• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    In order to be able to plan and control the movement of a transport unit of a conveyor along a conveyor line more easily and faster, it is provided that at least one part of the conveyor line (2) is assigned at least one logical sector (LSi), the at least one logical sector (LSi) in each case one or more conveyor segments (FSi), or parts thereof, is assigned to the at least one logical sector (LSi) a movement profile for the transport unit (TEi), the transport unit (TEi) according to the predetermined movement profiles along the at least one logical sector ( LSi) is moved and thereby in each clock step of the setpoint input a new setpoint (S) of the movement is determined and the setpoint (S) via the assignment to one or more conveyor segments (FSi), or parts thereof, the one or more associated conveyor segment (s ) (FSi) is handed over for adjustment.
    公开号:AT518353A1
    申请号:T50074/2016
    申请日:2016-02-05
    公开日:2017-09-15
    发明作者:Ing Dipl (Fh) Alexander Radak；Dipl Ing Dr Stefan Huber Msc
    申请人:Bernecker + Rainer Industrie-Elektronik Ges M B H；
    IPC主号:
    专利说明:

    Method for controlling the movement of a transport unit
    The invention relates to a method for controlling the movement of a transport unit of a conveyor in the form of a long stator linear motor, wherein the transport unit is moved along a conveying path and the conveying path is composed of a number of conveyor segments.
    The invention relates to a conveyor in the form of a long-stator linear motor, in which a plurality of transport units are moved along a defined conveying path. In this case, a plurality of drive coils are arranged along the conveying path, which can be controlled individually to produce a moving magnetic field. A moving magnetic field interacts with excitation magnets, usually permanent magnets, on a transport unit to move the transport unit according to the motor principle. Such conveyors are well known, for example from US 8,996,161 B2.
    The motion profile of a transport unit is thereby pre-planned to determine exactly how the transport unit is to be moved (e.g., position, speed, acceleration). In the case of a conveying device in the form of a long-stator linear motor, this can become quite complex since, as a rule, a large number of transport units are moved simultaneously and the conveyor line can have complex geometries, even with several route sections.
    A conveyor usually consists of conveyor segments, each having a number of drive coils, which are each controlled by an associated segment controller. The conveyor segments are arranged side by side to form the conveyor line. However, a motion profile for a transport unit is normally planned over several conveyor segments, so that a segment controller also has to implement only a part of the motion profile. It is therefore possible to transfer to each segment controller only the relevant part of the movement profile for controlling the transport unit by the associated conveyor segment. But that is very expensive, especially with very many transport units. Apart from that, there are also guidelines for the movement of the transport unit with regard to the continuity of the movement. Thus, e.g. Acceleration jumps are undesirable and often even have to be avoided. However, the planning of short movement profile sections which are hung together and which are each controlled by different segment regulators in order to give the total motion profile, but this is also very complicated and difficult to implement.
    US Pat. No. 8,996,161 B2 describes a controller architecture with which an arbitrary drive axle, in particular also a drive axle of a conveyor in the form of a long-stator linear motor with a series of conveyor segments, can be controlled. In this case, a motion profile for a drive axle (transport unit) is planned by a user and then the motion profile is transferred to a control unit, which converts the motion profile into control commands for the respective drive coils of the conveyor segments. The motion profile is planned across several conveyor segments and thus does not have to be planned for individual conveyor segments. The control unit ensures the implementation of the movement profile across the conveyor segments. The motion profile is planned using standard software for any drive axis, whereby the actual implementation of the conveyor line is taken into consideration during planning. The created motion profile for a transport unit is thus bound to an implementation of the conveyor line. By the identification of the conveying path, the control unit can then implement the movement profile on the conveying path in a movement of the transport unit. Although this type of controller architecture facilitates the planning of the motion profile, because no special software is needed anymore, it is nevertheless complicated, since each drive axle must be planned separately in the respective concrete implementation of the drive axle.
    It is therefore an object of the subject invention to provide a method by which the movement of a transport unit of a conveyor can be planned and controlled more easily and faster.
