Magnetic scale device, position measuring device and position measuring method

Abstract

The present disclosure relates to a magnetic scale device, a position measurement device and a position measurement method. The magnetic scale device may include: a scale body, which is made of ferromagnetic material and has a predetermined coding pattern; a magnetization device, which includes a magnet, which forms a structurally balanced transition magnetic field, and the scale body can change the transition magnetic field; a magnetic field detector, which is located in the transition magnetic field and is used to detect the magnetic field formed by the magnetization device under the action of the scale body. In the position measurement device, accurate and reliable position measurement can be performed using the magnetic field data detected by the magnetic scale device.

Description

Technical Field

[0001] The present invention relates to a magnetic scale device, a position measuring device and a position measuring method, and more particularly to a magnetic scale device, a position measuring device and a position measuring method for calibrating a position by detecting changes in a magnetic field caused by a magnetic material. Background Art

[0002] In the control fields such as elevator control and machine tool control, accurate position measurement is usually required to achieve precise control. Taking elevator control technology as an example, in order to detect the position of the car, a scale with absolute position coding is usually deployed in the elevator shaft, and a scale reader is set on the car. When the car moves in the shaft, the scale reader knows the current position of the elevator by reading the position code on the scale. In machine tool control technology, control is performed by detecting the position of components related to the machine tool.

[0003] As a method of measuring position, different QR code labels can be pasted on the metal belt to locate different position codes. The disadvantage of this position measurement method is that it has low tolerance to the poor use environment in the elevator shaft. For example, water, high humidity, dust, oil and other factors in the shaft will cause distortion of code reading. In addition, smoke will also affect the photoelectric sensor of the QR code reading device to a certain extent, so it is not practical.

[0004] Therefore, it is desirable to provide a technique that can more reliably perform position measurement. Summary of the invention

[0005] The present disclosure provides a magnetic scale device, a position measurement device and a position measurement method, which designs a reliable magnetic scale structure that is less affected by environmental interference, and performs position measurement by measuring changes in the magnetic field using the magnetic scale structure, thereby improving reliable and accurate position measurement.

[0006] According to the first aspect of the present disclosure, a magnetic scale device is provided. The magnetic scale device may include: a scale body made of ferromagnetic material, the scale body having a predetermined coding pattern; a magnetization device including a magnet, the magnet forming a structurally balanced transition magnetic field, the scale body being able to change the transition magnetic field; and a magnetic field detector located in the transition magnetic field, for detecting the magnetic field formed by the magnetization device under the action of the scale body.

[0007] In combination with the first aspect, in an implementation of the first aspect, the scale body may be continuously arranged in the space to be measured, and the magnetism of the ferromagnetic material may disappear when the distance from the magnet exceeds a predetermined distance value.

[0008] In combination with the first aspect and the above-mentioned implementation manner, in another implementation manner of the first aspect, the predetermined coding pattern of the scale body can divide the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction.

[0009] In combination with the first aspect and its above-mentioned implementation manner, in another implementation manner of the first aspect, the predetermined coding pattern of the scale body can make the ferromagnetic material discontinuous in the length direction, and change the balance structure of the transition magnetic field when approaching the magnet, thereby utilizing the transition magnetic field whose balance structure has been changed to form a position code for position measurement.

[0010] In combination with the first aspect and the above-mentioned implementation manner, in another implementation manner of the first aspect, the magnetic material may be a ferromagnetic material, and the ferromagnetic material may include at least one of ferritic stainless steel and conventional ferromagnetic material subjected to electroplating treatment.

[0011] In combination with the first aspect and the above-mentioned implementation manner, in another implementation manner of the first aspect, the magnet may be a first magnet and a second magnet arranged opposite to each other, and the first polarity direction of the first magnet and the second polarity direction of the second magnet are opposite.

[0012] In combination with the first aspect and the above-mentioned implementation manner, in another implementation manner of the first aspect, the magnet is a single magnet with a relative structure.

[0013] In combination with the first aspect and its above-mentioned implementation, in another implementation of the first aspect, the center of the transition magnetic field of the magnet can form a balance point, the magnetic field detector can be located at the center of the transition magnetic field, and can detect the magnetic field after the transition magnetic field is changed under the action of the scale body.

[0014] In combination with the first aspect and its above-mentioned implementation, in another implementation of the first aspect, the center of the transition magnetic field of the magnet can form a balance point, the center of the width of the scale body can be located at the center of the transition magnetic field, and the surface of the scale body can be parallel to the detection surface of the magnetic field detector.

[0015] In combination with the first aspect and the above-mentioned implementation manner, in another implementation manner of the first aspect, the detection surface of the magnetic field detector faces the scale body, and the magnetization device is located on the back side of the magnetic field detector opposite to the detection surface, and is farther away from the scale body than the magnetic field detector.

[0016] In combination with the first aspect and the above-mentioned implementation manner, in another implementation manner of the first aspect, the predetermined coding pattern on the scale body may include position coding information, and the predetermined coding pattern can change the transitional magnetic field of the structural balance into a step-induced mutation magnetic field corresponding to the position coding information; the magnetic field detector may include multiple magnetic sensing elements for detecting the approximately sinusoidal periodically alternating magnetic field data in the step-induced mutation magnetic field for position measurement.

[0017] According to a second aspect of the present disclosure, a position measurement device is provided. The position measurement device may include: a scale body made of ferromagnetic material, the scale body having a predetermined coding pattern; a magnetizing device including a magnet, the magnet forming a structurally balanced transition magnetic field, the scale body being capable of changing the transition magnetic field; a magnetic field detector located in the transition magnetic field, for detecting a magnetic field formed by the magnetizing device under the action of the scale body; and a position processor for measuring the position of the magnetic field detector relative to the scale body according to the magnetic field detected by the magnetic field detector when the magnetizing device moves relative to the scale body.

[0018] Regarding the implementation of one or more of the scale body, the magnetization device and the magnetic field detector in the position measurement device, reference may be made to the various implementations in the first aspect above.

[0019] According to a third aspect of the present disclosure, a position measurement method for a position measurement device is provided. The position measurement device may include a scale body made of ferromagnetic material, a magnetizing device including a magnet, a magnetic field detector, and a position processor. The scale body has a predetermined coding pattern. The magnet forms a structurally balanced transition magnetic field. The position measurement method may include: placing the magnetic field detector in the transition magnetic field; when the magnetizing device moves relative to the scale body, using the magnetic field detector to detect the magnetic field value of the transition magnetic field that changes under the action of the scale body; transmitting the magnetic field value to the position processor; the position processor calculates the position of the magnetic field detector relative to the scale body based on the magnetic field value detected by the magnetic field detector.

[0020] Regarding the implementation of the position measurement device to which the position measurement method is applicable, reference may be made to the various implementations according to the first aspect and the second aspect above.

