Displacement systems, devices, and methods

Abstract

Aspects of the present disclosure provide methods, devices, and systems for facilitating identification of a mobile device in a displacement system. The method for identifying a mobile device can include receiving at least one input signal representing at least one measurement of a magnetic field from at least one reference position relative to the mobile device. The method can further include identifying the mobile device at least in response to the at least one measurement of the magnetic field.

Description

[Technical Field]

[0001] (Related Applications) This application claims the benefit of and priority to U.S. Provisional Patent Application No. 63 / 432,954, filed December 15, 2022, the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to displacement systems, devices, and methods. [Background technology]

[0003] Displacement systems, such as XY tables and rotary tables, are widely used in various manufacturing, inspection, and assembly processes. These systems include a stator module and a movable stage, usually called a robotic device or mover device. The stator module actuates the movable stage.

[0004] A common solution currently in use achieves XY motion by stacking two linear stages (i.e., an X stage and a Y stage) together via a linking bearing. A more desirable solution would be to eliminate the additional bearings and have a single translation stage capable of XY motion. It would also be desirable for such a translation stage to provide at least some Z motion. Attempts have been made to design such displacement devices using the interaction of current-carrying coils and permanent magnets. Examples of attempts in this regard include U.S. Pat. Nos. 6,003,230, 6,097,114, 6,208,045, 6,441,514, 6,847,134, 6,987,335, 7,436,135, 7,948,122, U.S. Patent Application Publication No. 2008 / 0203828, W.J. Kim and D.L. Trumper, "High-Precision Magnetic Levitation Stage for Photolithography," Precision Eng. 22, pp. 66-77 (1998), D.L. Trumper et al., "Magnet Arrays for Synchronous Machines," IEEE Industry Applications Society Annual Meeting, vol. 1, pp. 9-18, 1993, and J.W. Jansen, C.M. Van Lierop, E.A. Lomonova, and A.J.A. Vandenput, "Magnetic Levitation Planar Actuator with Moving Magnets," IEEE Tran. Ind. App., Vol 44, No 4, 2008) Examples include:

[0005] More recent techniques for implementing displacement systems having a movable stage and stator are described in International Application No. PCT / CA2012 / 050751 (published in International Publication No. WO 2013 / 059934) entitled "Displacement Apparatus and Methods for Manufacture, Use and Control of the Same", International Application No. PCT / CA2014 / 050739 (published in International Publication No. WO 2015 / 017933) entitled "Displacement Detection Apparatus and Method, and Apparatus for Detecting and Estimating Motion Associated with Such Displacement", and International Application No. PCT / CA2015 / 017933 (published in International Publication No. WO 2015 / 017933) entitled "Displacement Apparatus, Movable Stage for Displacement Apparatus and Methods for Manufacture thereof". Such a method is described in International Application No. PCT / CA2015 / 050549 (published in WO 2015 / 188281), entitled "Method and system for controlled movement of multiple stages in a displacement device," International Application No. PCT / CA2015 / 050523 (published in WO 2015 / 184553), entitled "Method and system for controlled movement of multiple stages in a displacement device," and International Application No. PCT / CA2015 / 050157 (published in WO 2015 / 179962), entitled "Displacement device and methods for its manufacture, use and control." Summary of the Invention

[0006] Embodiments of the present disclosure may provide methods, devices and systems that enable identification of mobile devices.

[0007] According to at least one embodiment, a method for identifying a mover is disclosed, the method including receiving at least one input signal representing at least one measurement of a magnetic field from at least one reference position relative to the mover, and identifying the mover at least in response to the at least one measurement of the magnetic field.

[0008] In some embodiments, identifying the moving body at least in response to the at least one measurement of the magnetic field includes determining, for each of one or more reference locations of the at least one reference location, a characteristic of the magnetic field at the reference location.

[0009] In some embodiments, determining the characteristics of the magnetic field includes identifying the magnetic field at one or more of the at least one reference location as having one of at least two different available characteristics.

[0010] In some embodiments, the at least two different available characteristics of the magnetic field from the reference position include a magnetic field arising from a magnet at the reference position and polarized in a first direction relative to the moving body, and a magnetic field arising from the magnet at the reference position and polarized in a second direction relative to the moving body that is different from the first direction.

[0011] In some embodiments, determining the characteristics of the magnetic field includes identifying the magnetic field at one or more of the at least one reference location as having one of at least three different available characteristics.

[0012] In some embodiments, the at least three different available characteristics of the magnetic field from the reference position include a magnetic field arising from a magnet at the reference position and polarized in a first direction relative to the moving body, a magnetic field arising from the magnet at the reference position and polarized in a second direction different from the first direction relative to the moving body, and the absence of a magnet at the reference position.

[0013] In some embodiments, the at least two different available characteristics of the magnetic field from the reference location include a magnetic field resulting from a magnet at the reference location having a first magnetic blemish and a magnetic field resulting from a magnet at the reference location having a second magnetic blemish, the second magnetic blemish being different from the first magnetic blemish.

[0014] In some embodiments, the first magnetic defect is intentionally created.

[0015] In some embodiments, the different available characteristics of the magnetic field at one or more of the at least one reference location include different magnetic field strengths of the magnet at one or more of the at least one reference location.

[0016] In some embodiments, the method further includes preprocessing the at least one input signal to generate at least one preprocessed signal, and identifying the moving body includes identifying the moving body at least in response to the at least one preprocessed signal.

[0017] In some embodiments, pre-processing the at least one input signal includes high-pass filtering the at least one input signal.

[0018] In some embodiments, pre-processing the at least one input signal includes low-pass filtering the at least one input signal.

[0019] In some embodiments, pre-processing the at least one input signal includes band-pass filtering the at least one input signal.

[0020] In some embodiments, the method further includes identifying at least a location of the mobile body at least in response to the at least one measurement of the magnetic field.

[0021] In some embodiments, the method further includes identifying at least an orientation of the mobile body at least in response to the at least one measurement of the magnetic field.

[0022] In some embodiments, the method further includes causing at least one sensor to measure at least one measurement of the magnetic field.

[0023] In some embodiments, causing the at least one sensor to measure at least one measurement of the magnetic field includes causing the at least one sensor to measure the at least one measurement of the magnetic field while the mobile object is moving.

[0024] In some embodiments, causing the at least one sensor to measure at least one measurement of the magnetic field includes causing the at least one sensor to measure at least one measurement of the magnetic field while the moving body is levitating.

[0025] In some embodiments, identifying the mobile object includes distinguishing the mobile object from other mobile objects.

[0026] In some embodiments, identifying the mobile object includes identifying the mobile object in response to at least identifying the mobile object associated with a magnetic field from the at least one reference location in the at least one database.

[0027] In some embodiments, the at least one measurement of the magnetic field represents at least a magnetic influence from at least one actuating magnet on the moving object.

[0028] In some embodiments, identifying the moving object includes identifying the moving object according to at least a magnetic influence from at least one actuating magnet.

[0029] In some embodiments, the at least one actuating magnet includes a plurality of actuating magnets, and identifying the moving object includes identifying the moving object according to at least magnetic influences from the plurality of actuating magnets and relative spatial characteristics of the actuating magnets with respect to one another.

[0030] In some embodiments, identifying the moving body includes identifying a relative pitch between two or more actuation magnets of the plurality of actuation magnets.

[0031] In some embodiments, identifying the moving object includes identifying an orientation between two or more actuation magnets of the plurality of actuation magnets.

[0032] In some embodiments, the at least one measurement of the magnetic field represents at least a magnetic influence from at least one identifying magnet on the mobile object.

[0033] In some embodiments, identifying the mobile object includes identifying the mobile object according to at least a magnetic influence from at least one identifying magnet.

[0034] In some embodiments, identifying the mobile object includes identifying the mobile object in response to at least one movement of one or more of the at least one identification magnet relative to the mobile object.

[0035] In some embodiments, identifying the mobile object includes identifying the mobile object in response to at least a vibration of one or more of the at least one identification magnet relative to the mobile object.

[0036] In some embodiments, the method further includes moving the moving body, and moving the moving body includes interacting one or more external magnetic fields with the at least one actuation magnet.

[0037] In some embodiments, the method further includes moving the mobile body, and moving the mobile body includes interacting one or more external magnetic fields with the at least one actuation magnet independently of the at least one identification magnet.

[0038] In some embodiments, the method is performed by at least one processor.

[0039] In some embodiments, at least one computer-readable medium stores instructions that, when executed by at least one processor, cause the at least one processor to perform a method as disclosed herein.

[0040] According to at least one embodiment, a mobile device is disclosed that includes a mobile body including at least one actuation magnet configured to generate a force to move the mobile device in response to at least one external magnetic field, and at least one identification magnet, wherein the at least one identification magnet is encoded with identification information that distinguishes the mobile body from other mobile bodies.

[0041] In some embodiments, the at least one identification magnet comprises a plurality of identification magnets.

[0042] In some embodiments, the moving body defines a plurality of reference positions, and each identification magnet of the plurality of identification magnets is at a different reference position of the plurality of reference positions.

[0043] In some embodiments, the multiple reference locations are in at least one column and at least one row on the moving body, and the magnetic fields of any magnets in each of the at least one column and each of the at least one row cancel each other when combined together.

[0044] In some embodiments, at least some of the plurality of reference locations are at a periphery of the mover surrounding the at least one actuation magnet.

[0045] In some embodiments, at least a portion of the plurality of reference locations are surrounded by at least one actuation magnet.

[0046] In some embodiments, the plurality of identification magnets are configured to allow for alteration of the identification information.

[0047] In some embodiments, the plurality of identification magnets are individually removable from the mobile device.

[0048] In some embodiments, the multiple identification magnets are individually repositionable within the mobile device, allowing the polarity of the multiple identification magnets relative to the mobile object to be individually changed.

[0049] In some embodiments, each actuation magnet of the at least one actuation magnet has a length in its longest dimension, and the length of each actuation magnet of the at least one actuation magnet is greater than the length of each identification magnet of the plurality of identification magnets in its longest dimension.

[0050] In some embodiments, each actuation magnet of the at least one actuation magnet has a length in its longest dimension that is more than 50% longer than the length in its longest dimension of each identification magnet of the plurality of identification magnets.

[0051] In some embodiments, each actuation magnet of the at least one actuation magnet has a length in its longest dimension that is more than 100% longer than the length in its longest dimension of each identification magnet of the plurality of identification magnets.

[0052] In some embodiments, each actuation magnet of the at least one actuation magnet has a magnetic field strength, and the magnetic field strength of each actuation magnet of the at least one actuation magnet is greater than the magnetic field strength of each identification magnet of the plurality of identification magnets.

[0053] In some embodiments, each actuation magnet of the at least one actuation magnet has a magnetic field strength that is more than 10% greater than the magnetic field strength of each identification magnet of the plurality of identification magnets.

[0054] In some embodiments, each actuation magnet of the at least one actuation magnet has a magnetic field strength that is more than 30% greater than the magnetic field strength of each identification magnet of the plurality of identification magnets.

[0055] In some embodiments, the at least one actuating magnet includes a plurality of actuating magnets having a magnetic pitch, and the plurality of identification magnets have a magnetic pitch that is different from the magnetic pitch of the plurality of actuating magnets.

[0056] In some embodiments, at least three of the plurality of identification magnets are arranged in a generally straight line with non-uniform magnetic vibration, and a first magnetic pitch between a first identification magnet and a second identification magnet of the plurality of identification magnets is different from a second magnetic pitch between a second identification magnet and a third identification magnet of the plurality of identification magnets.

[0057] In some embodiments, at least three of the plurality of identification magnets are arranged in a generally linear line with non-uniform magnetic oscillations including two consecutive magnets with similar magnetic orientations.

[0058] In some embodiments, the magnetic field from the plurality of identification magnets is rotationally asymmetric about an axis bounded by the plurality of identification magnets.

[0059] In some embodiments, the transfer device is encased in a conductive material.

[0060] In some embodiments, two of the plurality of identifying magnets have the same magnetic orientation but measurably different magnetic strengths.

[0061] In some embodiments, two of the plurality of identification magnets have measurably different vertical positions within the transfer device.

[0062] In some embodiments, at least one of the plurality of identification magnets is movable relative to the mobile body.

[0063] In some embodiments, the mobile device further comprises at least one non-rigid connector connecting at least one of the plurality of identification magnets to the mobile device to enable movement of at least one of the plurality of magnets relative to the mobile body.

[0064] In some embodiments, the at least one non-rigid connector is at least one elastic body.

[0065] In some embodiments, the at least one elastic body is at least one spring.

[0066] In some embodiments, the at least one actuating magnet includes two or more actuating magnets.

[0067] In some embodiments, the two or more actuation magnets are configured to generate a force to move the movement device in at least two degrees of freedom.

[0068] According to at least one embodiment, a displacement system is disclosed that includes a mobile device as disclosed herein. The displacement system further includes at least one stator including at least one coil positioned to generate at least one external magnetic field and at least one sensor positioned to measure at least a magnetic field from at least one identifying magnet when the mobile device is positioned within a sensor range of the at least one sensor. The displacement system further includes a controller configured to identify the mobile device in response to at least the magnetic field measured by the at least one sensor according to the method disclosed herein.

[0069] According to at least one embodiment, a displacement system is disclosed that includes a mobile device including a mobile body including at least one actuation magnet configured to generate a force to move the mobile device in response to at least one external magnetic field, the displacement system further including at least one stator including at least one coil positioned to generate the at least one external magnetic field and at least one sensor positioned to measure at least the magnetic field from the at least one actuation magnet when the mobile device is positioned within a sensor range of the at least one sensor, and a controller configured to identify the mobile device in response to at least the magnetic field measured by the at least one sensor according to the methods disclosed herein.

[0070] In some embodiments, the stator includes a working surface and a layer of conductive material, the layer of conductive material being disposed along the working surface between the stator and the moving device.

