may be advantageous to provide a separate second control unit 32 for the optical projection unit 100 and for the second optical projection unit 101.The output of the rendered projection 110, the alternative rendered projection 111, and the further rendered projection 120 takes into account the repetition frequency of the associated optical projection unit 100 and further optical projection unit 101, respectively.

[0082] The second control unit 32 can receive data from the figure space 200 at least with the repetition rate of the optical projection unit 100 or the further optical projection unit 101, render an image data stream from it and immediately transfer it to the optical projection unit 100 or the further optical projection unit 101, whereby predefined communication protocols can be used for this purpose.

[0083] An application can be used in an industrial environment (for example as a machine, process line, processing system), in a building and / or on a stage and be connected to an automation system 1.

[0084] The examples explained below can be used both with the figure space 200, as in connection with Fig. 6 explained, as well as for the design of the Fig. 1 bis 5 to be used.

[0085] It may also be provided that the object to be displayed includes at least one photo file, whereby the rendered projection 110, the alternative rendered projection 111, or the further rendered projection 120 can then include an image of the photo file. Alternatively, the object to be displayed can include a video file, whereby the rendered projection 110, the alternative rendered projection 111, or the further rendered projection 120 can then include a playback of the video file. Furthermore, the object to be displayed can include a graphics file, which can then also be displayed in the rendered projection 110, the alternative rendered projection 111, or the further rendered projection 120. The object to be displayed can also include a file or database containing tabular data.The rendered projection 110, the alternative rendered projection 111, or the further rendered projection 120 can then include a table or a diagram, whereby the diagram can be created from the tabular data.

[0086] The object to be displayed can contain Boolean information, for example, determined from data of automation system 1. The rendered projection 110, the alternative rendered projection 111, or the further rendered projection 120 can then include a light surface with which the Boolean information is represented. Furthermore, the object to be displayed can contain numerical or textual information from automation system 1, which can be represented in the rendered projection 110, the alternative rendered projection 111, or the further rendered projection 120 in the form of a code, barcode, or QR code.

[0087] It may be possible to selectively modify the object to be displayed based on a fault message from automation system 1. This can include, in particular, the content of the projection to be displayed and its properties, such as size, position, orientation, color, and / or focus. Alternatively or additionally, the object to be displayed can be selectively modified based on a date from the production data in automation system 1 or at least an enterprise resource planning (ERP) system. This can also include the content of the projection and its properties, such as size, position, orientation, color, and / or focus.

[0088] The projection to be displayed can include this data using at least one production information from automation system 1 or at least one ERP system. The information can also be provided in a machine-readable format for external systems via encoding. Furthermore, it can be provided that the rendered projection 110, alternative rendered projection 111, or further rendered projection 120 is adjusted in color, size, transparency, font, and / or graphic content based on this data.

[0089] Using at least one positional information from at least one runner 50 or another runner 60, the projection to be displayed can include the upcoming and / or past track usage on at least one stator module 12 or parts of the stator surface 15. This can be done, for example, analogously to the in Fig. 2The first areas 21 and the second areas 22 described above can be displayed using color coding. Furthermore, by means of at least one position information from at least one runner 50 or another runner 60, the rendered projection 110, the alternative rendered projection 111, or the further rendered projection 120 can represent initialization positions and / or setup positions on at least one stator module 12.

[0090] Using at least one Boolean and / or numerical piece of information from automation system 1, the projection to be displayed can include track boundaries and / or route guidance. A human operator or monitor of automation system 1 can then easily visually verify whether these boundaries are being adhered to without having to take their eyes off automation system 1.

[0091] By means of at least one position information from at least one runner 50 or another runner 60, the projection to be displayed can include at least one optimized path on at least one stator module 12.

[0092] The object to be displayed can include the remaining time, calculated from speed information and a distance traveled, for a runner 50 or another runner 60 of an automation system 1. The remaining time can, in particular, indicate how long it will take until a specified stator module 12 is reached. The projection to be displayed can contain this remaining time encoded in color and / or text and / or graphically.