[0021] In various embodiments of the present disclosure, a scale body is made of ferromagnetic material, and a predetermined coding pattern of the scale body is used to change the magnetic field formed by the magnet in different ways at different positions of the scale body, so that position measurement can be performed by detecting the changed magnetic field. This position measurement method is reliable and accurate.

[0022] In various embodiments according to the present disclosure, a ferromagnetic material is used to make the scale body. The ferromagnetic material is a material that is originally non-magnetic, but becomes magnetic when subjected to a magnetic field, that is, is magnetized, and the ferromagnetic material can be magnetized as long as it is subjected to a very small magnetic field. Compared with other magnetic materials that are originally magnetic, ferromagnetic materials have extremely strong defense against adverse factors such as metal or non-metallic debris, high temperature, oil pollution, high humidity, etc. in the use environment, and have high wear resistance. Therefore, the magnetic scale device disclosed in the present disclosure has high reliability.

[0023] The volume of the magnetization device that moves relative to the scale body can be relatively small, and can be in a relatively closed environment, and its working characteristics are less affected by the environment. Therefore, the magnetic scale device in the present disclosure selects ferromagnetic materials to form the scale body, appropriately cooperates between the scale body and the magnet, and uses the predetermined coding pattern of the scale body to identify different positions on the scale body, thereby avoiding the adverse effects of environmental factors on the magnetic scale device, providing reliable magnetic field data, and being able to perform accurate and reliable position measurement based on the reliable magnetic field data. In addition, the corresponding advantages will be described in conjunction with the various embodiments of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 is an exploded schematic diagram illustrating a magnetic scale device according to an embodiment of the present disclosure;

[0026] Figure 2 It's a picture. Figure 1 Schematic diagram of a magnetic field detector and a magnetizing device in a magnetic scale device;

[0027] Figure 3 Schematic diagram Figure 2 A schematic diagram of a transition magnetic field having a balanced structure formed by magnets in the magnetizing device shown;

[0028] Figure 4 Schematic diagram of the Figure 3 The magnetic field distribution after placing the scale body in the transition magnetic field;

[0029] Figure 5 It is a schematic diagram. Figure 1 A side view of a first embodiment of a magnetic scale device;

[0030] Figure 6 It is a schematic diagram. Figure 1 A side view of a second embodiment of a magnetic scale device;

[0031] Figure 7 Schematically illustrates a first coding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure;

[0032] Figure 8 Schematically illustrates a second coding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure;

[0033] Fig. 9 Schematically illustrates a third coding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure;

[0034] Fig.10 Schematically illustrates a fourth coding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure;

[0035] Fig.11 is a schematic structural diagram illustrating a position measurement device for an elevator according to an embodiment of the present disclosure;

[0036] Fig.12 is a flow chart schematically illustrating a position measurement method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0038] In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be an intervening component between the specific component and the first component or the second component; when a specific component is described as being connected to other components, the specific component may be directly connected to the other components without having an intervening component, or may not be directly connected to the other components but have an intervening component.

[0039] Figure 1 FIG. 1 is a schematic diagram of an exploded view of a magnetic scale device 100 according to an embodiment of the present disclosure. Figure 1As shown, the magnetic scale device 100 includes: a scale body 10, which is made of ferromagnetic material and has a predetermined coding pattern; a magnetization device 20, including a magnet, which forms a structurally balanced transition magnetic field, and the scale body can change the transition magnetic field; a magnetic field detector 30, located in the transition magnetic field, for detecting the magnetic field formed by the magnetization device under the action of the scale body.

[0040] like Figure 1 As shown in the lateral direction of FIG. 1 , the scale body 10 is continuously arranged in the space to be measured. As an example, the space to be measured may be a shaft of an elevator, or may be a control platform line of a machine tool system.

[0041] The scale body 10 is made of ferromagnetic material. Ferromagnetic material is a substance that is originally non-magnetic, but becomes magnetic when subjected to a magnetic field, i.e., is magnetized. Ferromagnetic material can be magnetized as long as it is subjected to a very small magnetic field. The magnetism of the ferromagnetic material disappears when the distance from the magnet exceeds a predetermined distance value. Therefore, the scale body 10 will not absorb other metal fragments.

[0042] As an example, the scale body 10 can be made of stainless steel, for example, it can be processed from a stainless steel sheet with a grade of 430 and realized on the stainless steel sheet by punching. The scale body 10 is punched from stainless steel with a grade of 430, so the scale body has excellent environmental tolerance, will not suffer from general corrosion and rust, can resist conventional mechanical collision and friction, and is not easily affected by harsh environmental factors such as high temperature and high humidity. Stainless steel with a grade of 430 has a high magnetic permeability characteristic, so it can play a better role in changing the magnetic field formed by the magnetization device 20. In the case of using ferromagnetic material to make the scale body 10, even if the scale body is contaminated with water, dust and other materials, it will not affect the magnetic field, and it is not afraid of interference factors such as smoke, so the working performance is more reliable. In addition, the scale body 10 can also be other ferromagnetic materials, such as conventional ferromagnetic materials. In practice, it can be selected according to the specific working environment, performance requirements, etc. The specific type of ferromagnetic material does not constitute a limitation on the embodiments of the present disclosure.

[0043] If the scale body 10 is made of magnetic material that is inherently magnetic, the specific disadvantages are as follows. First, the scale body requires a magnetic material with a relatively large overall magnetic area. These inherently magnetic magnetic materials are prone to sticking to other small metal objects, such as metal debris, screws, etc., in the long shaft. Secondly, the magnetic material that is inherently magnetic is easily affected by high temperature and strong magnetism and loses its magnetic properties, that is, the data becomes invalid. Thirdly, the magnetic material that is inherently magnetic is easily damaged after repeated collisions and frictions, and even causes the failure of the magnetic scale. Finally, the magnetic scale has certain difficulties in terms of material composition and production process difficulty, so the cost is relatively high.

[0044] Therefore, in the embodiments of the present disclosure, compared with other magnetic materials that are inherently magnetic, ferromagnetic materials have extremely strong defense against adverse factors such as metal or non-metal debris, high temperature, oil pollution, high humidity, etc. in the use environment, and have higher wear resistance. Therefore, the magnetic scale device of the present disclosure has higher reliability.

[0045] like Figure 1 As shown, the scale body 10 has a length direction in the transverse direction and a width direction perpendicular to the length direction. The predetermined coding pattern of the scale body 10 divides the ferromagnetic material into non-centrally symmetrical discontinuous shapes in the width direction. Figure 1 In the width direction of the scale body 10, a Z-shaped or reverse Z-shaped coding pattern is used, which makes it non-centrally symmetrical in the width direction, so that the structurally balanced transition magnetic field formed by the magnetizing device 20 may be extended or shortened, making it unbalanced, so as to mark the specific position of the coding pattern. For each Z-shaped or reverse Z-shaped opening, the opening length or width in the length direction of the scale body 10 may be different, or the opening length in the width direction of the scale body 10 may also be different, thereby forming a variety of opening sizes. Alternatively, each opening of the scale body 10 may not be located at the center of the width direction of the scale body 10, thereby dividing the ferromagnetic material into non-centrally symmetrical discontinuous shapes in the width direction.