[0071] In some embodiments, the stator is surrounded by a conductive material. [Brief explanation of the drawings]

[0072] [Figure 1] 1 is a side view of a displacement system according to one embodiment; [Figure 2] Block diagram of the controller used in the displacement system in Figure 1 [Figure 3] FIG. 2 is a top view of a movement device used in the displacement system of FIG. [Figure 4A] FIG. 4 is a top view of the transfer device of FIG. 3, showing possible locations of the magnetic identification element; [Figure 4B] 4 is a top view of the transfer device of FIG. 3, showing possible configurations of the magnetic identification element. [Figure 4C] 4 is a top view of the transfer device of FIG. 3, showing possible configurations of the magnetic identification element. [Figure 4D] 4 is a top view of the transfer device of FIG. 3, showing possible configurations of the magnetic identification element. [Figure 4E]4 is a top view of the transfer device of FIG. 3, showing possible configurations of the magnetic identification element. [Figure 5A] 4 is a top view of the transfer device of FIG. 3, showing possible configurations of the magnetic identification element. [Figure 5B] 4 is a top view of the transfer device of FIG. 3, showing possible configurations of the magnetic identification element. [Figure 6A] 4 is a top view of the movement device of FIG. 3, showing possible configurations of actuation magnets. [Figure 6B] 6B is a top view of the actuation magnet of FIG. 6A, showing possible configurations of the actuation magnet. [Figure 6C] FIG. 4 is a top view of the movement device of FIG. 3, illustrating another possible misalignment of the actuation magnets. [Figure 6D] FIG. 2 is a side view of the displacement system of FIG. 1, illustrating another possible misalignment of the actuation magnets; [Figure 7A] 4 is a top view of the movement device of FIG. 3, showing possible configurations of actuation magnets. [Figure 7B] 4 is a top view of the movement device of FIG. 3, showing possible configurations of actuation magnets. [Figure 7C] 4 is a top view of the movement device of FIG. 3, showing possible configurations of actuation magnets. [Figure 8] FIG. 4 is an exploded perspective view of the moving device of FIG. 3; [Figure 9] FIG. 2 is a side view of the displacement system of FIG. 1, showing the measurement of the magnetic identification element; [Figure 10] FIG. 2 is a top view of the displacement system of FIG. 1, showing two moving devices interacting with each other; [Figure 11A] FIG. 4 is a top view of the movement device of FIG. 3 used for orientation detection. [Figure 11B] FIG. 4 is a top view of the movement device of FIG. 3 used for orientation detection. [Figure 12A] FIG. 2 is a side view of the displacement system of FIG. 1, showing that the magnet spacing of the magnetic identification element is not constant; [Figure 12B] Graph showing the magnetic field strength curve measured by the sensor in the displacement system of Figure 1. [Figure 13] 2 is a side view of the magnetic identification element of the displacement system of FIG. 1 including a non-rigid connector; [Figure 14] 4 is a side view of the moving device of FIG. 3 surrounded by a wrapping layer; [Figure 15A] Side view of the displacement system of Figure 1, including the separation layer [Figure 15B] 2 is a side view of the displacement system of FIG. 1, including the separating layer and the wrapping layer; [Figure 16] 4 is a flowchart illustrating a method for determining the orientation and identity of the mobile device of FIG. 3. [Figure 17] A flowchart illustrating the method of identifying the mobile device of FIG. 3. [Figure 18] A flowchart illustrating an alternative method for identifying the mobile device of FIG. 3. [Figure 19] 4 is a flowchart illustrating a method for identifying the mobile device of FIG. 3 based on spring vibrations. [Figure 20] 4 is a flowchart illustrating a method for identifying the mobile device of FIG. 3 based on measurements from multiple locations. DETAILED DESCRIPTION OF THE INVENTION

[0073] 1 illustrates a displacement system 10. Generally, the displacement system 10 transports a part, product, or workpiece (not shown) across the displacement system 10. The displacement system 10 includes a mover 100, a stator module 200, and a controller 300.

[0074] The transfer device 100 moves across the displacement system 10 and may also hold a part, product, or workpiece for transport across the displacement system 10. In particular, the transfer device 100 may carry one or more parts, such as, but not limited to, one or more biological samples, devices, drugs, drugs in suitable containers, products under assembly, raw parts, and / or materials.

[0075] The mobile device 100 may also be called a robotic device or a mover stage.

[0076] The stator module 200 supports and operates the mover device 100 so that the mover device 100 moves across the stator module 200 to another location in the displacement system 10 .

[0077] The controller 300 controls the stator module 200 and the mobile device 100. The controller 300 may be directly connected to the stator module 200 using a wired or wireless connection, or may control the mobile device 100 indirectly via the stator module 200. Alternatively, the controller 300 may be connected to the mobile device 100 using a wired or wireless connection, in which case the controller 300 may communicate directly with the mobile device 100. In some embodiments, the controller 300 may be fully integrated with the stator module 200.

[0078] For example, a high speed data cable can be used, such as an Ethernet cable, an HDMI® cable, or any cable with sufficient data rate bandwidth. In embodiments where the controller 300 is fully integrated within the stator module 200, any electrical connection method can be used, such as ribbon cable, edgeboard connectors, wire connectors, headers and pins, etc. Wireless connections include Bluetooth®, WiFi®, Zigbee®, Cellular, NFC, etc.

[0079] 2, the controller 300 may include a memory 310 and a processor 320. It may also include a network interface 330. The network interface 330 may be used to connect to the stator module 200. Alternatively, the stator module 200 may be connected to the controller 300 via a separate connection. Similarly, the controller 300 may be directly integrated into the stator module 200 without an external connection.

[0080] Processor 320 may be an Intel or AMD x86-based processor, or an ARM-based processor, an FPGA, or other suitable processor.

[0081] The memory 310 (e.g., RAM) includes computer-readable storage space accessible to the processor for storing working data and code. The memory 310 also includes persistent computer-readable storage containing instructions for execution by the processor and for storing data collected by the sensors 81. The memory may include any one or more suitable memory types, such as flash memory, a hard drive, etc.

[0082] The network interface 330 may be any suitable wired or wireless device that connects the controller 300 to a network for communication with a data host. The network interface may be, for example, an Ethernet or IEEE 802.11 (Wi-Fi) network adapter. The network interface may include an antenna for data transmission, data reception, or both. In some embodiments, the network interface may include multiple antennas, such as a phased array antenna, and may connect to a LAN or WAN using a steered beam. The network interface may also include a direct connection between the stator module 200 and the controller 300.

[0083] Controller 300 may also include database 340. Database 340 may store configuration settings and identification information for mobile device 100, as well as other mobile related settings and information. In some embodiments, database 340 may be part of controller 300. In other embodiments, database 340 may be external to controller 300 and accessible to controller 300 via network interface 330 or another wired or wireless connection.

[0084] In some embodiments, multiple controllers can be used in displacement system 10. For example, controller 300 may control only stator module 200 or a stator group that includes stator module 200, while another controller may control another stator or stator group.

[0085] In general, the mover device 100 and the stator module 200 interact via one or more magnetic fields, allowing the stator module 200 to provide forces and torques to the mover device 100 to controllably move the mover device 100. The controller 300 can determine and provide commands to the stator module 200 to generate specific forces and torques to move the mover device 100.

[0086] It will be understood that the displacement system 10 may include one or more movement devices 100 and one or more stator modules 200. The movement device 100 includes a movement body 101 and a magnetic identification element 191. The movement body 101 includes at least one actuation magnet 110. An example of such an actuation magnet 110 is described and illustrated in U.S. Pat. No. 10,222,237 (incorporated herein by reference) as an array of permanent magnets 112A, 112B, 112C, 112D (or collectively magnet array 112), each having a corresponding magnetized segment 114.

[0087] It will be appreciated that in some embodiments, the moving body 101 includes multiple actuation magnets 110. For example, the at least one actuation magnet 110 may include multiple small magnets (collectively referred to as actuation magnets 110). In other embodiments, the at least one actuation magnet 110 may be only a single actuation magnet 110.

[0088] In some embodiments, the mobile device 100 may also include multiple magnetic identification elements 191 .

[0089] The actuation magnet 110 is configured to respond to one or more external magnetic fields, and in particular to generate a force in response to the one or more external magnetic fields to move the mobile object 101 and thus the mobile device 100. The actuation magnet 110 can include an alternating magnetic field that extends along a first direction and is linearly elongated along another direction.

[0090] The magnetic identification element 191 is encoded with information that identifies the mobile device 100. For example, the magnetic identification element 191 may include identifying information that represents a serial number, an identification number, or other distinguishing information of the mobile device 100. The identifying information may be used to distinguish the mobile device 100 from other mobile devices.

[0091] In some particular embodiments, the magnetic identification element 191 may be used to identify the mobile device 101 for a particular process and is therefore not unique and adjustable by the user.

[0092] As described in more detail below, the magnetic identity element 191 may also be configured to change the identification information stored in the magnetic identity element 191. For example, the magnetic identity element 191 may be re-encoded with new identification information.

[0093] In addition to identifying information, the magnetic identification element 191 may also be encoded with other information, such as non-identifying information for the mobile device 100 .

[0094] In some embodiments, mobile device 100 may also store information, such as additional identification information, on a radio frequency identification (RFID) tag or other information storage device. For example, computer memory may be used to store the additional information, which may include solid state memory, disks, and any other suitable computer memory types, such as flash memory, hard drives, etc.

[0095] As will be explained in more detail below, information for distinguishing the mobile device 100 from other mobile objects may additionally or alternatively be stored on the actuation magnet 110 .

[0096] The stator module 200 includes a sensor 81 and a coil 210. The sensor 81 is configured to measure at least one magnetic field. The sensor 81 can accurately measure only magnetic fields within a specific range of the sensor 81. An example of such a sensor 81 is described and illustrated in U.S. Patent No. 10,222,237 as magnetic field sensor 501. Such sensors may include, for example, Hall effect magnetic field sensors, magnetoresistive sensors, and / or other suitable types of magnetic field sensors capable of measuring magnetic flux density.

[0097] The coil 210 is configured to generate at least one external magnetic field. An example of such a coil 210 is described and shown as coil trace 126 in U.S. Patent No. 10,222,237.

[0098] As described in more detail below, the stator module 200 is configured to generate at least one external magnetic field that interacts with at least one actuation magnet 110 on the movement device 100 to provide force and torque to the movement device 100.

[0099] It will be appreciated that in some embodiments, the stator module 200 can include multiple sensors 81 (collectively sensors 81) and / or multiple coils 210 (collectively coils 210).

[0100] For example, the stator module 200 may include multiple coils 210, each configured to generate one or more external magnetic fields, at least one of which may be a linear coil.

[0101] The layout of the coil 210 may include a first group of coils that are linearly elongated in a first direction. The first group of coils may have a second coil pitch in a second direction. The coil 210 may also include a second group of coils that are linearly elongated in the second direction. The second group of coils may have a first coil pitch in the first direction. The first coil pitch and the second coil pitch may be equal.

[0102] The sensors 81 may include one or more flyaway sensors.

[0103] The coils 210 and sensors 81 may be arranged in a pattern on the stator module 200, as described and illustrated in U.S. Pat. No. 10,222,237, for example. The pattern may include one or more sensors 81 arranged around each of the coils 210, such as one sensor 81 on each edge or coil 210. Other patterns are contemplated. It will be appreciated that the sensors 81 may be arranged in a pattern near or around the coils 210 to provide appropriate feedback to the controller 300 to control the movement device 100, and for position detection and identification of the movement device 100, as described further below. The coils 210 may be linearly elongated in different directions (i.e., linearly elongated in the X direction or linearly elongated in the Y direction) and may vertically overlap other coils.

[0104] The stator module 200 includes a work surface 202 along which the mover device 100 moves. Generally, the work surface 202 refers to the continuous area over which the mover device 100 may be controlled by the stator module 200. With appropriate feedback control algorithms implemented by the controller 300 and appropriate position feedback from the sensors 81, the controller 300 and the stator module 200 can move and control the mover device 100.

[0105] The work surface 202 may be flat, curved, cylindrical, spherical, or other shape such that the transfer device 100 can move along the work surface 202. In some further embodiments, a combined work surface may be defined by multiple stator modules, and the respective work surfaces 202 of the respective stator modules 200 may be combined to form a larger combined work surface. While the work surface 202 is illustrated horizontally, it should be understood that the work surface 202 may be mounted vertically or at an angle relative to gravity.

[0106] As will be described in more detail below, the mover device 100 moves along the work surface 202 in a contact mode or a non-contact mode. In the contact mode, a contact medium such as a sliding bearing and / or a rolling bearing may be included. In the non-contact mode, a controllable gap 250 may need to be maintained in the normal direction between the mover device 100 and the work surface 202 of the stator module 200. The gap 250 may be an air gap. The mover device 100 may also rest on the work surface 202 without moving when in either the contact mode or the non-contact mode.

[0107] The mobile device 100 may have six degrees of freedom (6-DOF) of controllable motion (active levitation mode) or may operate without contact (i.e., passive levitation mode) by maintaining a gap 250 normal to the work surface 202 via passive levitation means. In passive levitation mode, the mobile device 100 may rest above the work surface 202 in a non-contact mode.

[0108] In some embodiments, one or more amplifiers (not shown) may be connected to the coils 210. The amplifiers may drive one or more currents in the coils 210 to generate one or more external magnetic fields. The controller 300 may be connected to send control signals to the one or more amplifiers. The control signals may be used to control the currents driven by the one or more amplifiers to the coils 210. As described above, the stator module 200 may include multiple coils 210, each driven by an amplifier. The currents controllably driven to the coils 210 may generate at least one external magnetic field in the coils 210. The at least one external magnetic field exerts a corresponding magnetic force on the movement device 100. The one or more external magnetic fields act on the actuation magnets 110, thereby moving the movement device 100 relative to the stator module 200, such as across the work surface 202. The movement device 100 may be controllable in at least two in-plane degrees of freedom, including, but not limited to, three in-plane degrees of freedom and six degrees of freedom. In general, embodiments as described herein may include one or more movement devices that are controllably movable relative to a moving body or work surface, for example, in at least two in-plane degrees of freedom, three in-plane degrees of freedom, four in-plane degrees of freedom, five in-plane degrees of freedom, or six controllable degrees of freedom.

[0109] In some embodiments, the magnetic force associated with the interaction between the magnetic field generated by the current in the coil 210 and the magnetic field associated with the actuation magnet 110 can attract the mover device 100 toward the stator module 200 whenever the controller 300 controls the current driven by one or more amplifiers.

[0110] In other embodiments, the magnetic force associated with the interaction between the magnetic field generated by the current in the coil 210 and the magnetic field associated with the actuation magnet 110 can bias the mover device 100 away from the stator module 200, always balancing the gravitational force in the gap 250. As mentioned above, the controller 300 can control the current driven by one or more amplifiers.