[0093] Using at least one Boolean and / or numerical piece of information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can include safety-relevant areas such as the first area 21 or the second area 22.

[0094] By means of at least one Boolean and / or numerical information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can contain the current status and / or operating state of at least one automation system 1 and / or an element of the automation system 1 such as a stator module 12 and / or a rotor 50 or another rotor 60.

[0095] Using at least one numerical piece of information from at least one automation system 1, the rendered projection 110, the alternative rendered projection 111, or the further rendered projection 120 can contain at least one coordinate.

[0096] By means of at least one Boolean piece of information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can include a graphical grouping by, for example, an outline of at least two runners 50, 60 and / or two stator modules 12.

[0097] By means of at least one thermal information from at least one drive element of the drive system 5, for example the stator module 12 and / or at least one rotor 50, 60 or at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can include at least one temperature displayed in color and / or text.

[0098] By means of at least one energy information from at least one drive element of the drive system 5, for example the stator module 12 and / or at least one runner 50, 60 or at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can contain the current energy consumption and / or energy reserve for the movement and / or carrying of the runner 50 and / or the runner 60.

[0099] By means of at least one boolean and / or numerical information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can include motion parameters such as following error and / or absolute position and / or relative position and / or velocity and / or acceleration and / or jerk of the runner 50 or of the further runner 60 60.

[0100] By means of at least one numerical piece of information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can include force parameters such as a force acting on the runner 50 or the further runner 60 or on a drive element of the drive system 5 such as the stator module 12 and / or a torque acting on the runner 50 or the further runner 60 or on a drive element of the drive system 5 such as the stator module 12 and / or a centrifugal force acting on the runner 50 or the further runner 60 or on a drive element of the drive system 5 such as the stator module 12.

[0101] Using at least one numerical piece of information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can include motion parameters such as a force and / or a torque and / or a centrifugal force.

[0102] Using at least one numerical piece of information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can contain at least one target position for the runner 50 or the further runner 60.

[0103] By means of at least one numerical or textual piece of information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can include at least one processing station and / or one parking station and / or one charging station for the runner 50 or the further runner 60.

[0104] Using numerical coordinate information, for example using an x-coordinate and a y-coordinate or an x-coordinate, a y-coordinate and a z-coordinate of an automation system 1 and / or information from at least one external data source, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can contain at least one map and / or navigation routes.

[0105] By means of at least one numerical piece of information from at least one automation system 1, the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can include at least one drive element of the drive system 5, for example a stator module 12 and / or the runner 50 and / or the further runner 60, wherein the movement of the rendered projection 110 or the alternative rendered projection 111 or the further rendered projection 120 can be output in real time or at reduced or accelerated speed to the position data and / or orientation data. Reference symbol list

[0106] 1 Automation system 5 Drive system 6 Drive 7 Surface 8 Hologram 10 Planar drive system 12 Stator module 13 Stator unit 14 Coil group 15 Stator surface 16 Magnetic field sensor 21 First area 22 Second area 30 Control system 31 First control unit 32 Second control unit 33 First computing unit 34 Second computing unit 35 Communication bus 36 Interface 37 Third control unit 50 Rotor 51 Magnet unit 52 Rotor surface 60 Additional rotor 62 Additional rotor surface 100 Optical projection unit 101 Additional optical projection unit 102 Transition area 110 Rendered projection 111 Alternative rendered projection 120 Additional rendered projection 200 Figure space 201 Virtual object 202 Viewing window