[0046] In addition, the predetermined coding pattern on the scale body 10 makes the ferromagnetic material discontinuous in the length direction. Figure 1 As shown, a plurality of discontinuous Z-shaped or reverse Z-shaped openings are formed in the length direction of the scale body 10, and two adjacent openings are discontinuous. Different openings extend or shorten the structurally balanced transition magnetic field formed by the magnetizing device 20 in different ways, thereby calibrating the position of the magnetizing device relative to the scale body.

[0047] Figure 1The magnetization device 20 in may include a magnet. A magnet is a substance or material that can generate a magnetic field, such as a permanent magnet that can maintain its magnetism for a long time. A permanent magnet is a hard magnet that is not easy to lose magnetism. In other words, a magnet is a substance or material that has magnetism itself. In an embodiment of the present disclosure, the magnet can form a structurally balanced transition magnetic field. The magnets can be arranged in different ways. As an example, the magnet can be a pair of magnets arranged oppositely; or, the magnet can also be a single magnet with a relative structure, such as a U-shaped magnet. In addition to the magnet, the magnetization device may also include other devices, such as devices for supporting or fixing the magnet.

[0048] Figure 2 It's a picture. Figure 1 Schematic diagram of the magnetic field detector and magnetization device in the magnetic scale equipment. Figure 2 In the embodiment, the magnets are a first magnet and a second magnet arranged in parallel with each other (such as Figure 2 ), the first polarity direction of the first magnet and the second polarity direction of the second magnet are opposite. As an example, the first polarity direction of the first magnet is south at the top and north at the bottom, while the second polarity direction of the second magnet is north at the top and south at the bottom; or, the first polarity direction of the first magnet is north at the top and south at the bottom, while the second polarity direction of the second magnet is south at the bottom and north at the bottom. The magnetic field detector 30 is located between the first magnet and the second magnet. For example, the first magnet and the second magnet are placed symmetrically, and the magnetic field detector 30 can be located at the center between the first magnet and the second magnet.

[0049] exist Figure 2 In the figure, the magnetic field detector 30 is shown as 6 magnetic sensing elements. As an example, the magnetic sensing element can be a Hall element or any other element capable of detecting a magnetic field. Each of the 6 magnetic sensing elements can detect the magnetic field value at its location, for example, it can detect the direction and magnitude of the magnetic field at its location. The location of the sensor can be calculated using the 6 magnetic field values ​​sensed by the 6 magnetic sensing elements. The number 6 of magnetic sensing elements mentioned above is only an example. In specific practice, it can be more or less, for example, it can be 1, 3, 4, 8, etc. The specific number of magnetic sensing elements does not constitute a limitation on the embodiments of the present disclosure. In the case of 6 magnetic field values ​​sensed by 6 magnetic sensing elements, the accuracy of the calculated location of the sensor can reach one sixteenth of a millimeter. This accuracy is only exemplary, and the specific accuracy depends on the specific algorithm.

[0050] exist Figure 2In addition to the magnetization device 20 and the magnetic field detector 30, a printed circuit board (PCB) 31 is also shown, and the PCB 31 is used to carry the magnetic field detector 30. In addition, the PCB 31 can also carry other devices in the specific application environment of the magnetic scale 100, and can also be used to transmit signals between the various devices carried, and a ground wire can also be arranged on it.

[0051] Figure 2 The first magnet and the second magnet in the scale are symmetrically placed to form a structurally balanced transition magnetic field. In other words, when the scale body 10 is not added to the transition magnetic field formed by the first magnet and the second magnet, the magnetic field detected by the magnetic field sensor at the center of the position transition magnetic field is neutral, that is, there is no obvious north and south pole characteristic. When the scale body 10 is added to the transition magnetic field formed by the first magnet and the second magnet, the scale body 10 is magnetized under the action of the first magnet and the second magnet, thereby changing the transition magnetic field so that its structure is no longer balanced. Accordingly, the scale body 10 changes the balance structure of the transition magnetic field when it is close to the magnet, so that the transition magnetic field whose balance structure has been changed can be used to form a position code for position measurement.

[0052] Figure 3 yes Figure 2 Schematic diagram of the transition magnetic field with a balanced structure formed by the magnets in the magnetization device shown. Figure 3 As shown in the arc shape, the first magnet 21 and the second magnet 22 in the magnetization device form magnetic fields respectively. Since the first polarity direction of the first magnet 21 and the second polarity direction of the second magnet 22 are opposite, the magnetic field at the intersection of the magnetic field of the first magnet 21 and the magnetic field of the second magnet 22 is neutral, that is, there is no obvious north and south pole characteristics. The symmetrical structure of the first magnet 21 and the second magnet 22 forms a balanced structure of the transition magnetic field. Figure 3 In the embodiment, the magnetic field detector 30 is located at the center between the first magnet 21 and the second magnet 22. When the magnetizing device is far away from the scale body and has no mutual magnetic field effect with the scale body, the magnetic field intensity detected by the magnetic field detector 30 is close to 0. Figure 3 In the embodiment, the magnetic field detector 30 is located at the center between the first magnet 21 and the second magnet 22, which is only an example, and it can also be located at other positions between the first magnet 21 and the second magnet 22, or even located outside one of the first magnet 21 and the second magnet 22. When the position of the magnetic field detector 30 relative to the first magnet 21 and the second magnet 22 changes, the magnetic field strength measured by the magnetic field detector 30 will also change. Accordingly, the method of calculating the position based on the magnetic field strength measured by the magnetic field detector 30 will also change.

[0053] Figure 4 Schematic diagram of the Figure 3The magnetic field distribution after the scale body 10 is placed in the transition magnetic field. When the scale body 10 is placed in the magnetic field formed by the magnet, the scale body 10 has an opening, which divides the ferromagnetic material. This is because the magnetic permeability of the air around the opening is different from the magnetic permeability of the ferromagnetic material in the scale body 10. The magnetic permeability of the air makes the magnetic permeability of the ferromagnetic material discontinuous, so that the magnetic field near the scale body 10 is extended or cut off. Figure 4 In the position of the scale body 10 without openings shown, the magnetic field formed by the magnetizing device 20 is extended; Figure 4 At the position of the scale body 10 with the opening shown, the magnetic field formed by the magnetizing device 20 is cut off. Accordingly, the scale body 10 changes the balance structure of the transition magnetic field when it is close to the magnetizing device 20. In addition, since the opening pattern of the scale body 10 is variable and discontinuous in its length direction, the balance structure of the transition magnetic field is changed in different ways at different positions in the length direction of the scale body 10, thereby forming different magnetic fields to mark the position. Accordingly, the transition magnetic field with a changed balance structure can be used to form a position code for position measurement.