[0111] In some embodiments, the gap 250 between the mover 100 and the stator module 200 is maintained by air bearings or compressed-fluid bearings. It will be appreciated that in some embodiments, the gap 250 may be zero, such as when the mover 100 operates in contact mode. In contact mode, a contact medium, such as a sliding bearing and / or a rolling bearing, may be interposed between the mover 100 and the work surface 202.

[0112] As previously described, in some embodiments, the mover device 100 can operate in a levitation mode, i.e., levitate near the work surface 202 without contacting the stator module 200. The levitation mode can be passive (i.e., passive levitation mode) or active (i.e., active levitation mode), and moves in the X and Y directions along the work surface 202, where X and Y are two non-parallel (e.g., orthogonal) directions within the work surface 202. It will be appreciated that the gap 250 between the work surface 202 and the mover device 100 is much smaller than the X and Y movement dimensions of the mover.

[0113] While the transfer device 100 is capable of controllable motion in six degrees of freedom, this may not be necessary in all situations. In certain embodiments, levitation of the transfer device 100 is not required, and heavy load carrying capacity may be more important. It should be understood that in these embodiments, the transfer device 100 may sit on the work surface 202 with suitable mechanical bearings, such as planar plain bearings and / or ball transfer units. In such embodiments, the transfer device 100 may be capable of controllable motion in three in-plane degrees of freedom (translation in X and Y and rotation about Z), where X and Y are two non-parallel (e.g., orthogonal) directions in the work surface 202, and Z is normal to the work surface 202.

[0114] If the movement device 100 relies on plain and / or rolling bearings for mounting on the work surface 202 and the movement device 100 is capable of controllable motion in three in-plane degrees of freedom (translation in X and Y and rotation about Z), it may be operating in a three degrees of freedom controlled sitting mode.

[0115] In some embodiments, the mover device 100 is capable of controllable motion in three degrees of freedom (translation in X and Y and rotation about Z) without contacting the work surface 202 and operating in a levitation mode. In this mode, the Z translation, rotation about X, and rotation about Y (and thus the associated degrees of freedom) of the mover device 100 can be controlled open-loop without feedback using suitable passive levitation techniques. When the mover is capable of controllable motion in three degrees of freedom without contacting the stator, it may be operating in a three-degree-of-freedom controlled levitation mode.

[0116] The mobile device 100 may be controlled to move to one or more appropriate identification positions where the magnetic identification element 191 aligns with a corresponding set of sensors 81 in the stator module 200. It will be appreciated that not all portions of the magnetic identification element 191 need be measured at a single identification position. At the identification position, the sensors 81 may be used to read the magnetic identification element 191 in combination with the normal task of identifying the position of the mobile object.

[0117] 3 is a top view showing the mobile device 100. As described above, the mobile device 100 includes a mobile body 101 and a magnetic identification element 191. The mobile body 101 includes an actuation magnet 110.

[0118] The magnetic identification element 191 may be located at a reference location 189 of the mobile device 101. In particular, the mobile device 101 may define a reference location 189 at which the magnetic identification element 191 may be located.

[0119] In some embodiments, the mobile unit 101 may define only one reference location 189. In other embodiments, the mobile unit 101 may define multiple reference locations 189 (collectively referred to as reference locations 189).

[0120] For example, the magnetic identification element 191 may be located at an edge of the moving object 101, at the reference location 189.

[0121] Alternatively, the magnetic identification elements 191 may be located in other potential areas 192 within the mobile unit 101, as shown in Figure 4A. The potential areas 192 may be defined by the availability of reference locations 189. For example, the mobile unit 101 may include reference locations 189 only in certain areas of the mobile unit 101.

[0122] It may be desirable for the potential area 192 not to vertically overlap the actuation magnets 110 in the mobile object 101, as this can prevent undesired interactions between the actuation magnets 110 and the magnetic identification element 191. Vertically overlapping the entirety of the identification magnets used in the magnetic identification element 191 with one or more actuation magnets 110 can locally affect the ability of the actuation magnets 110 to generate an actuation force. The overlap may also make it difficult to detect the identification magnets relative to the magnetic field of the actuation magnets 110. In many cases, a non-overlapping portion of the identification magnets used for detection may be desirable due to the potential for negative interactions.

[0123] However, in other embodiments, the potential area 192 may overlap vertically with the actuation magnet 110, resulting in overlap between the actuation magnet 110 and the magnetic identification element 191. In such embodiments, the controller 300 may compensate for the effect of the actuation magnet 110 on the magnetic identification element 191 and / or the effect of the magnetic identification element 191 on the actuation magnet 110.

[0124] The potential area 192 for placing the magnetic identification element 191 may include the central portion of the mobile body 101 formed by the placement of the actuating magnet 110, or the portion along the permitter of the mobile device 100 (outside the boundary of the actuating magnet 110). The magnetic element 191 may be placed close enough to touch the actuating magnet 110, but by providing an appropriate distance between the magnetic identification element 191 and the actuating magnet 110, interference between the magnetic identification element 191 and the actuating magnet 110 can be limited.

[0125] Although the potential area 192 for the magnetic identification element 191 is shown separated from the actuation magnet 110, in some embodiments it would be possible to position the magnetic identification element 191 in contact with the actuation magnet 110 or to position the magnetic identification element 191 inside the actuation magnet 110.

[0126] It will be appreciated that the potential area 192 may also depend on the layout of the actuation magnets 110 on the mobile device 100. As will be explained in more detail below, the actuation magnets 110 may be arranged in a variety of different configurations on the mobile device 100.

[0127] 4B to 4E are diagrams showing various configurations of the magnetic identification element 191 in the mobile device 100. FIG.

[0128] In one embodiment, magnetic identification element 191 includes one or more magnets 191A, 191B, 191C. Magnets 191A, 191B, 191C may also be referred to as identification magnets. It will be understood that magnetic identification element 191 may include fewer than three identification magnets or more than three identification magnets, such as fewer or more than identification magnets 191A, 191B, 191C. As used throughout this disclosure, magnets 191A, 191B, 191C may refer to one or more magnets, such as only a single magnet or more than three magnets, forming at least a portion or all of magnetic identification element 191.

[0129] Each of the magnets 191A, 191B, 191C can generate a discrete magnet field, with the magnetic field of magnet 191A being distinct from the magnetic field of magnet 191B, which is distinct from the magnetic field of magnet 191C. It will be appreciated that each of the magnets 191A, 191B, 191C can generate a magnetic field that can be individually received and identified, and that specific information encoded in each of the magnets 191A, 191B, 191C can be measured and identified by controller 300 and used to identify mobile device 100.

[0130] Magnets 191A, 191B, and 191C can be positioned at reference locations 189 on mobile unit 101. For example, magnets 191A, 191B, and 191C can each be positioned at reference locations 189A, 189B, and 189C on mobile unit 101. It will be understood that mobile unit 101 may include fewer or more reference locations 189 than reference locations 189A, 189B, and 189C.

[0131] Magnets 191A, 191B, 191C may be configured in one of several possible magnetic states at each of reference locations 189A, 189B, 189C, which can be used to encode identification information in magnetic identification element 191. Magnets 191A, 191B, 191C may have a specific predetermined pattern that represents identification information at reference locations 189A, 189B, 189C. For example, magnets 191A, 191B, 191C may be configured in one of a positive orientation, a negative orientation, or a neutral orientation at reference locations 189A, 189B, 189C, and the magnetic field of each of magnets 191A, 191B, 191C may have a positive value, a negative value, or a neutral value.

[0132] 4B, magnet 191A located at reference position 189A may be configured to have a positive value. This can be achieved by pointing the positive or north pole of magnet 191A at reference position 189A away from stator module 200. Similarly, magnet 191C may have a negative value. This can be achieved by pointing the positive or north pole of magnet 191C at reference position 189C toward stator module 200. Thus, magnets with positive polarity can be oriented in the opposite direction to magnets with negative polarity.

[0133] Alternatively, a positive value may correspond to a magnet with its positive or north pole pointing towards the stator module 200, and a negative value may correspond to a magnet with its positive or north pole pointing away from the stator module 200.

[0134] The reference position 189B may be associated with a neutral value, which may correspond to a non-magnetic element or the complete absence of a magnet. Thus, the magnet 191B may be configured to be absent from the mobile unit 101, corresponding to the absence of a magnetic field at the reference position 189B.

[0135] While only three different possible magnetic field values ​​for magnets 191A, 191B, and 191C are shown, it will be understood that the positive, negative, and neutral orientations of the magnets may further vary the magnetic field strength. The magnetic field strength may be increased by discrete amounts measurable by sensor 81. For example, the magnetic field strength measurable by sensor 81 may be increased or decreased for each of magnets 191A, 191B, and 191C. This may allow for greater amounts of positive and / or negative magnetic field measurements to be made for a particular magnet. Similarly, the height of an identifying magnet, such as magnets 191A, 191B, and 191C, may be varied to increase or decrease the magnetic field strength measurable by sensor 81. This may be used to increase the amount of information stored in magnetic identification element 191 for a fixed number of magnets 191A, 191B, and 191C.

[0136] In one example, magnet 191A may have a positive value that is twice the positive value of magnet 191C, with magnet 191A pointed toward reference location 189A exhibiting a positive value and magnet 191C pointed toward reference location 189C exhibiting a negative value. In a further example, magnet 191A may have a positive value that is twice the positive value of magnet 191C, storing different information such that magnet 191A pointed toward reference location 189A exhibits twice the positive value and magnet 191C pointed toward reference location 189C exhibits one times the positive value.

[0137] It should be understood that the sensitivity of the sensor 81 should be sufficient to distinguish between each of the possible magnetic field values ​​that may be measured for a particular magnet, ensuring that different positive and / or negative values ​​can be distinguished from one another by the sensor 81 and the controller 300.

[0138] In some further embodiments, the positive, negative, and neutral values ​​can correspond to magnets that are oriented in the same direction but have different magnetic field strengths. Many possible configurations are possible for the positive, negative, and neutral values ​​of magnets 191A, 191B, 191C.

[0139] In some further embodiments, the positive, negative, and neutral values ​​may correspond to magnets oriented in directions not aligned with the Z axis, such as +X or −X directions, +Y or −Y directions, or generally any direction in 3D space. Sensor 81 may be capable of measuring multiple axes of the magnetic field, such as two or three axes, to simplify the process of identifying the orientation of magnets 191A, 191B, 191C.

[0140] The magnets 191A, 191B, and 191C facing the reference positions 189A, 189B, and 189C are used to store identification information; in particular, the orientation / value and pattern of the magnets 191A, 191B, and 191C can correspond to a particular identification information. Each orientation or value of the magnets 191A, 191B, and 191C can correspond to a magnetic "bit." For example, the magnets 191A, 191B, and 191C can correspond to the value and pattern (+)(0)(-), which corresponds to three bits. Fewer or more bits can be used depending on whether there are fewer or more magnets 191A, 191B, and 191C. A mobile device 100 having identification information (+)(0)(-) can be distinguished by the controller 300 from another mobile device having identification information ++0.

[0141] It will be understood that other bit patterns are possible. The bit patterns of magnets 191A, 191B, 191C may also be defined by reference positions 189A, 189B, 189C of magnets 191A, 191B, 191C, respectively, on mobile unit 101, which may help controller 300 interpret the bit values ​​corresponding to magnets 191A, 191B, 191C. For example, magnets located at corner reference positions 189 of mobile unit 101 may indicate either the beginning or end of a bit pattern for controller 300, or other portions of the bit pattern.

[0142] In some embodiments, the magnetic identification elements 191 may be encoded with error checking, error correction, or other mechanisms to detect and / or correct erroneous data read by the sensors 81 when interpreted by the controller 300. For example, the values ​​and patterns of the magnets 191A, 191B, 191C may be encoded with checksums and / or redundancy.

[0143] In some embodiments, the placement of the magnets 191A, 191B, 191C may follow a predetermined pattern to distinguish certain edges of the mobile device 100 from other edges.

[0144] In FIG. 4A, the magnetic identification element 191 is shown on only one edge, but it should be understood that any number of edges, corners, and central regions can be used to include the magnetic identification element.

[0145] For example, Fig. 4C shows magnetic identification elements 191 located on two edges of the moving body 101. Alternatively, Fig. 4D shows magnetic identification elements 191 located on all four edges of the moving body 101, and Fig. 4E shows magnetic identification elements 191 located on all four edges of the moving body 101 and also located in the center of the moving body 101. It will be understood that various configurations and bit patterns are possible for the magnetic identification elements 191 and will also depend on the configuration of the actuating magnet 110.

[0146] The controller 300 can be programmed to interpret these bit patterns, which may correspond to the position of the magnets in the magnetic identification element 191 on the mobile device 100. In this way, two mobile devices with the same magnet value but different magnet placement patterns on the mobile device can be distinguished from one another by the controller 300. The controller 300 can look up the bit patterns, including the magnet values ​​and positions, in the database 340 to identify and distinguish the mobile devices. The controller 300 can also calculate an identity value according to a predetermined identity calculation process based on the value of the magnetic identification element 191 for a particular reference position 189.

[0147] In addition to the magnetic identification element 191 and actuation magnet 110 on the mobile device 100, Figure 4C also shows a strategy for aligning the magnets of the magnetic identification element 191, such as magnets 191A, 191B, and 191C. For example, magnets 191A, 191B, and 191C can be positioned on the mobile device 101 to generally match the pattern of the sensor 81.

[0148] As the mobile device 100 passes across the sensors 81, the identification information stored in the magnetic identification element 191 can be read by the sensors 81. This can occur while the mobile device 100 is moving or stationary, and while it is levitating or landing on the work surface 202. During identification, each sensor 81 may have a respective measurement range 83. Within the measurement range, each sensor 81 can reliably identify and distinguish between the magnetic fields associated with each of the magnets 191A, 191B, and 191C at their respective reference locations 189. This allows each sensor 81 to identify distinct values ​​associated with the magnetic fields of each of the magnets 191A, 191B, and 191C at their respective reference locations 189A, 189B, and 189C. It will be appreciated that the measurement range 83 of each sensor 81 can be affected by the type of magnet used in the magnetic identification element 191 of the mobile device 100 (i.e., the strength, size, and orientation of the magnets 191A, 191B, and 191C). Furthermore, the measurement range 83 for the sensor 81 may vary depending on the vertical distance between the magnetic identification element 191 and the magnets 191A, 191B, 191C and the sensor 81.