Claims

1. A method for operating an automation system (1), wherein the automation system (1) comprises a drive system (5) comprising a rotor (50) and an optical projection unit (100), wherein a control system (30) of the automation system (1) carries out the following steps: - determining a position information of the rotor (50); - linking the rotor (50) to an object to be displayed, said object comprising a display information; - rendering a projection to be displayed by the optical projection unit (100) based on the position information of the rotor (50) and the object to be displayed, wherein the projection to be displayed generates an image; - outputting the rendered projection (110, 111) to the optical projection unit (100), so that the optical projection unit (100) outputs the rendered projection (110, 111) on a surface (7) and / or on the rotor (50) or its superstructures and / or transport goods of the drive system (5), characterized in that the drive system (5) is a planar drive system comprising a planar stator and a rotor (50) movable in at least two directions, wherein the rotor (50) may be driven with the aid of a drive (6) of the stator, wherein the position information comprises a distance of a rotor surface (52) to a surface (7) and wherein the distance is taken into account during rendering of the projection to be displayed.

2. The method according to claim 1, wherein the position information is determined on the basis of a position of the rotor (50) in relation to the automation system (1) and / or to the drive system (5), and wherein the position of the rotor (50) is determined at least twice as often as the projection to be displayed is rendered.

3. The method according to claim 1 or 2, wherein the projection to be displayed is first calculated in a virtual figure space (200) using at least one virtual object (201) and then rendered for a real space using a viewing window (202) of the figure space (200), wherein the detection and / or perception of the rotor (50) or its superstructures and / or transported goods and / or the surface (7) are enriched with information from the figure space (200) by the output rendered projection (110, 111) of the viewing window (202), wherein the position information is determined on the basis of a position of the rotor (50) with respect to the figure space (200).

4. The method according to claim 3, wherein the figure space (200) contains various elements, wherein one of the elements is selected as the object to be displayed with the aid of information from the controller (30) and / or from the automation system (1) and the selected element is taken into account when rendering the projection to be displayed.

5. The method according to claim 4, wherein a property is assigned to the object to be displayed in the figure space (200) and the element is selected on the basis of the property.

6. The method according to any one of claims 3 to 5, wherein the virtual object (201) is moved in the figure space (200) based on the position information of the rotor (50).

7. The method according to any one of claims 1 to 6, wherein the projection to be displayed is rendered in such a way that the object to be displayed moves along with the rotor (50) and a relative position between the rotor (50) and the object to be displayed is fixed.

8. The method according to claim 6 or 7, wherein determining the position information, rendering the projection to be displayed and outputting the rendered projection are carried out again at least after each change in position of the rotor (50).

9. The method according to any one of claims 1 to 8, wherein the object to be displayed is linked to a real measured variable of the drive system (5).

10. The method according to any one of claims 1 to 9, wherein the display information is read in via an interface (36) and the object to be displayed is set on the basis of the display information.

11. The method according to any one of claims 1 to 10, wherein the automation system (1) comprises a further optical projection unit (101), wherein before rendering the projection to be displayed, it is determined on the basis of the position information whether the rendered projection is to be projected by the optical projection unit (100) and / or by the further optical projection unit (101) and this information is taken into account when rendering the projection to be displayed.

12. The method according to claim 11, wherein in a transition region the rendered projection is projected both by the optical projection unit (100) and by the further optical projection unit (101).

13. An automation system (1) comprising a drive system (5) and an optical projection unit (100), wherein the drive system (5) is a planar drive system comprising a planar stator and a rotor (50) movable in at least two directions, wherein the rotor (50) may be driven with the aid of a drive (6) of the stator, wherein the automation system (1) further comprises a control system (30) set up to carry out the method steps according to any one of claims 1 to 12.

14. The automation system (1) according to claim 13, wherein the stator of the planar drive system (10) comprises at least one stator assembly (13) each having a plurality of coil groups (14) for generating a stator magnetic field, a stator surface (15) above the stator assembly (13) and the rotor (50), wherein the surface (7) corresponds to the stator surface (15), wherein the rotor (50) comprises a plurality of magnet units (51) for generating a rotor magnetic field, wherein the coil groups (14) and the magnet units (51) form the drive (6), wherein the rotor (50) above the stator surface (15) may be moved in parallel to the stator surface (15) with the aid of an interaction of the stator magnetic field with the rotor magnetic field.