[0054] According to the above description, it can be seen that in the present disclosure, a scale body 10 having a predetermined coding pattern is used to affect the balance characteristics of the magnetic field of the magnetizing device 20 when the scale body 10 is close to the magnetizing device 20, so that the magnetic field detector 30 can read the corresponding magnetic field direction and magnitude under a specific coding pattern. In the present disclosure, the predetermined coding pattern on the scale body 10 contains position coding information, and the predetermined coding pattern can change the transition magnetic field of the structural balance into a step-like mutation magnetic field corresponding to the position coding information. As described below, the step-like mutation magnetic field can represent magnetic field state information such as "1" and "0", so that the position coding information can be obtained.

[0055] like Figure 4 As shown, when the scale body 10 is located in the upper area of ​​the transition magnetic field of the magnetizing device 20, the originally symmetrical transition magnetic field will be distorted due to the newly added ferromagnetic material of the scale body 10 in the magnetic field. The magnetic field on the left will be extended by the ferromagnetic material of the scale body 10, while the magnetic field on the right will be compressed and reduced by the ferromagnetic material of the scale body 10. Assume that the magnetic field value on the left is defined as a positive number, and the magnetic field value on the right is defined as a negative number, and assume that the positive number is binary "1" and the negative number is binary "0". Therefore, the magnetic sensing element (Hall sensor) located in the center will detect the magnetic field value on the left. This magnetic field vector value can represent the approach of ferromagnetic material, and the pattern code is "1". On the contrary, if in Figure 4The magnetic field on the right side will be compressed and reduced by the ferromagnetic material of the scale body 10, while the magnetic field on the right side will be extended by the ferromagnetic material of the scale body 10. Then the magnetic sensing element located in the center will detect the magnetic field value on the right side, which can represent that there is a ferromagnetic material approaching, and the pattern code is "0". The scale body 10 disclosed in the present invention may only contain position coding information, but not other graphic information. When the distance between the scale body 10 and the magnetizing device is less than the predetermined distance, for example, a magnetic field with alternating transition of magnetization polarity will occur in the center line area of ​​the scale body 10, that is, a step mutation magnetic field. The step mutation magnetic field may be different from other magnetic fields, such as a sinusoidal periodic alternating magnetic field.

[0056] For the position coding corresponding to the predetermined coding pattern of the scale body 10, in addition to the positive and negative values ​​("0" or "1") detected by the magnetic field detector 30 as mentioned above, the predetermined coding pattern of the scale body 10 changes the transition magnetic field of the magnet into the step-change magnetic field; the magnetic field detector 30 may include a plurality of magnetic sensing elements for detecting a plurality of magnetic field values ​​of the step-change magnetic field, so that accurate position information can be obtained. When the magnetic field detector 30 is less than a predetermined distance from the scale body 10, the magnetic field detector 30 can detect the magnetic field data of the approximately sinusoidal periodic alternation in the step-change magnetic field. The approximately sinusoidal periodic alternation magnetic field data can further accurately locate the position of the magnetic field detector 30. It should be noted that, because the approximately sinusoidal periodic alternation magnetic field data is the magnetic field data at a specific position in the spatial magnetic field formed by the scale body 10 and the magnetizing device 20 having a specific positional relationship, it is not the information of the scale body 10, that is, the approximately sinusoidal periodic alternation magnetic field information is not solidified on the scale body 10. The approximate sinusoidal periodic alternation here is not a mathematical sinusoidal relationship, but a plurality of magnetic field data form a shape feature similar to a sine wave, which has nothing to do with the phase of the sine wave.

[0057] As an example, the magnetic field detector 30 may include 16 magnetic sensing elements, which sense the absolute position encoding of continuous 16-bit binary digits, that is, the encoding "1" or "0" mentioned above, and use the combination of the 16-bit "1" or "0" to indicate the position. The number of continuous sensing elements can affect the overall length of the absolute position encoding scale. On the other hand, 6 of the 16 magnetic sensing elements can be placed continuously. The magnetic field vector value, including the direction and value of the magnetic field, can be sensed by using the multiple magnetic sensing elements placed continuously. The absolute position of the magnetic field sensor 30 is calculated based on the magnetic field vector values ​​sensed by the continuous 6 magnetic sensing elements, and the accuracy can be as high as about one sixteenth of a millimeter.

[0058] In the present disclosure, the magnetization device 20 and the magnetic field detector 30 have a relatively small size and can be placed in a relatively closed space, which has little impact on external metal materials, thereby improving the reliability of the magnetic scale device 100.

[0059] In the magnetic scale device 100 as described above according to the present disclosure, the scale body 10 is made of ferromagnetic material, and the magnetic field formed by the magnet is changed in different ways at different positions of the scale body by using the predetermined coding pattern of the scale body 10, so that position measurement can be performed by detecting the changed magnetic field. This position measurement method is reliable and accurate.

[0060] The scale body 10 of the magnetic scale device 100 is made of ferromagnetic material. Ferromagnetic material is originally a non-magnetic material. It will have magnetism under the action of a magnetic field, and the ferromagnetic material can be magnetized under the action of a very small magnetic field. Compared with other magnetic materials that are originally magnetic, ferromagnetic materials have extremely strong defense against adverse factors such as metal or non-metallic debris, high temperature, oil pollution, high humidity, etc. in the use environment, and have high wear resistance. Therefore, the magnetic scale device disclosed in the present invention has a high reliability. In addition, the magnetism of the scale body 10 with ferromagnetic material disappears soon after leaving the magnetization device 20, so it does not have the characteristic of adsorbing metal dust. The scale body 10 is only formed by engraving and punching the ferromagnetic material to form a predetermined coding pattern. There is no need to stick flexible magnetic material or a two-dimensional code mark on the scale body 10. Therefore, the manufacturing process is simple and the material composition is simple, so the failure factor during use will be greatly reduced.

[0061] The magnetization device 20 and the magnetic field detector 30 that move relative to the scale body 10 are relatively small in size and can be placed in a relatively closed environment, and their working characteristics are less affected by the environment. Therefore, the magnetic scale device in the present disclosure selects a specific ferromagnetic material to form the scale body, appropriately matches the scale body and the magnet, and uses a predetermined coding pattern of the scale body to detect different positions of the scale body, thereby avoiding the adverse effects of environmental factors on the magnetic scale device, providing reliable magnetic field data, and being able to perform accurate and reliable position measurement based on the reliable magnetic field data.

[0062] Figure 5 It is a schematic diagram. Figure 1 A side view of a first embodiment of a magnetic scale device 100 is shown. Figure 5 In the embodiment, the magnetizing device 20 is located between the scale body 10 and the magnetic field detector 30, and the magnetic field detector 30 is arranged on the PCB 31. The magnetizing device 20, the magnetic field detector 30 and the PCB 31 form a code reading device. The code reading device is used to read the magnetic field that changes depending on the coding pattern of the scale body 10, so that the position of the magnetic field detector 30 can be identified according to the change of the magnetic field.