[0149] Similarly, magnets 191A, 191B, 191C (collectively, all magnets on mobile device 100) may be positioned on mobile device 101 such that they fall within measurement range 83 for sensor 81. Positioning magnets 191A, 191B, 191C within measurement range 83 allows each of magnets 191A, 191B, 191C to be measured individually and unambiguously at each of reference locations 189A, 189B, 189C, and the individual magnetic fields associated with each magnet can be measured to determine the corresponding bit value for that magnet.

[0150] In particular, the magnetic identification element 191 may include at least two magnets. The size and / or placement of the at least two magnets on the mobile device 100 allows the at least one sensor 81 to measure the magnetic field associated with only one of the at least two magnets at a time.

[0151] In addition to the strategies described above for placing the magnetic identification element 191 on the mobile device 100, FIG. 4D also illustrates additional strategies for placement of specific magnets in the magnetic identification element 191.

[0152] To ensure unique identification, each mobile device 100 may have a unique pattern of magnets 191A, 191B, and 191C in the magnetic identification element 191. This can pose some challenges, as the location of the mobile device 100 is also identified by one or more magnetic fields from the actuation magnet 110. By allowing only certain magnet patterns and combinations for the magnetic identification element 191, the overall impact of the magnetic identification element 191 on performance may be reduced or eliminated. Similarly, aligning the magnetic identification element 191 and magnets 191A, 191B, and 191C with the sensor 81 can reduce the impact on performance. For example, the pattern of the magnetic identification element 191 can be selected to have a consistent, small impact on the position detection of the mobile device 100. Such an impact can be compensated for, for example, by the stator module 200 or the controller 300.

[0153] 4D, the magnet 191 may be located at the periphery of the moving body 101. For example, the magnet 191 may be located at a reference position 189, at least a portion of which is at the periphery of the moving body 101 surrounding the actuation magnet 110.

[0154] The magnets 191 may also be positioned to fit into at least one row 89-X of the reference position 189 and at least one column 89-Y of the reference position 189 on the mobile object 101. The magnets 191 may be positioned so that the sum of the magnetic fields associated with each row 89-X and each column 89-Y is zero. In other words, the magnetic fields of any magnets in each of the at least one column 89-Y and each of the at least one row 89-X may counteract each other when combined together, as detected by the sensor or sensors 81. Alternatively, the sum of the magnetic fields may only approach zero, i.e., the magnetic fields may not completely cancel each other out. In other words, the sum of the bit values ​​of all magnets of the identification element 191 in each row 89-X and each column 89-Y may be zero or close to zero.

[0155] In such an embodiment, when a balanced group (e.g., a balanced pair in row 89-X and / or column 89-Y) is aligned with the position of the sensor 81, translational movement of the mobile device 100 may result in a corresponding increase or decrease in the magnetic field strength of the magnetic identification element 191 measured by each sensor 81.

[0156] For example, if column 89-B includes reference position 189B and reference position 189BB, the sum of the values ​​or bits associated with those reference positions 189B and 189BB may be zero. Reference position 189B corresponds to a neutral value, and reference position 189BB also corresponds to a neutral value, so the sum of column 89-B is 0+0=0.

[0157] In another example, column 89-C includes reference position 189C and reference position 189CC, which correspond to values ​​- and +, respectively, such that the sum of column 89-C is (-)+(+)=0.

[0158] For rows 89-X and / or columns 89-Y that include only two reference positions 189, the magnets located at those reference positions 189 may be oriented on the moving body 101 to form a balanced pair (e.g., one + and the other -, or both 0).

[0159] In a further example, column 89-A can include more than two reference positions 189, such as ten reference positions 189. The sum of that column 89-A is still (+)+(+)+(-)+0+(-)+(-)+(+)+(+)+0+(-)=0.

[0160] Although not shown, this cancellation can also be achieved with different sized identifying magnets. For example, a magnet with twice the positive value can be canceled by two magnets with one negative value: (2+) + (-) + (-) = 0.

[0161] It will be appreciated that the polarity of the magnet placed in the first reference position 189 of a row 89-X may be opposite to the polarity of the magnet placed in the last reference position 189 of that row 89-X. Similarly, the polarity of the magnet placed in the first reference position 189 of a column 89-Y may be opposite to the polarity of the magnet placed in the last reference position 189 of that column 89-Y. In such a situation, the strength of the magnets at the first reference position 189 and the last reference position 189 may be the same (just opposite polarities).

[0162] In some embodiments, it may be advantageous to arrange some of either the rows 89-X or the columns 89-Y so that they are symmetrically balanced. For example, if a row 89-X includes ten reference locations 189, the first five reference locations 189 may be symmetrically complementary to the last five reference locations 189 such that they sum to zero, e.g., (+)+(+)+(-)+(-)+0+0+(+)+(+)+(-)+(-)=0. That is, the reference locations 189 on the mobile unit 101 may include magnets oriented in a symmetric pattern on the mobile unit 101.

[0163] In some embodiments, either the rows 89-X or the columns 89-Y may be arranged to have mirror symmetry. For example, the reference positions may have the following pattern: (+)(+)(-)(-)(+)(+). In such an arrangement, the interaction between the magnets 191 and the current-carrying coils imparts no net torque to the movement device 100.

[0164] It will be understood that the reference locations 189 in a row 89-X may be arranged in a continuous line and that two of the three magnets in a row 89-X may have different polarities. Using the above example of reference locations 189, (+)+(+)+(-)+(-)+0+0+(+)+(+)+(-)+(-), it will be understood that the polarity between successive or adjacent reference locations 189 may be reversed.

[0165] It will be appreciated that the above arrangements, and other arrangements, may be combined.

[0166] The spacing (pitch) between reference locations 189A, 189B, 189C, 189AA, 189BB, and 189CC in row 89-X can be kept constant, thereby maintaining a constant spacing between magnets oriented at those reference locations 189A, 189B, 189C, 189AA, 189BB, and 189CC. Similarly, the spacing between reference locations 189A, 189B, 189C, 189AA, 189BB, and 189CC in column 89-Y can be kept constant, thereby maintaining a constant spacing between magnets oriented at those reference locations 189A, 189B, 189C, 189AA, 189BB, and 189CC. The spacing between reference locations 189 in row 89-X and reference locations 189 in column 89-Y can also be the same, thereby maintaining the same spacing between each row 89-X and column 89-Y.

[0167] In some embodiments, the magnets may be arranged in a symmetrical pattern on the mobile object 101. In alternative embodiments, the magnetic field from the magnets of the magnetic identification device 191 may be rotationally asymmetric about an axis bounded by the magnets of the magnetic identification device 191, where the actuation magnet 110 may be rotationally symmetric about this axis in some particular embodiments.

[0168] It will be appreciated that the magnets in magnetic identification element 191 may be selected and positioned so that the sum of the magnetic fields of at least one row 89-X and / or at least one column 89-Y is zero, yet magnetic identification element 191 may still be encoded with identification information. Sensor 81 may still detect values ​​from the individual magnetic fields corresponding to reference locations 189A, 189B, 189C, 189AA, 189BB, 189CC, and controller 300 may decode the identification information stored in magnetic identification element 191 from those detected values.

[0169] 4E shows a further example of this strategy for locating specific magnets in magnetic identification element 191. In particular, magnets 191D-G of magnetic identification element 191 can be located at reference locations 189D-G in the center of mobile object 101. As shown, reference locations 189D-G include up to four magnets 191D-G, although other embodiments may include fewer or more reference locations 189 and / or magnets 191D-G.

[0170] Reference locations 189D-G may also be located in rows 89-X and columns 89-Y, with magnets located on the perimeter or periphery of mobile unit 101. As noted above, the sum of at least one row 89-X and / or at least one column 89-Y may be zero.

[0171] Furthermore, the orientations of the magnets 191D-G placed at the reference positions 189D-G can also be selected so that the sum is zero at the center of the moving body 101. For example, the value corresponding to the reference positions 189D-G can be (+)+(+)+(-)+(-)=0.

[0172] 5A-5B show a further example in which the mobile device 100 and the magnetic identification element 191 are arranged along multiple sides of the mobile object 101. FIG. 5A illustrates the mobile device 100 in a first period, and FIG. 5B illustrates the mobile device 100 in a second period.

[0173] In some situations, a particular arrangement of magnets in the magnetic identification element 191 may not provide a sufficient number of positions for the sensors 81 to be fully aligned with all of the magnets in the magnetic identification element 191. This may prevent the sensors 81 from measuring all of the magnetic fields associated with those magnets and determining corresponding values ​​associated with all of those magnets in the magnetic identification element 191. In such situations, the magnetic identification element 191 may include at least two magnets. The size and / or placement of the at least two magnets on the mobile device 100 may limit the sensors 81 to measuring one or more magnetic fields associated with only a portion of the magnets at a time. For example, the measurement range 83 for the sensors 81 may include only one magnet at a time. In some embodiments, the density of identifying magnets in the magnetic identification element 191 may exceed the density of sensors 81 in a local area.

[0174] In such a situation, the controller 300 may be configured to identify the mobile device 100 based on multiple measurements of the magnetic field associated with the magnet. The measurements may be collected multiple times.

[0175] For example, the at least one sensor 81 may be configured to measure, at multiple times, at least one magnetic field associated with the magnetic identification element 191. The controller 300 may be configured to identify the mobile device 100 based on those measurements.

[0176] Additionally, measurements may be taken by multiple sensors 81 on the stator module 200 when the mover 100 is in multiple different positions on the work surface 202 .

[0177] For example, in the first period shown in FIG. 5A, a first group of reference locations 189 in rows 89-A, 89-D are positioned to align with sensors 81 in measurement range 83 at a first identified location.

[0178] During a second period shown in FIG. 5B, a second group of reference locations 189 in rows 89-B, 89-C are positioned to align with sensors 81 in measurement range 83 at a second identification location.

[0179] By combining the measurements of rows 89-A, 89-D measured at a first identification position during a first period with the measurements of rows 89-B, 89-C measured at a second identification position during a second period, the identification information stored in the magnetic identification element 191 can be determined.

[0180] It will be appreciated that more than one identified location and / or more than one time period may be required.

[0181] The controller 300 may be configured to combine values ​​measured by the sensor 81 from multiple identification locations and / or from multiple times to determine the overall identification information stored in the magnetic identification element 191.

[0182] Additionally, in some situations, the same magnet may be measured multiple times. The controller 300 may be configured to determine if the same magnet has been measured multiple times and to discard the additional measurements. The controller 300 may determine this using a variety of different methods, such as using error correction data and bit patterns encoded in the magnetic identification element 191.

[0183] In some embodiments, the controller 300 can use a prior measurement of one of the identifying magnets in the magnetic identification element 191 to assist in determining future bits, such as when the sensor 81 is partially measuring multiple identifying magnets.

[0184] In some further embodiments, the controller 300 may be configured to identify the mobile device 100 without measuring all of the magnets of the magnetic identification element 191, and only a portion of the magnets measured by the sensor 81 may be sufficient for the controller 300 to identify the mobile device 100 and / or distinguish the mobile device 100 from other moving objects.

[0185] 6A-6D show the configuration of the actuation magnet 110 on the moving body 101. In particular, the actuation magnet 110 can include magnet arrays 110-1, 110-2, 110-3, and 110-4. In other embodiments, the actuation magnet 110 can include fewer or more magnet arrays. Each of the magnet arrays 110-1, 110-2, 110-3, and 110-4 can include a collection of one or more small magnets for responding to the external magnetic field generated by the stator module 200.

[0186] A pair of coordinate systems can be defined to help describe the motion of the mover device 100 (including the mover 101) relative to the stator module 200. In particular, a stator coordinate system can be defined that is fixed to the stator module 200. A mover coordinate system can also be defined that is fixed to the mover device 100 and moves with the mover device 100 relative to the stator module 200 and the stator coordinate system. Conventional Cartesian coordinates (x, y, z) can be used to describe these coordinate systems, but it will be understood that other coordinate systems can also be used. For convenience and simplicity, in this specification and related drawings, directions in the stator coordinate system (e.g., X direction, Y direction, Z direction) and directions in the mover coordinate system may be shown and described as coinciding with each other. That is, the stator x (or Xs) direction, stator y (or Ys) direction, and stator z (or Zs) direction may be shown to coincide with the mover x (or Xm) direction, mover y (or Ym) direction, and mover z (or Zm) direction, respectively. Thus, references to direction x, direction y, and / or direction z may refer to directions in the stator coordinate system and / or the mover coordinate system. However, it will be understood from the context of this specification that in some embodiments and / or situations, the mover device 100 may move relative to the stator module 200 such that the stator and mover coordinate systems no longer coincide with one another. In such cases, the following convention may be adopted: the terms stator x, stator y, and stator z may be used to refer to directions and / or coordinates in the stator coordinate system, and the terms mover x, mover y, and mover z may be used to refer to directions and / or coordinates in the mover coordinate system.The symbols Xm, Ym, and Zm can be used to refer to the mover x-direction, mover y-direction, and mover z-direction, respectively; the symbols Xs, Ys, and Zs can be used to refer to the stator x-direction, stator y-direction, and stator z-direction, respectively; and the symbols X, Y, and Z can be used to refer to either or both the mover x-direction, mover y-direction, and mover z-direction, and / or the stator x-direction, stator y-direction, and stator z-direction, respectively. In some embodiments, during normal operation, the mover z-direction and the stator z-direction are approximately in the same direction (e.g., within ±30 degrees in some embodiments, within ±10 degrees in some embodiments, and within ±2 degrees in some embodiments).

[0187] 6A shows magnet arrays 110-1, 110-2, 110-3, 110-4 used to actuate the mover 101, and thus the mover device 110, in at least two degrees of freedom. Each of the magnet arrays 110-1, 110-2, 110-3, 110-4 can be considered to have a distinct magnetic center (determined by the magnetic field of the array) based on the unique size, strength, and respective variations of each of the magnet arrays 110-1, 110-2, 110-3, 110-4.

[0188] It will be understood that there may be fewer or more magnet arrays 110-1, 110-2, 110-3, 110-4 than shown.