    This object is achieved with the features of claim 1. By using logical sectors, motion control can be completely detached from the underlying hardware (the conveyor segments). The planning of the movement can be done on abstract logical sectors, as well as the control itself. The logical sector can be considered as a simple linear axis on which any motion profile can be implemented. The movement is performed on the logical sector, with the respective setpoint being converted to the assigned conveyor segments of the hardware. Thus, one and the same logical sector can also be easily used for different hardware. This also makes it possible to plan logical sectors with assigned motion profiles in advance for any process independently of real hardware and subsequently integrate them in a real conveyor.
    A logical sector can be handled easily if the logical sector has a start point, an end point and a length. This only has to be calculated with relative positions, relative to the start or end point, which is easy to implement. It is advantageous if each position between the starting point and end point of the logical
    Sector corresponds to a unique position on an associated conveyor segment. This makes the assignment between the logical sector and the conveyor segment particularly easy.
    It is particularly advantageous to assign to the logical sector a movement profile which is traversed by each transport unit in the logical sector. Thus, a movement profile is sufficient for all transport units. Alternatively, different motion profiles for different transport units can be assigned to the logical sector.
    Also turnouts on the real hardware can be easily considered with the logical sectors, if the assignment between the logical sector and a conveyor segment also contains information about a necessary course setting. The logical sector does not have to worry about the switch travel. Likewise, the motion profile on the logical sector can be planned without regard to a turnout. The implementation then takes place only on the real hardware.
    The subject invention will be explained in more detail below with reference to Figures 1 to 4, which show by way of example, schematically and not by way of limitation advantageous embodiments of the invention. It shows
    1 shows an embodiment of a conveyor with conveyor segments and multiple transport units,
    2 a logical path assigned to a conveyor line,
    A defined by a logical sector path along the conveyor line and
    4 shows the association between logical sector and real hardware.
    The invention relates to a conveyor 1 in the form of a long stator linear motor, wherein a plurality of transport units TEi along a conveying path 2 of the conveyor 1 are moved. In Fig. 1 is an example of any structure of a conveyor 1 with a conveyor line 2 (indicated by the dashed line) shown. The conveyor 1 is designed as a long stator linear motor and there are a plurality of transport units TEi, i = 1, ..., x provided, which can be moved along the conveying path 2. The conveyor line 2 is essentially defined by the long stator of the long stator linear motor 1. In the exemplary embodiment shown, a series of conveyor segments FSi, i = 1,..., Y are provided, which define the path of the transport units TEi, that is to say the conveyor line 2. The conveyor segments FSi form part of the long stator of the long stator linear motor. The conveyor segments FSi are arranged stationary in a suitable construction and as a rule also form guide elements along which the transport units TEi can be guided. Individual conveyor segments FSi, such as FS1 and FSM in Figure 1, may also partially overlap, in particular at locations of the conveyor line 2 at which there is a transition from one section to another section. It can also be provided that sections are arranged on both sides of the conveyor line 2 conveyor segments FSi. It is also possible to provide switches W in order to realize transitions between different sections of track. It is understandable that a conveyor line 2 of almost any design can thus be formed, which also need not only be in a two-dimensional plane, but can also extend in three dimensions.
    Each conveyor segment FSi comprises a number k of drive coils ASij, j = 1,..., K, where the number k does not have to be the same for each conveyor segment FSi. In FIG. 1, for the sake of clarity, only drive coils ASij of some conveyor segments FSi are shown. Each transport unit TEi comprises a number of excitation magnets EMij, j = 1,..., I, preferably on both sides (relative to the conveying direction indicated by the arrows on the transport units TEi) of the transport unit TEi. The drive coils ASij cooperate in the operation of the conveyor 1 in a known manner according to the motor principle with the excitation magnet EMij of the transport units TEi. If the drive coils ASij are supplied with a coil current in the region of a transport unit TEi, a magnetic flux is generated which, in cooperation with the excitation magnets EMij, exerts a force on the transport unit TEi. Depending on the coil current, this force can be known to comprise a propulsion force-forming and a lateral force-forming force components. The propulsion force-forming force component essentially serves for the movement of the transport unit TEi and the lateral force-forming force component can be used to guide the transport unit TEi, but also to fix the path of the transport unit TEi in a switch W. In this way, each transport unit TEi can be moved individually and independently of one another along the conveying path 2 by supplying the drive coils ASij in the region of each transport unit TEi with a corresponding coil current in accordance with the movement to be carried out.