[0063] like Figure 5 As shown, the magnetizing device 20 is composed of a pair of magnets with opposite polarity directions, which are respectively arranged on both sides of the width direction of the scale body 10. The scale body 10 is engraved with a predetermined special pattern in the width direction to divide the width of the scale body 10 in the left and right directions. Therefore, the magnetic field of the magnetizing device 20 can be extended in the width direction of the scale body 10, that is, the north and south pole magnetic fields of the magnetizing device 20, which originally have a balanced structure, are extended or reduced according to a specific rule of the magnetic field under the action of the scale body 10. Figure 5 The centers of the transition magnetic fields of the two magnets in the magnetizing device 20 form a balance point, and the magnetic field detector 30 is located at the center of the transition magnetic field and detects the magnetic field after the transition magnetic field is changed under the action of the scale body 10. The magnetic field detector 30 includes a detection surface facing the magnetic field to be detected and a back surface opposite to the detection surface. Figure 5 The center of the scale body 10 in width is located at the center of the transition magnetic field, and the surface of the scale body 10 is opposite to and parallel to the detection surface of the magnetic field detector 30. When working, the magnetizing device 20 is close to any section of the scale body 10, and its function is to magnetize the scale body 10 and form a magnetic field with a predetermined structure with the scale body 10.

[0064] Figure 5 In the embodiment of the magnetic scale device 100 shown, since the magnetic field detector 30 and the scale body 10 are located at the center of the transition magnetic field, the arrangement is relatively simple, and the amount of calculation for subsequent position identification using coding is reduced to a certain extent. However, depending on specific needs and application scenarios, the magnetic field detector 30 may not be located at the center of the transition magnetic field, and the scale body 10 may not be located at the center of the transition magnetic field.

[0065] Figure 6 It is a schematic diagram. Figure 1 A side view of a second specific embodiment of a magnetic scale device 100 is shown. Figure 6 The second embodiment of Figure 5 The difference from the first embodiment is that the positions of the magnetization device 20 and the magnetic field detector 30 are changed. Figure 6 In the embodiment, the magnetizing device 20, the magnetic field detector 30 and the PCB 31 form a code reading device. The code reading device is used to read the magnetic field that changes depending on the code pattern of the scale body 10, so that the position of the magnetic field detector 30 can be identified according to the change of the magnetic field.

[0066] exist Figure 6In the embodiment, the magnetic field detector 30 is located between the magnetizing device 20 and the scale body 10, the magnetizing device 20 is located on the back side of the magnetic field detector 30, and the magnetic field detector 30 is arranged on the PCB 31. In other words, the detection surface of the magnetic field detector 30 faces the scale body 10, and the magnetizing device 20 is located on the back side of the magnetic field detector 30 opposite to the detection surface, and is farther away from the scale body 10 than the magnetic field detector. When working, the magnetizing device 20 is close to any section of the scale body 10, and its function is to magnetize the scale body 10 and form a magnetic field with a specific structure with the scale body 10. The magnetic field detector 30 can be composed of a plurality of Hall elements, for example, and is located in the magnetic field formed by the magnetizing device 20 and the scale body 10.

[0067] exist Figure 6 In the embodiment, the magnetizing device 20 is located on the back of the magnetic field sensor 30 and is farther away from the scale body 10 , which reduces the influence of the magnetizing device 20 on the external metal material and further improves the reliability of the magnetic scale device 100 . Figure 6 For details of each device in the Figure 1-5 Description of what is being done.

[0068] As described above, the scale body 10 of the present disclosure can be formed into a predetermined coding pattern by engraving or punching a ferromagnetic material. The magnetic permeability of the coding area is different from the magnetic permeability of the non-coding area, so that after the ferromagnetic material is magnetized, the areas with different patterns can interact with the magnetizing device in different ways to form a code to measure the position. The following is a schematic example of an open hole coding pattern formed by punching to help better understand the design of the coding pattern.

[0069] Figure 7 The first coding pattern of the scale body in the magnetic scale device according to the embodiment of the present disclosure is schematically illustrated. Figure 7 In the first coding pattern, a plurality of Z-shaped and reverse Z-shaped opening coding patterns are used. Figure 7 In the Z-shaped opening coding pattern, the sizes in the length direction of the scale body 10 can be different, and the sizes in the width direction of the scale body 10 can be different, that is, Z-shaped openings with different sizes are formed; the width of the reverse Z-shaped opening coding pattern can be different in the length direction of the scale body 10, and the sizes in the width direction of the scale body 10 can be different, that is, reverse Z-shaped openings with different sizes are formed. The magnetic permeability of the air in the opening area is different from the magnetic permeability of the ferromagnetic material in the scale body 10. When the magnetization device is close to the scale body 10, the Z-shaped or reverse Z-shaped openings with different sizes will form magnetic fields with different structures with the magnetization device. Figure 7In the figure, each zigzag or reverse zigzag opening is shown to have substantially the same size in the width direction of the scale body 10, which is only an example. If necessary, the zigzag or reverse zigzag openings can have different sizes in the width direction of the scale body 10.

[0070] Figure 8 The second coding pattern of the scale body in the magnetic scale device according to the embodiment of the present disclosure is schematically illustrated. Figure 8 In the second coding pattern, two lines of straight-line opening coding patterns are used. The number of lines of the opening coding pattern is not limited to two, and it can be one line, three lines, etc. as needed. Figure 8 In the embodiment, each straight-line opening may have different sizes, such as different lengths and widths, and the distances from each straight-line opening to the center line of the scale body in the width direction may be different. The magnetic permeability of the air in the opening area is different from the magnetic permeability of the ferromagnetic material in the scale body 10. When the magnetizing device is close to the scale body 10, the straight-line openings with different sizes will form magnetic fields with different structures with the magnetizing device, and the structure of the magnetic field corresponds to the opening coding pattern.

[0071] Fig. 9 The third coding pattern of the scale body in the magnetic scale device according to the embodiment of the present disclosure is schematically illustrated. Fig. 9 In the third coding pattern, two rows of U-shaped opening coding patterns are used, and the openings of the U-shaped openings face the center line of the scale body 10. Alternatively, the openings of the U-shaped openings can also face the edge of the scale body 10, and the opening direction of the U-shaped openings or the number of rows of U-shaped openings does not constitute a limitation to the embodiments of the present disclosure. Each U-shaped opening can have different sizes, such as different lengths and widths, and the distance from each U-shaped opening to the center line of the scale body in the width direction can be different. The magnetic permeability of the air in the opening area is different from the magnetic permeability of the ferromagnetic material in the scale body 10. When the magnetization device is close to the scale body 10, the straight openings with different sizes will form magnetic fields with different structures with the magnetization device, and the structure of the magnetic field corresponds to the opening coding pattern.