[0189] 6B shows an embodiment of the magnet array 110-1. The magnet array 110-1 may include magnet array elements 110-1A, 110-1B, 110-1C, 110-1D, and 110-1E (collectively, magnetic array elements 110-1A-E).

[0190] It will be understood that magnet array 110-1 may include fewer or more magnet array elements than shown.

[0191] The magnet array elements 110-1A to 110-1E may have a magnetic pitch 111 between adjacent magnet array elements.

[0192] The magnetic array elements 110-1A-E may have a width 112 and a length 113.

[0193] In some embodiments, the magnetic array elements 110-1A through 110-1E may each have a different magnetization and may have a magnetic pitch 111 determined by the distance between the peaks of the magnetic field generated by the combination of the magnetic array elements 110-1A through 110-1E of the magnetic array 110-1.

[0194] In some particular embodiments, the magnetic pitch 111 may not be the same as the physical pitch between one or more individual array elements of the magnet array, which may depend on the particular pattern of the magnetic array elements and their respective magnetic orientations.

[0195] In further embodiments, one or more of the magnetic array elements 110-1A through 110-1E may have a different magnetic pitch 111, width 112 and / or length 113 than the other magnetic array elements.

[0196] 6B shows magnetic array 110-1 having five elements, it should be understood that fewer or more magnetic array elements can be used to generate a similar alternating magnetic field for one of the magnet arrays. Additionally, in some magnet arrays, segments with different individual element widths can be used to generate the alternating magnetic field for the magnet array.

[0197] However, as shown in Figures 6C-6D, during assembly, magnet arrays 110-1, 110-2, 110-3, and 110-4 may also have some small positional variations relative to one another in positional pitch, height, or angle relative to the X-, Y-, and / or Z-axes of mobile unit 101. Although not shown, magnet arrays 110-1, 110-2, 110-3, and 110-4 may also have variations in strength, size, magnetization orientation, magnetization uniformity, and other characteristics that affect the magnetic fields generated by each magnet. These variations may be intentional or unintentional (i.e., manufacturing variations).

[0198] A magnetic blemish includes one or more combinations of these variations in the magnet arrays 110-1, 110-2, 110-3, and 110-4. In some embodiments, the magnetic blemish can be used to distinguish two or more mobile devices from one another. The variations can be used instead of or in addition to the magnetic identification element 191 of the mobile device 100. For example, the sensor 81 can determine the magnetic field of the actuation magnet 110 and / or at least one of the particular magnet arrays 110-1, 110-2, 110-3, and 110-4, and the controller 300 can identify the mobile device 100 based on the at least one magnetic field. These variations can be stored in a database 340, which the controller 300 can access to identify the mobile device and / or distinguish two or more mobile devices from one another.

[0199] In one particular embodiment, each mobile device 100 can be driven to one or more positions where the sensor 81 can measure the magnetic fields of the magnet arrays 110-1, 110-2, 110-3, and 110-4. The magnetic field measurements can be used to calculate the strength, position, and angle of each magnet array 110-1, 110-2, 110-3, and 110-4 on the mobile body 101. These parameters can be compared to information stored in the database 340 to identify the mobile device 100. Similarly, comparing these parameters between multiple mobile devices can distinguish the mobile devices from one another.

[0200] For example, one or more of the magnet arrays 110-1, 110-2, 110-3, 110-4 may be disposed at the reference location 189. The sensor 81 may measure magnetic fields from one or more reference locations 189 associated with one or more of the magnet arrays 110-1, 110-2, 110-3, 110-4 and / or magnetic array elements 110-1A, 110-1B, 110-1C, 110-1D, 110-1E, and the controller 300 may be configured to identify the mobile device 100 in response to measurements by the sensor 81.

[0201] In some further embodiments, the mover devices may be measured to identify their inherent variations, and these measurements may be taken at the same location or a series of locations on the mover device and / or stator module 200 to make the measurement data more consistent. If variations in the mover 101 cause the corresponding mover device 100 to not be rotationally symmetric, the orientation of the mover device 100 may be additionally identified based on these measured variations.

[0202] 7A-7C show some additional arrangements of actuation magnets 110 in the movement device 100. The actuation magnets can be oriented in at least two directions (e.g., the X direction or the Y direction) and can interact with the external magnetic field generated by the stator module 200 to actuate the movement device 100 in at least two degrees of freedom.

[0203] Considering the particular placement of the actuating magnet 110, the magnetic identification element 191 may be positioned such that the active portion of the magnetic identification element 191 (used for identification via the sensor 81) does not overlap with the actuating magnet 110 along the Z axis.

[0204] 8 is a perspective view of a mobile device 100 according to an embodiment. As described above, the mobile device 100 includes a mobile body 101 and a magnetic identification element 191. The magnetic identification element 191 includes magnets 191A, 191B, and 191C. The mobile body 101 includes an actuation magnet 110, and may include a top cover 105 and a support ring 108.

[0205] It will be appreciated that the support ring 108 may hold the actuation magnet 110 and the top cover 105 .

[0206] The top cover 105 is used to carry products, parts and / or workpieces and may also be configured to hold baskets, boxes or other enclosure devices.

[0207] The support ring 108 may also surround the magnetic identification element 191. In particular, the magnets 191A, 191B, 191C may be stored at reference locations 189 within the support ring 108. In some embodiments, the reference locations 189 may be predefined within the support ring 108.

[0208] In some embodiments, the support ring 108 and the top cover 105 can be formed as a single piece that serves both functions.

[0209] In some embodiments, the support ring may be open, allowing magnets to be inserted and / or moved into the support ring 108. The support ring 108 may have individual slots for each of the magnets 191A, 191B, 191C that correspond to the reference positions 189, and when the support ring 108 is closed, it can securely hold the magnets 191A, 191B, 191C.

[0210] The support ring 108 may be open at the bottom center, allowing the actuation magnets 110 to be more directly exposed to the external magnetic field generated by the stator modules 200 and sensors 81 .

[0211] In some further embodiments, the support ring 108 may also be open around the bottom periphery, allowing the magnetic identification element 191 to be more directly exposed to the sensor 81 .

[0212] The support ring 108 may be square, circular, rectangular, triangular, or any other shape or polygon. The support ring 108 may also have additional dimensions, such as a cube, a rectangular or triangular prism, a sphere, or other three-dimensional shape.

[0213] A user of the mobile device 100 can encode a specific identification value by rearranging the magnets in the magnetic identification element 191. For example, a user can encode new identification information into the magnetic identification element 191 by disassembling the support ring 108 and rearranging, adding, or removing magnets.

[0214] FIG. 9 is a more detailed view of the displacement system 10, showing the magnets 191A, 191C of the magnetic identification element 191 aligned vertically on the sensor 81 at their identification locations / positions. The magnets 191A, 191C face reference locations 189A, 189C. Another reference location 189B may contain no magnets. As noted above, the magnets 191A, 191C may include one or more permanent magnets, each oriented in a particular direction / polarity toward the sensor 81 to enable detection by the sensor 81. The magnet orientation may be selected to produce the maximum intensity measurable by the sensor 81 element and to be relatively insensitive to position. For example, as noted above, the magnets may be selected to face their magnetic south and / or north in the -Z direction toward the sensor 81.

[0215] In certain examples, reference locations 189A, 189B, and 189C may have multiple potential values ​​used for identification. For example, reference location 189B may have a neutral value. In this example, magnet 191B may be omitted from mobile unit 101 to produce a neutral value at reference location 189B. Other orientations shown at reference locations 189A and 189C may include a magnet facing south to sensor 81, or a magnet facing north to sensor 81, a magnet approximately twice as strong as normal, or a magnet facing south to sensor 81, or a magnet approximately twice as strong as normal. It will be understood that other orientations and magnet strengths are possible.

[0216] In another embodiment, varying the vertical position of the magnets of the magnetic identification element 191 by discrete amounts allows the sensor 81 to measure a larger or smaller value at a given identification position at the same vertical height of the mobile device 100. For example, the magnet 191A at the reference position 189A may be located near the top surface of the mobile device 101. By using a variable magnetic height in the mobile device 100, more identification combinations can be provided without increasing or decreasing the magnetic strength of the magnets 191A, 191C of the magnetic identification element 191.

[0217] In some embodiments, mobile device 100 may, but is not required to, simultaneously perfectly align all of reference locations 189A, 189B, 189C and / or magnets 191A, 191C with a subset of sensors 81. It should also be understood that a partial or complete subset of identification data or measurements from sensors 81 may be obtained and combined together by controller 300.

[0218] In some embodiments, it may be possible to simultaneously read some or all of the reference locations 189A, 189B, 189C for multiple mobile devices at several possible identification locations.

[0219] In some embodiments, a dedicated subset of sensors 81 can be used to measure magnetic identification element 191 and mover identification. In other embodiments, the same sensors 81 can be used for both mobile device 100 identification and mobile device 100 location identification, i.e., the same sensors can measure magnetic identification element 191 and mobile device 100 location.

[0220] The position of the mobile device 100 can be obtained by measuring some or all of the actuation magnet 110 and / or the magnetic identification element 191 .

[0221] In certain cases, the mobile device 100 being identified at the identification location can land or move to a lower flying height to reduce the distance between the magnetic identification elements 191 being read and the sensors 81 used for measurement. The position of the mobile device 100 during identification can further be selected so that all reference positions 189A, 189B, 189C and magnets 191A, 191C being read are located close to the center of the measurement range 83 of the respective sensors 81 used for identification.

[0222] The sensors 81 may have sensor spacings (or pitches) 85A, 85B. The sensor spacings 85A, 85B may be the same or different, and multiple different sensor spacings may be used throughout the stator module 200. The sensor spacings 85A, 85B may be unequal in some embodiments, which affects the individual measurement ranges for the identification elements 191 of the movement device 100. The sensors 81 may follow patterns that are sometimes non-uniform or that do not coincide with the X and Y directions of the stator module 200. In some cases, the identification elements 191 may be similarly varied to maintain alignment with the sensors 81 at the identification locations at three or more reference locations 189A, 189B, 189C.

[0223] FIG. 10 illustrates two mobile devices 100A, 100B, each including a uniquely encoded magnetic identification element. When the mobile devices 100A, 100B are positioned close to each other, large forces generated between the magnetic identification elements of each mobile device may be undesirable. In some cases, these large forces may cause undesired movement of a deactivated mobile device (i.e., not levitating or moving) because no compensating forces are generated by the stator module 200. Similarly, these large forces may cause disturbance forces in the movement of the mobile devices 100A, 100B, potentially resulting in unintended movement or vibration.

[0224] However, two mobile devices 100A, 100B operating in close proximity can typically operate at an inter-mover pitch 109, which is limited by the width of each mobile device and may include small clearance / tolerance values. When operating in close proximity, the magnetic distance 199 between the magnetic identification elements of the mobile devices 100A, 100B can be selected to be sufficiently large. The magnetic identification elements can also be configured to have a fixed edge distance 198 from the edge of the mobile device.

[0225] In certain cases, the edge of the magnetic identification element is spaced at least 1 millimeter from the outer surface of the mobile device, the distance depending on the magnetic strength of the magnetic identification element and / or the magnetic strength of the actuation magnet for the mobile device.

[0226] 11A shows a mobile device 100 further configured to detect an orientation relative to a work surface 202. In particular, a magnetic identification element 191 is disposed on the mobile body 101, and the orientation of the mobile device 100 can be determined based on the reference position 189 and the corresponding magnet of the magnetic identification element 191 detected by the sensor 81. In particular, the controller 300 can determine the orientation of the mobile device 100 by correlating which sensor 81 detects which reference position 189 with the corresponding magnet of the magnetic identification element 191.

[0227] A subset of the reference locations 189TL, 189TR, 189BL, 189BR may be located on the mover 101 to determine the orientation of the mover device 100 relative to the work surface 202 and the stator module 200. In some cases, the actuation magnet 110 may appear identical, i.e., rotationally symmetric, to the sensor 81 at multiple rotational positions. Thus, the location of the reference locations 189TL, 189TR, 189BL, 189BR allows a particular location, such as an edge or corner of the mover device 100, to be identified from other parts of the mover device 100, thereby enabling the orientation of the mover device 100 to be identified.

[0228] It will also be appreciated that the reference positions 189TL, 189TR, 189BL, 189BR can identify the position of the movement device 100 on the work surface 202. In particular, while the sensor 81 can detect the position of the movement device 100 based on the actuation magnet 110, the controller 300 can improve this position detection with orientation information or with just the reference positions 189TL, 189TR, 189BL, 189BR.

[0229] For example, reference position 189TL may indicate the upper left corner of mobile device 100, and reference position 189TR may indicate the upper right corner. Reference positions 189TL, 189TR may each include a magnet from magnetic identification element 191 oriented at a certain value, or no magnet may be present at those reference positions 189TL, 189TR. Similarly, magnet 189BL may indicate the lower left corner of mobile device 100, and magnet 189BR may indicate the lower right corner. Reference positions 189BL, 189BR may each include a magnet from magnetic identification element 191 oriented at a certain value, or no magnet may be present at those reference positions 189BL, 189BR. For example, a particular sensor 81 measuring reference position 189TL allows controller 300 to determine the orientation of mobile device 100.

[0230] Fewer or more reference positions may be used to identify the orientation of the mobile device 100. For example, only one reference position, such as reference position 189TL, may be used to identify the orientation of the mobile device 100 measured by one of the sensors 81. However, it will be understood that if more reference positions are used, such as one at each corner, the sum of rows 89-X and columns 89-Y may add up to zero. Similarly, the more reference positions used for orientation detection, the more likely it is that one or more of reference positions 189TL, 189TR, 189BL, and 189BR will overlap with one or more of the sensors 81, thereby increasing the likelihood that the orientation of the mobile device 100 can be detected at one time.

[0231] In a further embodiment, as shown in FIG. 11B , a reference position can be used at the center of the mobile device. For example, in addition to reference positions 189TL, 189TR, 189BL, and 189BR, reference positions 189CTL, 189CTR, 189CBL, and 189CBR can also be used. Reference position 191CTL may indicate the upper left center of the mobile device 100, and reference position 191CTR may indicate the upper right center. Similarly, reference position 189CBL may indicate the lower left center of the mobile device 100, and reference position 189CBR may indicate the lower right center. Reference positions 189CTL, 189CTR, 189CBL, and 189CBR may each include a magnet from the magnetic identification element 191 oriented at a certain value, or there may be no magnet at those reference positions 189CTL, 189CTR, 189CBL, and 189CBR.