    This basic operation of a long stator linear motor is well known, so it will not be discussed further. For the subject invention, it is also irrelevant how the transport units TEi, the conveyor segments FSi, the drive coils ASij, the excitation magnets EMij, etc. are configured constructive concrete, which is why it will not be discussed further.
    In order to control the movement of the individual transport units TEi, a transport unit controller 3 is provided, in which the setpoint values S for the movement of the transport units TEi, usually positions p1, or equivalently also speeds v1, or propulsive forces, are generated. Of course, it is equally possible to provide a plurality of transport unit controls 3, each of which may be part of the conveyor 1, e.g. a section of a plurality of conveyor segments FSi, are assigned and control the movement of the transport units TEi on this part. In addition, it is also possible to provide segment control units 4 which are assigned to a conveyor segment FSi (or also to several conveyor segments FSi or also to a part of a conveyor segment FSi) and which contain the setpoint specifications of the associated transport unit controller 3 for a transport unit TEi in manipulated variables, such as, for example, coil currents Convert drive coils ASij of conveyor segment FSi. The segment control units 4 could also be implemented in a transport unit control 3. Accordingly, a suitable controller is implemented in a segment control unit 4, which converts the setpoint specification by the setpoint values S into a suitable manipulated variable for the drive, for example into a coil current.
    The desired path of the transport units TEi along the conveyor line 2 can also be predetermined by a higher-level conveyor control 5, in which, for example, a route calculation (which way should a transport unit TEi take), a point arbitration (which transport unit TEi may enter a turnout), a deadlock avoidance (For example, two transport units TEi block each other), etc. may take place to move the transport units TEi in a desired manner along the conveyor line 2, for example to realize a manufacturing, assembly, or other process. This movement specification for the transport units TEi can be implemented in the transport unit control 3 in setpoint specifications for the transport units TEi.
    The movement of the transport units TEi along the conveyor line 2 is to be planned in advance. For example, there may be track sections of the conveyor 1 where manufacturing processes, handling processes, assembly processes and the like are performed on a component that is moved with a transport unit TEi. The transport unit TEi must be moved in this section with a given movement profile (for example, position p, speed v, acceleration a). There may also be sections of track in which the transport units TEi have to be moved as quickly as possible or have to wait for other transport units TEi or have to be synchronized to another transport unit. Of course, many more specifications for a movement profile are conceivable. In addition, a specific position of the conveyor line 2, in particular on complex conveyor lines 2 with many sections and points W, often be achieved in different ways. All this makes the motion planning for a transport unit TEi a conveyor 1 to a complex task. To simplify this, the procedure according to the invention is as follows.
    Along the conveying path 2 predetermined by the conveyor 1, logical sectors LSi, i = 1, z are defined. FIG. 2 shows the conveyor line 2 of the exemplary embodiment according to FIG. 1 with twenty-five conveyor segments FS1... FS25, with some logical sectors LSi having been illustrated by way of example.
    It is irrelevant whether a logical sector LSi consists of several conveyor segments FSi or exactly corresponds to a conveyor segment FSi. A logical sector LSi may also include parts of conveyor segments FSi. The logical sectors LSi are planned independently of the respective hardware configuration of the conveyor line 2, that is to say independently of the arrangement of the conveyor segments FSi. The logical sectors LSi together cover all points of the conveyor line 2, which are to be reached by the transport units TEi. It must be formed by the logical sectors LSi not mandatory closed lanes. However, if the starting point and the end point of a logical sector LSi coincide, then a closed logical sector LSi results.
    A logical sector LSi can also be defined on a different logical sector. Thus, for example, a logical sector LSi can be divided into a plurality of logical sectors or composed of a plurality of logical sectors.