[0072] Fig.10 The fourth coding pattern of the scale body in the magnetic scale device according to the embodiment of the present disclosure is schematically illustrated. Fig.10 In the fourth coding pattern, a short-line combination opening coding pattern is adopted, wherein short-line openings of different lengths are used as the basic components of the coding pattern, and are combined in the length and width directions of the scale body to form the required coding pattern. The magnetic permeability of the air in the opening area is different from the magnetic permeability of the ferromagnetic material in the scale body 10. When the magnetizing device is close to the scale body 10, the openings with short lines of different sizes will form magnetic fields with different structures with the magnetizing device, and the structure of the magnetic field corresponds to the opening coding pattern.

[0073] exist Figure 7-10 In any of the open hole coding patterns shown in FIG. 1 , the predetermined coding pattern of the scale body 10 divides the ferromagnetic material into non-centrosymmetrical discontinuous shapes in the width direction, for example Figure 7 The alternating arrangement of Z-shaped openings and reverse Z-shaped openings, Figure 8 The staggered arrangement of the two rows of straight-line openings in the Fig. 9 The staggered arrangement of the two rows of U-shaped openings in the Fig.10 In addition, the predetermined coding pattern of the scale body makes the ferromagnetic material discontinuous in the length direction, for example, Figure 7-10 Any of the plurality of intermittent openings in the length direction, and adjacent openings have different arrangements. When a portion of the opening coding pattern of the scale body 10 approaches the magnetizing device, the balance structure of the transition magnetic field of the magnetizing device is changed, and the transition magnetic field whose balance structure has been changed is used to form a position code for position measurement.

[0074] Combination Figure 1-10 The described magnetic scale device can be used for position measurement. As described above, the magnetic field detector 30 in the magnetic scale device can detect different magnetic field characteristics, which correspond to the coding pattern on the scale body. By calculating the detected magnetic field characteristics, the corresponding position of the scale body can be calculated, and then the position of the magnetic field detector relative to the scale body 10 can be calculated, that is, the position measurement is performed. In an elevator system, the measured position can be transmitted to the elevator control system to realize the operation and protection control of the elevator. In a machine tool system, the measured position can be transmitted to the machine tool control system to realize the operation and protection control of the machine tool.

[0075] Fig.11 FIG. 2 is a schematic diagram illustrating the structure of a position measurement device 200 for an elevator according to an embodiment of the present disclosure. Fig.11 As shown, according to an embodiment of the present disclosure, a position measuring device 200 for an elevator may include: a scale body 10, which is made of ferromagnetic material and has a predetermined coding pattern; a magnetizing device 20, which includes a magnet, which forms a structurally balanced transition magnetic field, and the scale body is capable of changing the transition magnetic field; a magnetic field detector 30, which is located in the transition magnetic field and is used to detect the magnetic field formed by the magnetizing device under the action of the scale body 10; and a position processor 40, which is used to measure the position of the magnetic field detector relative to the scale body according to the magnetic field detected by the magnetic field detector 30 when the magnetizing device 20 moves relative to the scale body 10.

[0076] Fig.11The specific implementation and operation of the scale body 10, the magnetizing device 20 and the magnetic field detector 30 in the position measurement device 200 can be referred to in conjunction with the above. Figure 1-10 The scale body 10, magnetizing device 20 and magnetic field detector 30 are described. The position processor 40 in the position measurement device 200 is used to measure the position of the magnetic field detector 30 relative to the scale body 10 according to the magnetic field detected by the magnetic field detector 30 when the magnetizing device 20 moves relative to the scale body 10.

[0077] The position processor 40 may be connected to the magnetic field detector 30 via a wired communication method to receive magnetic field data from the magnetic field detector 30. Alternatively, the position processor 40 may be connected to the magnetic field detector 30 via a wireless communication method. Wired communication methods include, for example, wires, transmission lines of printed circuit boards, etc. Wireless communication methods include, for example, infrared communication, Bluetooth communication, near field communication, etc. The communication method between the position processor 40 and the magnetic field detector 30 does not constitute a limitation to the present disclosure.

[0078] The position processor 40 can be implemented by various processors, for example, a general-purpose processor, a dedicated processor, a field programmable logic array FPGA, a microprocessor, etc. The position processor 40 works in conjunction with a memory for storing a control program. When the position processor 40 runs the control program in the memory, the generated control instructions enable the position processor 40 to measure the position of the magnetic field detector 30 relative to the scale body 10 according to the magnetic field detected by the magnetic field detector 30.

[0079] As above combined Figure 3 and Figure 4 As described above, when the scale body 10 is located in the region above the transition magnetic field of the magnetizing device 20, the originally symmetrical transition magnetic field will be extended or compressed due to the scale body 10 of the ferromagnetic material added to the magnetic field. The position processor 40 can use the extended or compressed magnetic field to represent the binary "1" and "0" respectively, and use the binary number to identify the corresponding coding pattern, and calculate the position of the magnetic field detector 30 relative to the scale body 10. For a specific position to be measured, multiple magnetic sensing elements can be used to measure the magnetic field, such as Figure 2 The six magnetic sensing elements are placed continuously in the image sensor 30, and the six magnetic sensing elements sense the magnetic field vector value, including the direction and value of the magnetic field. The position processor 40 can calculate the absolute position of the magnetic field sensor 30 according to the magnetic field vector values ​​sensed by the six magnetic sensing elements.

[0080] exist Fig.11In the embodiment, the position measuring device 200 is illustrated as being used in an elevator control system, and in the present disclosure, the position measuring device 200 is described by taking the elevator control system as an example. However, the position measuring device 200 can also be used in other systems, such as a machine tool control system.

[0081] like Fig.11 As shown in the vertical direction, the scale body 10 can be deployed in a hoistway (not shown) in which an elevator runs, for example, vertically fixed on the wall of the hoistway. Fig.11 The scale body 10 in the embodiment is vertically covered with openings, but one or more vertical sections of the scale body 10 may be free of openings and may have, for example, only a hole coding pattern near an elevator stop.

[0082] exist Fig.11 In the embodiment, the magnetization device 20, the magnetic field detector 30 and the position processor 40 can be located in the bridge car 210 of the elevator. The magnetization device 20 and the magnetic field detector 30 have a small size. When placed in a relatively closed space such as a car, they have little impact on external metal materials, thereby improving the reliability of the position measurement device 200. Alternatively, the magnetization device 20 and the magnetic field detector 30 can be located in the car, and the position processor 40 can be located in an elevator control system that is communicatively connected to the bridge car of the elevator. Alternatively, the magnetization device 20 and the magnetic field detector 30 can also be attached to the outer wall of the bridge car. The specific locations of the magnetization device 20, the magnetic field detector 30 and the position processor 40 in the elevator system do not constitute a limitation on the embodiments of the present disclosure.