[0232] The magnetic identification element 191 for identifying a particular position may have a fixed value to determine the orientation of the mobile device 100 relative to the stator module 200, but in other embodiments, the value of a particular region of the magnetic identification element 191 may be used to identify the orientation. For example, an encoding method may assign a number to each edge of the mobile device 100 using a bit pattern (i.e., magnetic field value) on that edge, and the edge with the highest or lowest number may be used to determine the orientation of the mobile device 100 relative to the work surface 202.

[0233] It will be understood that due to mechanical tolerances, the magnets of the magnetic identification element 191 and / or the magnetic fields associated with those magnets may not be perfectly aligned with the sensor 81 or may not be perfectly spaced within the pattern of the magnetic identification element 191 on the mobile device 100.

[0234] 12A, magnet 191A and magnet 191B may be aligned with sensor 81. Sensor spacing (or pitch) 85A between sensors 81 may be the same as magnet spacing (or magnetic pitch) 195A used between magnets 191A and 191B. However, magnet spacing 195B between magnets 191B and 191C may be greater than sensor spacing 85B, such that while magnets 191A and 191B are aligned with sensor 81, magnet 191C may not be aligned with sensor 81. Thus, magnet 191C may not be accurately measured by sensor 81, and the measured magnetic field strength of magnet 191C may be less than its peak value.

[0235] Magnet 191C can align with sensor 81 only if moving device 100 is shifted by the difference between magnet spacing 195B and sensor spacing 85B, thus aligning magnet 191C with sensor 81. In some embodiments, the difference between magnet spacing 195B and sensor spacing 85B may be approximately 1 millimeter (mm), although this value may be greater or less than 1 mm and may depend on mechanical tolerances.

[0236] In some embodiments, this offset of magnet 191C from magnets 191A, 191B may be inadvertent and may result from manufacturing variations, such as inconsistent spacing of reference locations 189 due to manufacturing variations.

[0237] However, in other embodiments, this variation can be intentionally used to generate more identity permutations of the identification information encoded in the magnetic identification element 191. This can be achieved by varying the spacing of the reference positions 189. For example, as shown in FIG. 12A , if the magnet 191C of the magnetic identification element 191 is shifted in a particular direction (e.g., the X or Y direction) by a measured amount (e.g., 1 mm), the two possible positions of the magnet 191C (before and after the 1 mm shift) can create multiple possible variations between the two arrangements of the magnets without requiring an increase in the number of magnets in the magnetic identification element 191. This can be used to increase the maximum possible number of identity permutations for a fixed quantity of magnets.

[0238] 12B shows a magnetic field strength curve 196 generated by measuring the magnetic field with the same sensor 81 across various different X positions of the mobile device 100. In the magnetic field strength curve 196, the magnetic field strength B measured by a particular sensor 81 may vary depending on the position X of the mobile device 100. At a first magnetic field strength peak 196A, the sensor 81 may measure the magnet 191A at a first position in the X direction. At this first peak 196A, the sensor 81 is perfectly aligned with the magnet 191A, and the maximum magnetic field strength of the magnet 196A may be measured by the sensor 81. As the mobile device 100 shifts in the X direction, the strength of the magnetic field associated with the magnet 191A may decrease as the magnet 191A moves away from the sensor 81. However, as magnet 191B approaches the vicinity of sensor 81, sensor 81 may begin to measure the magnetic field of magnet 191B, which may cause the magnetic field strength to grow as magnet 191B and sensor 81 get closer until sensor 81 measures a second peak 196B. Because magnet spacing 195A may be the same as sensor spacing 85A, magnetic field strength peak spacing 195A' between first peak 196A and second peak 196B may be the same.

[0239] Over time, magnet 191B may move away from sensor 81 in the X direction, and the magnetic field strength of magnet 191B measured by sensor 81 may decrease. However, because magnet spacing 195B between magnets 191C may be different from magnet spacing 195A, mobile device 100 may need to shift a different amount in the X direction until sensor 81 can measure third magnetic field strength peak 196C associated with mobile object 195C. As shown, magnetic field strength peak spacing 195B' between second peak 196B and third peak 196C may be greater than peak spacing 195A'.

[0240] The sensor spacing 85A and the sensor spacing 85B may also be equal in some cases. It should be understood that by combining multiple measurements of the sensor 81, any combination of different sensor spacings 85A, 85B and inter-identification magnet spacings 195A, 195B may be measured at an appropriate range of measurement locations. The magnet spacings 195A, 195B may or may not match either of the sensor spacings 85A, 85B.

[0241] In one embodiment, additional information may be stored for the magnetic field strength peak intervals 195A' and 195B' between magnets 191A, 191B, and 191C in addition to the values ​​of these magnets measured by sensor 81. It will be appreciated that the values ​​of magnets 191A, 191B, and 191C may correspond to magnetic field strength peaks 196A, 196B, and 196C, respectively.

[0242] In particular, the mobile device 100 can be identified by identifying at least one peak magnetic field strength of at least one magnetic field measured by one or more sensors 81. At least two measurements can be obtained. For example, a first measurement can represent at least one magnetic field measured at a first position of the mobile device 100, and a second measurement can represent at least one magnetic field measured at a second position of the mobile device 100. The at least one peak magnetic field strength can be determined from the at least two measurements. The mobile device 100 can be identified based on the at least one peak magnetic field strength.

[0243] Mobile device 100 may also be identified based on other information related to at least one peak magnetic field strength, such as the spacing between peak magnetic field strengths. In one example, additional information may be determined from peak spacing 195A' and peak spacing 195B', i.e., the difference in spacing between magnets 191A, 191B, 191C as measurable by sensor 81.

[0244] By configuring one or more sensors 81 to scan the magnetic field strength at various different locations on the mobile device 100, the controller 300 can generate a magnetic field strength curve 196. The magnetic field strength curve 196 can include a dense set of points, which can provide additional data that can be used to: detect peaks that may be slightly off-center due to manufacturing tolerance limitations; find the X-position of the peaks using data encoded in the X-position to increase the amount of data that can be stored with the same number of magnets; allow further digital or analog processing or filtering of the scanned data; and provide robustness.

[0245] These processing steps may further include low-pass filtering to remove sensor noise, high-pass filtering to remove common mode signals (e.g., that may be caused by the actuation magnet 110), and band-pass filtering to achieve both of these objectives.

[0246] These techniques can be generalized to 2D and 3D scanning, with similar generalized advantages, including detecting peaks that may be off-center in the Y and / or Z directions, as well as the X direction; detecting the Y position of the peak allows more data to be encoded into the magnetic identification element 191; and enabling more sophisticated filtering algorithms that accept either 2D or 3D data.

[0247] In some embodiments, scanning of the mobile device 100 can utilize Z-direction movement relative to the sensor 81 to identify the magnet of the magnetic identification element 191. As shown in FIG. 12A, the magnetic field of a permanent magnet can decrease based on the distance between the magnet and the sensor 81. By taking multiple sensor measurements at different vertical positions of the mobile device 100, changes in the magnetic strength of the magnetic identification element 191 and the actuation magnet 110 can be separated from static measurement offsets. In some specific cases, the magnet value of the magnetic identification element 191 can be determined by subtracting the magnet value measured at a high mobile device 100 flying height from the magnet value measured at a low mobile device 100 flying height (at the same or very similar XY position).

[0248] It will be understood that the magnetic spacing (or magnetic pitch) 195A between magnet 191A and magnet 191B may be different from the magnetic pitch 111 between the magnetic array elements of actuating magnet 110, such as the pitch 111 between magnetic array elements 110-1A, 110-1B, 110-1C, 110-1D, and 110-1E.

[0249] 13 illustrates a further embodiment for storing additional information in the magnetic identification element 191. The magnetic identification element 191 can include both magnets 191A, 191B, 191D, and 191E and non-rigid connectors 193A, 193B, 193D, and 193E (collectively, non-rigid connectors 193), which can be positioned at the reference location 189. As described below, the non-rigid connectors 193A, 193B, 193D, and 193E can be used to store additional information in the magnetic identification element 191 other than the data encoded in the magnets 191A, 191B, 191D, and 191E. At least one non-rigid connector 193 disposed in the magnetic identification element 191 can be configured to allow at least one of the magnets 191A, 191B, 191D, and 191E to move relative to the mobile object 101. In other words, at least one non-rigid connector 193 can connect at least one of the magnets 191A, 191B, 191D, 191E to the moving device 100 and enable movement of at least one of the magnets 191A, 191B, 191D, 191E relative to the moving body 101.

[0250] It will be appreciated that at least one reference location 189C may correspond to a neutral value and therefore include a non-magnetic element or no magnetic element at all, and in such a situation, a corresponding non-rigid connector may also not be present at the reference location 189C.

[0251] The sensor 81 may be located on the stator module 200 below the work surface 202 in a sensor plane 84 .

[0252] By connecting the magnets 191A, 191B, 191D, and 191E to the mobile device 100 with non-rigid connectors 193, the magnets 191A, 191B, 191D, and 191E can be moved relative to the mobile device 100, for example, in the Z direction. By using sensors 81 to measure the position of at least one of the magnets 191A, 191B, 191D, and 191E relative to the mobile device 100, the relative motion characteristics of the magnets can be calculated. For example, the dynamic motion characteristics can be calculated (i.e., the stiffness of the non-rigid connectors). Using variable non-rigid connectors 193, or a combination of rigid and non-rigid connectors, additional permutations can be generated and used to increase the overall number of permutations in an identification pattern using a fixed number of magnets.

[0253] In some embodiments, one or more of the non-rigid connectors 193 may be springs.

[0254] In one example, the controller 300 can be configured to determine at least one vibration associated with the non-rigid connector 193 (e.g., a spring) from the variation in the at least one magnetic field measured by the sensor 81. The controller 300 can further determine at least one spring constant associated with the non-rigid connector 193 based on the at least one vibration. The controller 300 can further identify the mobile device 100 based on the at least one spring constant. The controller 300 can identify the mobile device 100 based on both the at least one spring constant and the values ​​of the magnets 191A, 191B, 191D, 191E measured by the sensor 81 at the reference location 189.

[0255] It will be appreciated that a user of mobile device 100 can encode new or different identification information into mobile device 100 by rearranging, removing, replacing and / or adding magnets in non-rigid connector 193 and magnetic identification element 191.

[0256] 14 shows a mobile device 100' including a wrapping layer 103. The wrapping layer 103 may be made of a conductive material or other materials. The wrapping layer 103 may surround at least one actuating magnet 110 and a magnetic identification element 191. The mobile device 100' may be identical to the mobile device 100.

[0257] In some applications, it may be desirable to encase the mobile device 100' in a metallic material to isolate the internal components of the mobile device 100', such as the actuating magnet 110 and magnetic identification element 191, from the external environment. Isolating the internal environment of the mobile device 100' from the external environment can prevent the mobile device 100' from being exposed to hostile environments (e.g., acidic, caustic, ultraviolet light, humidity, etc.) that may adversely affect the internal components of the mobile device 100'. Isolation can also avoid contamination of sensitive environments (e.g., particles, bacteria, contaminants). Additionally, encasing the mobile device 100' in an impermeable, easily cleanable material (e.g., stainless steel) can facilitate operating the mobile device 100' in a hygienic environment.

[0258] The use of conductive materials to wrap the mobile device can present challenges to existing identification solutions that use electromagnetic communication, as the conductive layer 101 of the mobile device 100' can shield the stator module 200 from desired communication signals emanating from (or directed toward) the mobile device 100'. By using fixed-value permanent magnets within the magnetic identification element 191, the magnetic field originating from the reference locations 189A, 189B, 189C can still be measured through the conductive wrapping layer 103 if the magnetic field is strong enough. Furthermore, the material forming the conductive wrapping layer 103 can be selected to minimize the reduction in the measurable strength of the magnetic identification element 191 by the sensor 81, such as by using a low-magnetic or non-magnetic material.

[0259] 15A shows a displacement system 10′ in which the movement devices 100 disposed above the stator modules 200 may be separated by a separation layer 211, which may be a conductive layer (e.g., stainless steel or other conductive material) or other non-conductive material. As shown, the separation layer 211 extends along the working surface 202 of the stator modules 200 and may completely surround all of the stator modules 200. The displacement system 10′ may otherwise be identical to the displacement system 10.

[0260] Isolation layer 211 can provide structural support, additional isolation for a particular environment, cleanability, abrasion resistance, and electrical grounding, among other benefits.

[0261] In certain cases, the separation layer 211 may simply separate the moving device 100 and the stator module 200 extending along the work surface 202, such as to provide a protective surface when landing or sliding along the work surface 202, or to allow the moving device 100 to ground.

[0262] In a typical displacement system, if a device requiring the use of electromagnetic communication is used to identify the mobile device 100, the isolation layer can shield the stator module from desired communication signals from the mobile device. Shielding communication between the mobile device and the stator module can reduce the effectiveness and, in some cases, prevent communication that may be used to identify the mobile device. However, in the displacement system 10′, by using a fixed-value permanent magnet within the magnetic identification element 191, the magnetic identification element 191 can be easily measured through the isolation layer 211 if the magnetic field is strong enough. Furthermore, the material forming the isolation layer 211 can be selected to minimize the reduction in the measurable magnetic field strength of the magnetic identification element 191 by the sensor 81, such as by using a low-magnetic or non-magnetic material.

[0263] The thickness 219 of the separation layer 211 may range from 0.3 mm to 0.5 mm, or the thickness 219 may be less than 0.3 mm or greater than 0.5 mm.

[0264] In some embodiments, as shown in FIG. 15B, the displacement system 10′ may include a moving device 100′, where the moving device 100′ may include the wrapping layer 103 and the stator module 200 may include the separating layer 211.

[0265] FIG. 16 illustrates a method 400 for determining the orientation and identity of a mobile device 100 .

[0266] The method 400 can receive the position of the moving object as an input to a sensor value model of the actuation magnet 110. The sensor value model of the actuation magnet 110 can be subtracted from the magnetic sensor feedback (i.e., the measurement of the sensor 81). This can result in a more accurate value of the magnet of the magnetic identification element 191 measured by the sensor 81.