    A logical sector LSi is defined with a starting point SPi and an endpoint EPi and a length L1 in order to be able to simply line up logical sectors LSi in order to be able to allocate entire route sections or conveyance paths 2 to logical sectors LSi. A logical sector LSi can therefore be defined unambiguously by specifying the starting point SPi and endpoint EPi or by specifying the starting point SPi or endpoint EPi and the length Li. From the starting point SPi and end point EPi, there is also a conveying direction, as indicated by the arrows in FIG. In the planning it is advantageous, but not mandatory, if the starting point SPi and the end point EPi of the logical sector LSi coincide with the start or end point of conveyor segments FSi.
    A logical sector LSi thus defines an abstract path along the conveyor line 2 and is independent of the hardware (number and arrangement of the conveyor segments FSi). A logical sector LSi can also be planned across paths W of the conveyor 1, as shown in FIG. In this case, two conveyor segments FS1, FS2 are provided which form a first route section and two further conveyor segments FS3, FS4, which form a second route section. The two sections are interconnected by a switch W, i. in that a transport unit TEi on the switch W can be moved either along the first or second route section. The logical sector LSi comprises a part of the conveyor segment FS1 of the first route segment.
    Section and part of the conveyor segment FS4 of the second section. Thus, a change of the route section takes place along the logical sector LSi.
    On the logical sector LSi can then be programmed regardless of the specific hardware (conveyor segments FSi) any motion profile. A simple motion profile could be, for example, a speed ramp, or a constant speed. However, only one endpoint of the movement, e.g. the end point of the logical sector LSi, which is to be approached with an arbitrary motion profile. In this case, even complex movements, in which more than one transport unit TEi can be involved, can be defined. For example, in a logical sector LSi several transport units TEi can be moved together according to a predetermined movement. For each transport unit TEi which is moved along the logical sector LSi, a motion profile is determined. Different movement profiles can be defined for different transport units TEi. But it could also be set for transport units TEi same motion profiles. This can also be realized by planning a motion profile for a logical sector LSi and assigning this motion profile to a transport unit TEi traveling in the logical sector LSi and then moving the motion profile. Thus, the motion profile of the logical sector LSi would be independent of a concrete transport unit TEi. Of course, different motion profiles can be specified on a logical sector LSi, one of which is then assigned to a transport unit TEi as a function of a predetermined selection criterion. For example, a movement profile for an empty and a loaded transport unit TEi could be defined in order to realize cornering with the logical sector LSi, wherein a loaded transport unit TEi is moved slower in the curve than an empty one.
    However, it is also possible to create and store logical sectors LSi independently of hardware. For example, a logical sector LSi is created for bottling bottles. In this case, bottles are moved along a specific movement profile through the logical sector LSi. Such predefined logical sectors LSi can then also be used to assign logical sectors LSi to the conveyor line 2. For example, in Figure 2, the logical sector LS1 could be defined as bottling. For this purpose, the previously created logical sector for bottling from a sector library can be called up and inserted in sector planning. Of course, the same predefined logical sector can of course also be used several times in a planning. For example, the logical sector LS2 in Figure 2 could also be scheduled as the same bottling.
    In this way, a part of the conveyor line 2 of a conveyor 1 or an entire conveyor section 2 of a conveyor 1 logical sectors LSi can be assigned, without having to take into account the specific hardware of the conveyor 1.
    Logical sectors LSi could even be dynamically scheduled during the operation of a conveyor 1. For example, it may be required to move a transport unit TEi from one point P1 on the conveyor line 2 to another point P2 on the conveyor line 2. A path planning can now be implemented which searches for a route from point P1 to point P2. Railway planning takes place on the basis of the promotional segments FSi. The found path from point P1 to point P2 is then defined as logical sector LSi. For movement of the transport unit TEi, a motion profile for this logical sector LSi is then planned or a suitable motion profile, e.g. constant speed travel, taken from a library and assigned to the logical sector LSi.