[0083] The scale body 10 is continuously arranged in the space to be measured, such as a shaft. The ferromagnetic material of the scale body 10 is a non-magnetic material that becomes magnetic, i.e., magnetized, under the action of a magnetic field. The magnetism of the ferromagnetic material disappears when the distance from the magnet of the magnetizing device 20 exceeds a predetermined distance value. The scale body 10 will not absorb other metal fragments in the shaft.

[0084] The ferromagnetic material may be, for example, ferritic stainless steel or conventional ferromagnetic material subjected to electroplating. Ferritic stainless steel or conventional ferromagnetic material subjected to electroplating will not suffer from general corrosion or rust, can resist conventional mechanical collision and friction, are not easily affected by adverse environmental factors such as high temperature and high humidity, and have excellent environmental tolerance. When the scale body 10 is made of ferromagnetic material, even if the scale body is contaminated with water, dust, and other materials in the well, it will not affect the magnetic field, and is not afraid of interference factors such as smoke, so the working performance is more reliable.

[0085] The scale body in the position measurement device 200 has a predetermined coding pattern. The predetermined coding pattern divides the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction and makes the ferromagnetic material discontinuous in the length direction. As an example, the predetermined coding pattern can be Figure 7-10 Any coding pattern in, and specific reference can be made to the above combined Figure 7-10 Description of the process.

[0086] When the bridge 210 moves in the hoistway, the magnetizing device 20 and the magnetic field detector 30 also move relative to the scale body 10. The magnetizing device 20 forms a transition magnetic field of a balanced structure. When the magnetizing device 20 and the magnetic field detector 30 are close to the scale body 10, the scale body 10 is magnetized by the magnet in the magnetizing device 20 and changes the balance structure of the transition magnetic field formed by the magnet. The magnetic field detector 30 detects the transition magnetic field whose balance structure has been changed, and transmits the detected magnetic field value to the position processor 40. The position processor 40 measures the position of the magnetic field detector 30 relative to the scale body 10 based on the detected magnetic field value.

[0087] Fig.11 The magnets in the magnetizing device 20 are shown as a pair of magnets. The pair of magnets includes Fig.11 The first magnet and the second magnet shown by the oblique lines in the figure have a first polarity direction of the first magnet and a second polarity direction of the second magnet that are opposite. The pair of magnets forms a transition magnetic field with a structural balance. When the pair of magnets is far away from the scale body 10, the magnetic field detected by the magnetic field sensor 30 at the center of the position transition magnetic field is neutral, that is, there is no obvious north and south pole characteristic. When the pair of magnets is close to the scale body 10, the scale body 10 is magnetized under the action of the first magnet and the second magnet, thereby changing the transition magnetic field so that its structure is no longer balanced, so that the transition magnetic field whose balanced structure has been changed can be used to form a position code for position measurement. Alternatively, the magnet may be a single magnet with a relative structure, such as a U-shaped magnet.

[0088] Fig.11 The center of the transition magnetic field of the magnet shown forms a balance point. The magnetic field detector 30 can be located at the center of the transition magnetic field and detect the magnetic field after the transition magnetic field is changed by the scale body. In addition, the center of the scale body 10 in width can be located at the center of the transition magnetic field, and the surface of the scale body 10 is parallel to the detection surface of the magnetic field detector 30.

[0089] The magnetic field sensor 30 may include a plurality of magnetic sensing elements, such as Figure 2 The relative position between the magnetizing device 20 and the magnetic field sensor 30 can be Figure 5Alternatively, the relative position between the magnetizing device 20 and the magnetic field sensor 30 may also be Figure 6 That is, the detection surface of the magnetic field detector 30 faces the scale body 10, and the magnetizing device 20 is located on the back side of the magnetic field detector opposite to the detection surface, and is farther away from the scale body 10 than the magnetic field detector 30. In the case where the magnetizing device 20 is located on the back side of the magnetic field sensor 30, it is farther away from the scale body 10, which reduces the influence of the magnetizing device 20 on the external metal material and further improves the reliability of the position measurement device 200. In the case where the magnetic material is a U-shaped magnet, other than Figure 5 and Figure 6 The relative positional relationship between the magnetizing device 20 and the magnetic field sensor 30 in forms other than the illustrated arrangement does not constitute a limitation to the embodiments of the present disclosure.

[0090] Therefore, in the position measurement device 200 of the present disclosure, a specific ferromagnetic material is selected for the scale body to properly cooperate between the scale body and the magnetization device, and a predetermined coding pattern of the scale body is used to determine different positions of the scale body, thereby avoiding the adverse effects of environmental factors on the magnetic scale device, providing reliable magnetic field data, and being able to perform accurate and reliable position measurement based on the reliable magnetic field value.

[0091] Fig.12 FIG. 3 is a flow chart schematically illustrating a position measurement method 300 according to an embodiment of the present disclosure. The position measurement method 300 may be used as follows: Fig.11 The position measuring device shown and can be found in Fig.11 and combination Fig.11 The position measurement device may include a scale body made of ferromagnetic material, a magnetizing device including a magnet, a magnetic field detector and a position processor, the scale body having a predetermined encoding pattern, and the magnet forming a structurally balanced transition magnetic field.

[0092] The position measurement method 300 comprises: placing the magnetic field detector in the transition magnetic field (310); when the magnetization device moves relative to the scale body, using the magnetic field detector to detect the magnetic field value of the transition magnetic field that changes under the action of the scale body (320); transmitting the magnetic field value to the position processor (330); and the position processor calculating the position of the magnetic field detector relative to the scale body according to the magnetic field value detected by the magnetic field detector (340).

[0093] In 310, the magnetic field detector is placed in the transition magnetic field of the structural equilibrium. The magnetic field detector can be located at the center of the transition magnetic field of the structural equilibrium, or at a position deviated from the center of the transition magnetic field of the structural equilibrium. The detection surface of the magnetic field detector can be as follows: Figure 6 As shown, the magnetic field detector faces away from the magnetizing device and faces the scale body. Alternatively, the detection surface of the magnetic field detector may also face both the magnetizing device and the scale body. Alternatively, the magnetic field detector may be on the same line as the magnetizing device. The specific position of the magnetic field detector may vary according to the magnet in the magnetizing device, or according to the specific measurement environment, measurement requirements, etc. For the position of the magnetic field detector, please refer to the previous description in conjunction with Figure 2 , Figure 5 , Figure 6 and Fig.11 diagram and related description.

[0094] In 320, when the magnetizing device moves relative to the scale body, the magnetic field detector is used to detect the magnetic field value of the transition magnetic field that changes under the action of the scale body. In the example of the elevator system, for example, when the bridge car moves relative to the scale body, the magnetic field detector is used to detect the magnetic field value of the transition magnetic field that changes under the action of the scale body. The determined magnetic field value can be a binary value, such as a coding pattern located on the left or right side of the magnetic field detector to indicate "0" or "1", or a magnetic field vector value including the magnitude and direction of the magnetic field. The magnetic field detector can include multiple magnetic sensing elements to obtain multiple magnetic field data or magnetic field vector values. The form and number of the detected magnetic field values ​​for position measurement can be changed according to the accuracy of position calculation, the method of position calculation, etc.