[0267] The location of the moving object may also be input to the filter by identifying the location of the magnets (e.g., the magnetic identification element 191 and / or the magnets 191A, 191B, 191C at the reference location 189). The filter may filter locations within the reading range of the sensor 81.

[0268] Using the filter output and the precise value of the magnet of the magnetic identification element 191 measured by the sensor 81, the identifier value can then be processed to determine the identification value of the mobile device 100. Similarly, the orientation of the mobile device 100 can also be determined.

[0269] It will be appreciated that other methods are possible for determining the identification value and / or orientation of the mobile device 100. Likewise, fewer or additional steps may be performed in the method 400.

[0270] The results of the multiple measurement positions can be combined to identify the complete identification value of the mobile device 100. Although the magnetic identification element 191 can interact with the magnetic field generated by the coils 210 of the stator module 200 to produce a positive or negative effect, the magnetic identification element 191 can be configured to have a small contributing force relative to the actuation magnet 110. For example, the magnets 191A, 191B, 191C of the magnetic identification element 191 and / or the actuation magnet 110 can be selected such that the actuation magnet 110 is more than 50% larger than the magnets 191A, 191B, 191C of the magnetic identification element 191. Alternatively, the magnets 191A, 191B, 191C and / or the actuation magnet 110 can be selected such that the actuation magnet 110 is more than 100% larger than the magnets 191A, 191B, 191C of the magnetic identification element 191.

[0271] Each actuating magnet 110 may have a length in its longest dimension. The length of each actuating magnet 110 may be greater than the longest dimension of each magnet 191A, 191B, 191C of the magnetic identification element 191. In other embodiments, the length of each actuating magnet 110 may be more than 50% greater than the longest dimension of each magnet 191A, 191B, 191C of the magnetic identification element 191. In further embodiments, the length of each actuating magnet 110 may be more than 100% greater than the longest dimension of each magnet 191A, 191B, 191C of the magnetic identification element 191.

[0272] Each actuation magnet 110 may have a magnetic field strength that may be greater than the magnetic field strength of each magnet 191A, 191B, 191C of the magnetic identification element 191. In other embodiments, the magnetic field strength of each actuation magnet 110 may be more than 10% greater than the magnetic field strength of each magnet 191A, 191B, 191C of the magnetic identification element 191. In further embodiments, the magnetic field strength of each actuation magnet 110 may be more than 30% greater than the magnetic field strength of each magnet 191A, 191B, 191C of the magnetic identification element 191.

[0273] Furthermore, although a reference location 189 may be read by the sensor 81 at a single location, the same reference location 189 (e.g., reference location 189A) may be read at multiple identification locations to increase the reliability of the read. In this manner, the effect of the actuating magnet 110 on the identification information stored in the magnetic identification element 191 and read by the sensor 81 may be reduced.

[0274] In one particular example, the sensor 81 can read the magnetic identification element 191 by identifying the location of the mobile device 100 and remove the effect of the magnet 110 from the measurement by the sensor 81 to isolate the value of one or more magnets 191A, 191B, 191C of the magnetic identification element. The intensity / strength of the magnets 191A, 191B, 191C measured by the sensor 81 at the location 189 can be greater than the measurement noise from each of the sensors 81, while the intensity / strength of the magnets 191A, 191B, 191C can be small enough to minimize their effect on the location detection of the mobile device 100. Similarly, the strength of each magnet can be configured to be greater than the variation in the strength of the actuating magnet 110 measurable by the sensor 81.

[0275] Identifying the mobile device 100 in this manner through the sensor 81 can occur while the mobile device 100 is moving or while the mobile device 100 is stationary (elevated, landed, or deactivated). If the controller 300 identifies the mobile device 100 while it is moving or elevating, the effect on the magnetic field generated by the coil 210 can be removed by subtracting the calculated effect of the coil 210. The calculated effect of the coil 210 may be based on the current supplied to the coil 210 at the time of measurement (or some similar compensation method), which can further isolate the magnetic value of the magnetic identification element 191 measured by the sensor 81.

[0276] In some embodiments, any position of the mover device 100 on the stator module 200 can be used as the identification position.

[0277] 17 illustrates a method 500 for identifying a mobile device 100. Method 500 may be performed by controller 300. Method 500 is thus an example of a method for identifying a mobile object, the method including receiving at least one input signal representing at least one measurement of a magnetic field from at least one reference position relative to the mobile object, and identifying the mobile object in response to the at least one measurement of the magnetic field.

[0278] Identifying the mobile entity 101, and therefore the mobile device 100, may include distinguishing the mobile device 100 from other mobile devices.

[0279] In step S502, the controller 300 receives at least one input signal representing at least one measurement of a magnetic field from at least one reference location 189 relative to the mobile unit 101.

[0280] The at least one magnetic field may be generated by at least one of the magnets 191A, 191B, 191C of the magnetic identification element 191 located at at least one of the reference locations 189. In other words, the at least one measurement of the magnetic field may represent at least a magnetic influence from at least one identification magnet, such as at least one of the magnets 191A, 191B, 191C on the mobile object 101.

[0281] The input signal may further represent at least one measurement of a magnetic field associated with at least one identifying magnet, such as at least one of the magnets 191A, 191B, 191C on the mobile device 100.

[0282] In other embodiments, the at least one magnetic field may be generated by at least one of the actuation magnets 110, and the actuation magnet 110 may be located at at least one of the reference locations 189. In other words, the at least one measurement of the magnetic field may represent at least a magnetic influence from the at least one actuation magnet 110 on the mobile object 101.

[0283] The input signal may further represent at least one measurement of a magnetic field associated with at least one actuation magnet 110 on the mobile device 100 .

[0284] At least one input signal may be generated by at least one of the sensors 81 in response to at least one of the sensors 81 measuring some or all of the magnetic identification element 191 and / or actuation magnet 110 .

[0285] The sensor 81 can measure at least one magnetic field from at least one reference position 189 while the mobile device 100 is moving, levitating, or both. In other words, the at least one sensor 81 can measure at least one measurement value of the magnetic field. For example, the controller 300 can cause the at least one sensor 81 to measure at least one measurement value of the magnetic field. The at least one sensor 81 can also measure at least one measurement value of the magnetic field while the mobile body 101 is moving, levitating, or both.

[0286] In step S504, in response to the at least one measurement of the magnetic field, the controller 300 identifies the mobile object 101, and thus the mobile device 100.

[0287] As mentioned above, the magnetic field may be associated with at least one identifying magnet on the mobile device 100, such as one of the magnets 191A, 191B, 191C of the magnetic identification element 191. In other words, identifying the mobile object 101, and thus the mobile device 100, may include identifying the mobile object 101 according to at least a magnetic influence from the at least one identifying magnet, such as one of the magnets 191A, 191B, 191C of the magnetic identification element 191.

[0288] Identifying the mobile body 101 and thus the mobile device 100 in response to at least one measurement of the magnetic field may further include identifying the mobile body 101 in response to at least one measurement of the magnetic field associated with at least one identifying magnet, such as at least one of the magnets 191A, 191B, 191C on the mobile body 101.

[0289] It will be understood that in some embodiments, the at least one magnetic field may instead be generated by one or more actuation magnets 110, which may also be located at at least one of the reference locations 189. In other words, identifying the mobile body 101, and thus the mobile device 100, may include identifying the mobile body 101 according to at least a magnetic influence from at least one actuation magnet 110, such as one of the magnets 191A, 191B, 191C of the magnetic identification element 191.

[0290] Identifying the mobile body 101 and thus the mobile device 100 in response to at least one measurement of the magnetic field may further include identifying the mobile body 101 in response to at least one measurement of the magnetic field associated with at least one actuating magnet 110 on the mobile body 101.

[0291] The moving object 101 may also be identified according to at least the magnetic influence from the actuation magnets 110 and the relative spatial characteristics of the actuation magnets 110 with respect to one another. Identifying the moving object 101 may include identifying the relative pitch and / or orientation between two or more of the plurality of actuation magnets 110.

[0292] In a further embodiment, the mobile device 100 and thus the mobile device 110 can be identified based solely on measurements of the actuation magnet 110 without the use of an identifying magnet such as magnets 191A, 191B, 191C of the magnetic identification element 191.

[0293] The controller 300 may determine, for each of the one or more reference locations 189 of the at least one reference location 189, a characteristic of the magnetic field at the reference location 189.

[0294] Determining the magnetic field characteristics by the controller 300 can also include identifying the magnetic field at one or more of the at least one reference locations 189 as having one of at least two different available characteristics. The at least two different available characteristics of the magnetic field from the reference locations 189 can include a magnetic field emanating from a magnet at the reference location 189 and polarized in a first direction relative to the mobile body, and a magnetic field emanating from the magnet at the reference location 189 and polarized in a second direction relative to the mobile body that is different from the first direction.

[0295] Alternatively, the at least two different available characteristics of the magnetic field from the reference location 189 can include a magnetic field resulting from a magnet at the reference location having a first magnetic blemish and a magnetic field resulting from a magnet at the reference location 189 having a second magnetic blemish, where the second magnetic blemish is different from the first magnetic blemish. The first magnetic blemish may be intentionally created.

[0296] In other embodiments, determining the magnetic field characteristics by the controller 300 can also include identifying the magnetic field as having one of at least three different available characteristics for one or more magnetic fields of the at least one reference location 189. The at least three different available characteristics for the magnetic field from the reference location 189 can include a magnetic field emanating from a magnet at the reference location 189 and polarized in a first direction relative to the mobile body, a magnetic field emanating from the magnet at the reference location 189 and polarized in a second direction relative to the mobile body that is different from the first direction, and the absence of a magnet at the reference location 189.

[0297] The different available characteristics for the respective magnetic fields at one or more of the at least one reference locations 189 may include different magnetic field strengths of magnets at one or more of the at least one reference locations 189. For example, magnets 191A, 191C located at reference locations 189A, 189C may be configured to have different magnetic field strengths.

[0298] The controller 300 can compare the magnetic field signature with identification information stored in the database 340 to identify the mobile object 101 and thus the mobile device 100 .

[0299] In some embodiments, the method 500 may further include preprocessing the at least one input signal to generate at least one preprocessed signal. Identifying the moving object may include identifying the moving object in response to the at least one preprocessed signal. Preprocessing the at least one input signal may include at least one of high-pass filtering, band-pass filtering, and correcting the at least one input signal.

[0300] Correcting the at least one input signal may include removing an influence of at least one of the actuation magnets 110 on the mobile device 100 from the input signal.

[0301] The method 500 may also include identifying at least a location of the mobile unit 101 in response to the at least one measurement of the magnetic field.

[0302] The method 500 may further include identifying at least an orientation of the mobile object 101, and thus the mobile device 100, in response to the at least one measurement of the magnetic field.

[0303] The method 500 may also include identifying the mobile object 101 and thus the mobile device 100 in response to at least movement of one or more of the at least one identification magnet relative to the mobile object. The at least one identification magnet may include at least one of the magnets 191A, 191B, 191C of the magnetic identification element 191.

[0304] In other embodiments, the method 500 may also include determining at least one magnetic field of at least one of the actuation magnets 110 on the mobile device 100. In such embodiments, the controller 300 may identify the mobile device 100 based at least on the magnetic field associated with at least one of the actuation magnets 110. Identification information of the association between the magnetic field of the at least one actuation magnet 110 and the mobile device 100 may be stored in the database 340.

[0305] It will be appreciated that the controller 300 may also identify the mobile device 100 based on the magnetic field associated with at least one of the magnetic identification element 191 and the actuation magnet 110 .

[0306] Identifying the mobile body 101, and thus the mobile device 100, may include identifying the mobile body 101 in at least one database 340 in response to at least identification of the mobile body 101 associated with a magnetic field from at least one reference position 189.

[0307] The method 500 may further include moving the moving body 101, where moving the moving body 101 includes causing one or more external magnetic fields to interact with the at least one actuating magnet 110.

[0308] It will be appreciated that method 500 may include activating one or more of the at least one actuating magnets 110 independently of at least one identification magnet, such as at least one of magnets 191A, 191B, 191C of magnetic identification device 191. In other words, method 500 may also include moving mobile object 101, where moving mobile object 101 may include one or more external magnetic fields interacting with at least one actuating magnet 110 independently of the at least one identification magnet.

[0309] 18 illustrates another method 500' for identifying a mobile device 100, according to another embodiment. The method 500' may also be performed by the controller 300.

[0310] In step S502', the controller 300 receives at least one signal representative of at least one magnetic field of at least one magnet on the mobile device 100.

[0311] The at least one magnet may be at least one of the magnets 191A, 191B, and 191C of the magnetic identification device 191. As an example, the at least one magnet may be the magnet 191A.

[0312] In step S504′, the controller 300 receives at least one other signal representing at least one magnetic field of at least one other magnet on the mobile device 100. The at least one other signal is received after the at least one signal received in step S502′.

[0313] The at least one other magnet may be at least one of the magnets 191A, 191B, and 191C of the magnetic identification device 191. As an example, the at least one other magnet may be the magnets 191B and 191C.

[0314] In step S506′, controller 300 identifies mobile device 100 based on at least one magnetic field of at least one magnet and at least one magnetic field of at least one other magnet on mobile device 100. Identifying mobile device 100 may include distinguishing mobile device 100 from other mobile devices.

[0315] As an example, the controller 300 may be configured to identify the mobile object based on a magnetic field that identifies the magnets 191A, 191B, 191C on the mobile device 100, and the controller 300 may receive signals representing all the magnets 191A, 191B, 191C of the magnetic identification element 191.

[0316] It will be appreciated that magnetic identification element 191 may include fewer or more magnets than magnets 191A, 191B, 191C.

[0317] 19 shows a method 600 for identifying the mobile device 100 according to another embodiment. Method 600 can be performed simultaneously with step S504 of method 500. Method 600 can also be performed by controller 300. Thus, method 600 is an example of identifying the mobile object 101, and thus the mobile device 100, at least in response to movement of one or more of the at least one identification magnets relative to the mobile object 101, and includes identifying the mobile object 101 at least in response to vibration of one or more of the at least one identification magnets relative to the mobile object 101. The identification magnet may be any one of magnets 191A, 191B, 191C of the magnetic identification element 191.

[0318] In step S602, the controller 300 determines at least one vibration associated with the at least one spring from the variations in the at least one magnetic field, which may be associated with the signal received in step S502 of the method 500.