    The control of the movement of a transport unit TEi then takes place on the basis of the logical sectors LSi, i. also independent of the underlying hardware of the conveyor 1. D.h. in a control unit, the movement profile defined on the logical sector LSi for a transport unit TEi is traveled in order to obtain the set values S for the movement of the transport unit TEi. For each transport unit TEi that enters the logical sector LSi, the assigned movement profile is traversed. The setpoint values S are still relative to the logical sector LSi, for example in the form position on the logical sector LSi with respect to the starting point SPi of the logical sector LSi, ie a position on the area [SPi, SPi + Li], For the control Accordingly, the movement does not require knowledge of the underlying hardware. The control takes place on an abstract logical sector LSi according to a defined motion profile. The motion profile is preferably traversed in the form of position setpoints. The logical sector can be regarded as a simple linear axis. The determined setpoint values S are then translated into the setpoint specifications for the hardware via the assignment to conveyor segments FSi located behind them. It is therefore possible to apply a movement defined in the form of a series of logical sectors LSi to different hardware. The defined movement does not have to be changed, only the assignment between logical sectors LSi and the hardware has to be recreated. This can be done very easily via a graphical user interface on which the concrete hardware is displayed, over which the logical sectors LSi are then superimposed. This results in the assignment automatically.
    The conversion of the motion profile traced on the logical sector LSi to the concrete hardware of the conveyor 1 is effected by storing the associated conveyor segments FSi for each logical sector LSi. A logical sector LSi is therefore assigned to one, one or more conveyor segments (which also includes parts of conveyor segments FSi). Furthermore, each position PL of the logical sector LSi is uniquely associated with a position PF on the associated conveyor segment (s) FSi. If two conveyor segments are arranged on both sides (viewed in the conveying direction) of the conveyor line, for example in the area of a diverter W or in the conveyor segments FS9 to FS13 in FIG. 2, then the position PL of the logical sector LSi naturally becomes the conveyor segments FSi at both Pages assigned. Thus, each position PL on the logical sector LSi can be assigned to a position PF on a certain conveyor segment FSi, or several conveyor segments FSi, as shown in FIG. The setpoint S at the position PL on the logical sector LSi can therefore be converted to a setpoint value at the position PF on the real hardware. This assignment may e.g. simply over the known length Li of the logical sector LSi and the known length of the associated hardware, so the or the conveyor segments FSi done. The length of the conveyor segments FSi assigned to a logical sector LSi is preferably equal to the length Li of the logical sector LSi, since this facilitates the assignment.
    If, for example, two conveyor segments FSi each having a length of 500 mm are assigned to the logical sector LSi, then the length L1 of the logical sector LSi is preferably assumed to be 1000 (without unit, since this is independent of the hardware). A position PL on the logical sector LSi is thus uniquely assignable to a position on the conveyor segments FSi. A position PL in the range of [0, 500] on the logical sector LSi would then be assigned to a position PF on the first conveyor segment FS1 in the range of [0, 500]. A position PL in the range of [500, 1000] on this logical sector LSi would then be assigned to a position PF on the second conveyor segment FS2 in the range of [0, 500]. If, for example, a speed is specified as the desired value S at the position PL, then this results in the specification of the speed at the position PF of the assigned conveyor segment FSi. The conveyor segment FSi, or the associated segment control unit 4, can assign the position PF certain drive coils ASij, which are then controlled to regulate the new setpoint S.
    In the implementation of the real hardware may be stored in the assignment of logical sector LSi on conveyor segments FSi also a switch triggering to properly switch a possible switch W in the path of the logical sector LSi. In the example according to FIG. 3, the information between the logical sector LSi and the conveyor segments FS1, FS4 would therefore also contain the information that the switch W is to be switched to the conveyor segment FS4. The switch W only has to be switched in time, so that the transport unit TEi follows the intended path along the conveyor line 2. The timing of the crossover may be e.g. set the segment control unit 4, e.g. when the transport unit TEi enters the logical sector LSi and the switch W is not occupied by another transport unit. Thus, when planning the logical sectors LSi, the user does not have to worry about setting the course everywhere. When assigning a logical sector LSi to the conveyor line 2 it is detected that a switch W is present and how to set the switch.
    The length Li of a logical sector LSi could also be changed in the planning when using a predefined logical sector LSi, that is to say compressed or extended. However, it should be noted that a defined movement profile can then change as well. If a logical sector LSi is stretched, then, for example, a motion profile defined thereon is also stretched. If the logical sector LSi is to be traversed in a certain time, then the speed would have to be increased in order to drive through the now longer logical sector LSi in the same time. Such adjustments can be easily taken into account during planning.