[0319] The at least one spring may be at least one of the non-rigid connectors 193 .

[0320] In step S604, the controller 300 determines at least one spring constant associated with the at least one spring based on the at least one vibration.

[0321] In step S606, the controller 300 identifies the mobile device 100 based on the at least one spring constant. The controller 300 may also identify the mobile device based on other information related to the at least one magnetic field, such as at least one value related to the at least one magnetic field.

[0322] 20 shows a method 700 for identifying a mobile device 100 according to another embodiment. The method 700 may also be performed by the controller 300.

[0323] In step S702, the controller 300 receives a first signal representing at least one magnetic field measured at a first position of the mobile device 100. The first position of the mobile device 100 may be a first position on the work surface 202 and may be associated with at least one sensor 81 having at least one measurement range 83 that overlaps with the first position.

[0324] In step S704, the controller 300 receives a second signal representing at least one magnetic field measured at a second position of the mobile device 100. The second position of the mobile device 100 may be a second position of the work surface 202 and may be associated with at least one sensor 81 having at least one measurement range 83 that overlaps with the second position.

[0325] In step S706, the controller 300 identifies at least one peak magnetic field strength of the magnetic fields corresponding to at least one magnetic field associated with the first signal and at least one magnetic field of the second signal.

[0326] For example, the controller 300 can first generate the magnetic field strength curve 196 based on a first signal measured at a first location and a second signal measured at a second location. The controller 300 can identify at least one of the peak magnetic field strengths 196A, 196B, 196C.

[0327] It will be appreciated that the at least one peak magnetic field strength may be determined using magnetic fields associated with signals from more than two locations, such as many different locations, thereby enabling the controller 300 to generate a magnetic field strength curve 196 having a dense set of points.

[0328] In step S708, the controller 300 identifies the mobile device 100 based on the at least one peak magnetic field strength. For example, the database 340 may include information associating the mobile device 100 with at least one peak magnetic field strength.

[0329] It will be appreciated that the mobile device 100 may also be identified based on other information related to the at least one peak magnetic field strength, such as the interval between multiple peak magnetic field strengths.

[0330] Of course, the above-described embodiments are intended to be illustrative only and are in no way limiting. The described embodiments are susceptible to many modifications, including changes in form, arrangement of parts, details, and sequence of operation. The invention is intended to encompass all such modifications within its scope as defined by the claims.

Claims

1. A method for identifying a moving object, comprising: receiving at least one input signal representing at least one measurement of a magnetic field from at least one reference position relative to the moving body; identifying the mobile object in response to the at least one measurement of the magnetic field; Including, method.

2. identifying the moving object at least in response to the at least one measurement from the magnetic field includes, for each of one or more reference locations of the at least one reference location, determining a characteristic of the magnetic field at the reference location; The method of claim 1.

3. determining a characteristic of the magnetic field includes, for the magnetic field at one or more of the at least one reference location, identifying the magnetic field as having one of at least two different available characteristics; The method of claim 2.

4. The at least two different available characteristics of the magnetic field from a reference position are: a magnetic field arising from a magnet at the reference position and polarized in a first direction relative to the moving body; a magnetic field generated by a magnet at the reference position and polarized in a second direction relative to the moving body that is different from the first direction; Including, The method of claim 3.

5. determining a characteristic of the magnetic field includes, for a magnetic field at one or more of the at least one reference location, identifying the magnetic field as having one of at least three different available characteristics; The method of claim 2.

6. The at least three different available properties of the magnetic field from a reference position are: a magnetic field arising from a magnet at the reference position and polarized in a first direction relative to the moving body; a magnetic field generated by a magnet at the reference position and polarized in a second direction relative to the moving body that is different from the first direction; the absence of a magnet at the reference position; Including, The method of claim 5.

7. The at least two different available characteristics of the magnetic field from a reference position are: a magnetic field emanating from a magnet at the reference position having a first magnetic defect; a magnetic field emanating from a magnet at the reference position having a second magnetic defect; Including, the second magnetic defect is different from the first magnetic defect; The method of claim 3.

8. the first magnetic defect is intentionally generated; The method of claim 7.

9. the different available characteristics of the magnetic field at one or more of the at least one reference location include different magnetic field strengths of a magnet at one or more of the at least one reference location; 7. The method of claim 3, 4, 5, or 6.

10. pre-processing the at least one input signal to generate at least one pre-processed signal; identifying the moving object includes identifying the moving object at least in response to the at least one preprocessed signal.

10. The method according to any one of claims 1 to 9.

11. pre-processing the at least one input signal comprises high-pass filtering the at least one input signal. The method of claim 10.

12. pre-processing the at least one input signal comprises low-pass filtering the at least one input signal.

12. The method according to claim 10 or 11.

13. pre-processing the at least one input signal comprises band-pass filtering the at least one input signal.

13. The method of claim 10, 11, or 12.

14. and further comprising identifying at least a location of the mobile unit at least in response to the at least one measurement of the magnetic field.

14. The method of any one of claims 1 to 13.

15. and identifying at least an orientation of the mobile unit at least in response to the at least one measurement of the magnetic field.

15. The method of any one of claims 1 to 14.

16. causing at least one sensor to measure the at least one measurement of the magnetic field.

16. The method of any one of claims 1 to 15.

17. causing the at least one sensor to measure the at least one measurement value of the magnetic field includes causing the at least one sensor to measure the at least one measurement value of the magnetic field while the moving object is moving.

17. The method of claim 16.

18. causing the at least one sensor to measure the at least one measurement value of the magnetic field includes causing the at least one sensor to measure the at least one measurement value of the magnetic field while the moving body is levitating.

18. The method of claim 16 or 17.

19. Identifying the moving object includes distinguishing the moving object from other moving objects.

19. The method of any one of claims 1 to 18.

20. identifying the moving object includes identifying the moving object in response to at least an identification of the moving object associated with the magnetic field from the at least one reference location in at least one database.

20. The method of any one of claims 1 to 19.

21. the at least one measurement of the magnetic field represents at least a magnetic influence from at least one actuating magnet on the moving body; 21. The method of any one of claims 1 to 20.

22. identifying the moving object includes identifying the moving object according to at least the magnetic influence from the at least one actuating magnet; 22. The method of claim 21.

23. the at least one actuation magnet includes a plurality of actuation magnets; identifying the moving object includes identifying the moving object according to at least the magnetic influences from the plurality of actuating magnets and relative spatial characteristics of the actuating magnets with respect to one another; 23. The method of claim 22.

24. identifying the moving body includes identifying a relative pitch between two or more actuation magnets of the plurality of actuation magnets; 24. The method of claim 23.

25. identifying the moving object includes identifying an orientation between two or more actuation magnets of the plurality of actuation magnets; 25. The method of claim 23 or 24.

26. the at least one measurement of the magnetic field represents at least a magnetic influence from at least one identifying magnet on the mobile object; 26. The method of any one of claims 1 to 25.

27. identifying the moving object includes identifying the moving object according to at least the magnetic influence from the at least one identifying magnet; 27. The method of claim 26.

28. identifying the moving object includes identifying the moving object in response to at least one movement of one or more of the at least one identification magnet relative to the moving object; 28. The method of claim 27.

29. identifying the moving object includes identifying the moving object in response to at least a vibration of one or more of the at least one identification magnet relative to the moving object; 29. The method of claim 28.

30. and further comprising: moving the moving body; Moving the moving body includes causing one or more external magnetic fields to interact with the at least one actuation magnet.

30. The method of any one of claims 21 to 25, or any one of claims 26 to 29 when directly or indirectly relying on claim 21.

31. and further comprising: moving the moving body; Moving the moving body includes interacting one or more external magnetic fields with the at least one actuation magnet independently of the at least one identification magnet.

30. The method of any one of claims 26 to 29 when directly or indirectly relying on claim 21.

32. The method is executed by at least one processor.

32. The method of any one of claims 1 to 31.

33. 32. A method for implementing a method according to claim 1, wherein the method comprises: storing instructions which, when executed by at least one processor, cause the at least one processor to perform the method according to any one of claims 1 to 31; At least one computer-readable medium.

34. 1. A mobile device, comprising: a moving body including at least one actuation magnet configured to generate a force for moving the moving device in response to at least one external magnetic field; at least one identification magnet; Equipped with The at least one identification magnet is encoded with identification information that distinguishes the mobile unit from other mobile units. Mobile device.

35. the at least one identification magnet includes a plurality of identification magnets; 35. The mobile device of claim 34.

36. the moving body defines a plurality of reference positions, and each of the plurality of identification magnets is located at a different reference position from the plurality of reference positions; 36. The mobile device of claim 35.

37. the plurality of reference locations are in at least one column and at least one row on the moving body, and magnetic fields of any magnets in each of the at least one column and each of the at least one row cancel each other when combined together; 37. The mobile device of claim 36.

38. at least some of the plurality of reference locations are on a periphery of the moving body surrounding the at least one actuation magnet; 38. A mobile device according to claim 36 or 37.

39. at least a portion of the plurality of reference locations are surrounded by the at least one actuation magnet; 39. A mobile device according to any one of claims 36 to 38.

40. the plurality of identification magnets are configured to permit alteration of the identification information; 40. A mobile device according to any one of claims 35 to 39.

41. the plurality of identification magnets are individually removable from the mobile device; 41. The mobile device of claim 40.

42. The plurality of identification magnets are individually repositionable within the mobile device, and the polarities of the plurality of identification magnets relative to the mobile body can be individually changed.

42. A mobile device according to claim 40 or 41.

43. each actuation magnet of the at least one actuation magnet has a length in its longest dimension, the length of each actuation magnet of the at least one actuation magnet being greater than the length in its longest dimension of each identification magnet of the plurality of identification magnets; 43. A mobile device according to any one of claims 35 to 42.

44. each actuation magnet of the at least one actuation magnet has a length in its longest dimension, the length of each actuation magnet of the at least one actuation magnet being more than 50% longer than the length in its longest dimension of each identification magnet of the plurality of identification magnets; 43. A mobile device according to any one of claims 35 to 42.

45. each actuation magnet of the at least one actuation magnet has a length in its longest dimension, the length of each actuation magnet of the at least one actuation magnet being more than 100% longer than the length in its longest dimension of each identification magnet of the plurality of identification magnets; 43. A mobile device according to any one of claims 35 to 42.

46. each actuation magnet of the at least one actuation magnet has a magnetic field strength, the magnetic field strength of each actuation magnet of the at least one actuation magnet being greater than the magnetic field strength of each identification magnet of the plurality of identification magnets; 46. ​​A mobile device according to any one of claims 35 to 45.

47. each actuation magnet of the at least one actuation magnet has a magnetic field strength, the magnetic field strength of each actuation magnet of the at least one actuation magnet being more than 10% greater than the magnetic field strength of each identification magnet of the plurality of identification magnets; 46. ​​A mobile device according to any one of claims 35 to 45.

48. each actuation magnet of the at least one actuation magnet has a magnetic field strength, the magnetic field strength of each actuation magnet of the at least one actuation magnet being more than 30% greater than the magnetic field strength of each identification magnet of the plurality of identification magnets; 46. ​​A mobile device according to any one of claims 35 to 45.

49. the at least one actuating magnet includes a plurality of actuating magnets having a magnetic pitch, and the plurality of identification magnets have a magnetic pitch that is different from the magnetic pitch of the plurality of actuating magnets; 49. A mobile device according to any one of claims 35 to 48.

50. At least three of the plurality of actuating magnets are arranged in a generally straight line with non-uniform magnetic vibration, and a first magnetic pitch between a first identification magnet and a second identification magnet of the plurality of identification magnets is different from a second magnetic pitch between a second identification magnet and a third identification magnet of the plurality of identification magnets; 50. The mobile device of claim 49.

51. At least three of the plurality of identification magnets are arranged in a generally straight line with non-uniform magnetic vibrations including two consecutive magnets having similar magnetic orientations; 50. The mobile device of claim 49.

52. the magnetic field from the plurality of identification magnets is rotationally asymmetric with respect to an axis surrounded by the plurality of identification magnets; 52. A mobile device according to any one of claims 35 to 51.

53. the moving device is encased in a conductive material; 53. A mobile device according to any one of claims 35 to 52.

54. two of the plurality of identification magnets have the same magnetic orientation but measurably different magnetic strengths; 54. A mobile device according to any one of claims 35 to 53.

55. two of the plurality of identification magnets have measurably different vertical positions within the moving device; 55. A mobile device according to any one of claims 35 to 54.

56. At least one of the plurality of identification magnets is movable relative to the moving body.

56. A mobile device according to any one of claims 35 to 55.

57. and at least one non-rigid connector connecting at least one of the plurality of identification magnets to the moving device to enable movement of at least one of the plurality of magnets relative to the moving body.

57. The mobile device of claim 56.

58. the at least one non-rigid connector is at least one elastic body; 58. The mobile device of claim 57.

59. the at least one elastic body is at least one spring; 59. The mobile device of claim 58.

60. the at least one actuation magnet includes two or more actuation magnets; 60. A mobile device according to any one of claims 35 to 59.

61. the two or more actuation magnets are configured to generate a force to move the movement device in at least two degrees of freedom.

61. The mobile device of claim 60.

62. A mobile device according to any one of claims 34 to 61; at least one stator including at least one coil positioned to generate the at least one external magnetic field and at least one sensor positioned to measure at least a magnetic field from the at least one identification magnet when the mobile device is positioned within a sensor range of the at least one sensor; a controller configured to identify the mobile device in response to at least the magnetic field measured by the at least one sensor according to the method of any one of claims 1 to 31; Equipped with Displacement system.

63. a mobile device including a mobile body having at least one actuation magnet configured to generate a force for moving the mobile device in response to at least one external magnetic field; at least one stator including at least one coil positioned to generate the at least one external magnetic field and at least one sensor positioned to measure at least a magnetic field from the at least one actuation magnet when the mobile device is positioned within a sensor range of the at least one sensor; a controller configured to identify the mobile device in response to at least the magnetic field measured by the at least one sensor according to the method of any one of claims 1 to 31; Equipped with Displacement system.

64. the stator comprising a working surface and a layer of conductive material; the layer of conductive material is disposed along the work surface between the stator and the moving device; 64. A displacement system according to claim 62 or 63.

65. The stator is surrounded by a conductive material.

65. A displacement system according to any one of claims 62 to 64.

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