    For each timing step of the setpoint specification, which may coincide with the timing step of the control, a new setpoint value S is calculated for a transport unit TEi on a logical sector LSi from the associated defined motion profile. About the association between logical segment LSi and conveyor segment FSi is known where the transport unit TEi is on the real conveyor 1. Thus, the assigned segment control unit 4 of the conveyor segment FSi, or the conveyor segments FSi, the current setpoint S for the conveyor segment FSi be transferred. The desired value for the conveyor segment FSi is then adjusted by the segment control unit 4.
    An implementation of the invention could proceed as follows:
    First, a conveyor line 2 is planned with predetermined conveyor segments FSi, e.g. shown in Fig. 1, or there is a planned conveyor line 2 before. This is preferably done on a graphical user interface. At least a part of the conveyor line 2 is then assigned a number of logical sectors LSi, wherein the association between the logical sectors LSi and the conveyor segments FSi is stored. The assignment of the logical sectors LSi preferably also takes place on a graphical user interface. In this case, at least one logical sector LSi is created. Each logical sector LSi is assigned a motion profile for the transport units TEi to be moved along the logical sector LSi. The control of the movement of a transport unit TEi takes place on the logical sectors LSi, in that a setpoint value S is determined in each clock step from the associated movement profile for the logical sector LSi. The setpoint S is adjusted via the assignment to the conveyor segments FSi, on the conveyor 1.
    权利要求:
    Claims (6)
    [1]
    claims
    1. A method for controlling the movement of a transport unit (TEi) of a conveyor (1) in the form of a long stator linear motor, wherein the transport unit (TEi) along a conveying path (2) is moved and the conveying path (2) of a number of conveyor segments (FSi) is composed, characterized in that at least a part of the conveyor line (2) along which the transport unit (TEi) is moved, at least one logical sector (LSi) is assigned, wherein the at least one logical sector (LSi) each one or more conveyor segments (FSi), or parts thereof, is assigned to the at least one logical sector (LSi) a movement profile for the transport unit (TEi) that the transport unit (TEi) according to the predetermined movement profiles along the at least one logical sector (LSi) is moved and thereby in each clock step of the setpoint input a new setpoint (S) of the movement is determined and that the setpoint ( S) is transferred via the assignment to one or more conveyor segments (FSi), or parts thereof, to the or the associated conveyor segment (s) (FSi) for adjusting.
    [2]
    2. The method according to claim 1, characterized in that the logical sector (LSi) has a starting point (SPi), an end point (EPi) and a length (Li).
    [3]
    3. The method according to claim 2, characterized in that each position (PL) between the starting point (SPi) and end point (EPi) of the logical sector (LSi) a unique position (PF) on an associated conveyor segment (FSi), or more associated conveyor segments (FSi), corresponds.
    [4]
    4. The method according to claim 1, characterized in that the logical sector (LSi) is assigned a motion profile, which is traversed by each transport unit (TEi) on the logical sector (LSi).
    [5]
    5. The method according to claim 1, characterized in that the logical sector (LSi) different motion profiles for different transport units (TEi) are assigned.
    [6]
    6. The method according to claim 1, characterized in that the association between the logical sector (LSi) and a conveyor segment (FSi) also contains information about a necessary switch position of a switch (W).
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP3202611B1|2020-05-27|
    EP3202611A1|2017-08-09|
    US10106331B2|2018-10-23|
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    EP3599127A1|2018-07-25|2020-01-29|B&R Industrial Automation GmbH|Method for operating a long-stator linear motor with transport units and collision monitoring|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50074/2016A|AT518353B1|2016-02-05|2016-02-05|Method for controlling the movement of a transport unit|ATA50074/2016A| AT518353B1|2016-02-05|2016-02-05|Method for controlling the movement of a transport unit|
    EP17152340.0A| EP3202611B1|2016-02-05|2017-01-20|Method for controlling the movement of a transport unit|
    CA2956860A| CA2956860A1|2016-02-05|2017-02-01|Method for controlling the movement of a transportation unit|
    US15/424,011| US10106331B2|2016-02-05|2017-02-03|Method for controlling the movement of a transportation unit|
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