[0095] At 330, the magnetic field value is transmitted to the position processor. The magnetic field sensor is a component used to convert a magnetic field signal into an electrical signal. Accordingly, the magnetic field data can be transmitted to the position processor for processing in a wired or wireless manner. The transmission method used can be set as needed.

[0096] In 340, the position processor calculates the position of the magnetic field detector relative to the scale body according to the magnetic field value detected by the magnetic field detector. The position processor can use the extended or compressed magnetic field to represent binary "1" and "0" respectively, use the binary number to identify the corresponding coding pattern, and calculate the position of the magnetic field detector relative to the scale body. In the case of measuring the magnetic field data using multiple magnetic sensing elements in 330, if the magnetic sensing elements sense the magnetic field vector value, including the direction and value of the magnetic field, the position processor can calculate the position of the magnetic field sensor according to multiple consecutive magnetic field vector values. The coding pattern of the scale body is fixed, and when the structure of the position measurement device is fixed, the magnetic field data generated by the interaction between the scale body and the magnet is also predictable. This allows the position processor to measure the position based on the generated magnetic field data.

[0097] In the position measurement method disclosed in the present invention, based on the predetermined coding pattern on the scale body, the position corresponding to the predetermined coding pattern is measured by measuring the change of the magnetic field of the magnet under the influence of the predetermined coding pattern of the scale body, thereby performing position measurement.

[0098] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0099] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0100] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0101] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0102] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0103] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0104] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A magnetic scale device, comprising: The scale body is made of ferromagnetic material and has a predetermined coding pattern; A magnetizing device, comprising a magnet, the magnet forms a structurally balanced transition magnetic field, and the scale body is capable of changing the transition magnetic field; A magnetic field detector is located in the transition magnetic field and is used to detect the magnetic field formed by the magnetization device under the action of the scale body. Wherein, the magnets are a first magnet and a second magnet arranged opposite to each other, and a first polarity direction of the first magnet and a second polarity direction of the second magnet are opposite to each other; or The magnet is a single magnet with a relative structure, The predetermined coding pattern of the scale body makes the ferromagnetic material discontinuous in the length direction and changes the balance structure of the transition magnetic field when approaching the magnet, thereby using the transition magnetic field whose balance structure has been changed to form a position code for position measurement.

2. The magnetic scale device according to claim 1, wherein: The scale body is continuously arranged in a space to be measured, and the magnetism of the ferromagnetic material disappears when the distance from the magnet exceeds a predetermined distance value.

3. The magnetic scale device according to claim 1, wherein: The predetermined coding pattern of the scale body divides the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction.

4. The magnetic scale device according to claim 1, wherein: The ferromagnetic material includes at least one of ferritic stainless steel and conventional ferromagnetic material subjected to electroplating treatment.

5. The magnetic scale device according to claim 1, wherein: The center of the transition magnetic field of this magnet forms an equilibrium point, The magnetic field detector is located at the center of the transition magnetic field, and detects the magnetic field after the transition magnetic field is changed under the action of the scale body.

6. The magnetic scale device according to claim 1, wherein: The center of the transition magnetic field of this magnet forms an equilibrium point, The center of the scale body in width is located at the center of the transition magnetic field, and the surface of the scale body is parallel to the detection surface of the magnetic field detector.

7. The magnetic scale device according to claim 1, wherein: The detection surface of the magnetic field detector faces the scale body, and the magnetization device is located on the back side of the magnetic field detector opposite to the detection surface and is farther away from the scale body than the magnetic field detector.

8. The magnetic scale device according to claim 1, wherein: The predetermined coding pattern on the scale body includes position coding information, and the predetermined coding pattern can change the transition magnetic field of the structural balance into a step-change magnetic field corresponding to the position coding information; The magnetic field detector comprises a plurality of magnetic sensing elements for detecting magnetic field data of approximately sinusoidal periodic alternation in the step-like sudden change magnetic field for position measurement.

9. A position measurement device comprising: The scale body is made of ferromagnetic material and has a predetermined coding pattern; A magnetizing device, comprising a magnet, the magnet forms a structurally balanced transition magnetic field, and the scale body is capable of changing the transition magnetic field; A magnetic field detector, located in the transition magnetic field, for detecting the magnetic field formed by the magnetization device under the action of the scale body; and a position processor for measuring the position of the magnetic field detector relative to the scale body according to the magnetic field detected by the magnetic field detector when the magnetizing device moves relative to the scale body, Wherein, the magnets are a first magnet and a second magnet arranged opposite to each other, and a first polarity direction of the first magnet and a second polarity direction of the second magnet are opposite to each other; or The magnet is a single magnet with a relative structure, The predetermined coding pattern of the scale body makes the ferromagnetic material discontinuous in the length direction and changes the balance structure of the transition magnetic field when approaching the magnet, thereby using the transition magnetic field whose balance structure has been changed to form a position code for position measurement.

10. The position measuring device according to claim 9, wherein: The scale body is continuously arranged in a space to be measured, and the magnetism of the ferromagnetic material disappears when the distance from the magnet exceeds a predetermined distance value.

11. The position measuring device according to claim 9, wherein: The predetermined coding pattern of the scale body divides the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction.

12. The position measuring device according to claim 9, wherein: The ferromagnetic material includes at least one of ferritic stainless steel and conventional ferromagnetic material subjected to electroplating treatment.

13. The position measuring device according to claim 9, wherein: The center of the transition magnetic field of this magnet forms an equilibrium point, The magnetic field detector is located at the center of the transition magnetic field, and detects the magnetic field after the transition magnetic field is changed under the action of the scale body.

14. The position measuring device according to claim 9, wherein: The center of the transition magnetic field of this magnet forms an equilibrium point, The center of the scale body in width is located at the center of the transition magnetic field, and the surface of the scale body is parallel to the detection surface of the magnetic field detector.

15. The position measuring device according to claim 9, wherein: The detection surface of the magnetic field detector faces the scale body, and the magnetization device is located on the back side of the magnetic field detector opposite to the detection surface and is farther away from the scale body than the magnetic field detector.

16. The position measuring device according to claim 9, wherein: The predetermined coding pattern on the scale body includes position coding information, and the predetermined coding pattern can change the transition magnetic field of the structural balance into a step-change magnetic field corresponding to the position coding information; The magnetic field detector comprises a plurality of magnetic sensing elements for detecting magnetic field data of approximately sinusoidal periodic alternation in the step-like sudden change magnetic field for position measurement.

17. A position measuring device according to any one of claims 9 to 16, wherein the position measuring device is used in an elevator control system, the scale body is deployed in a shaft in which the elevator runs, and the magnetization device, the magnetic field detector and the position processor are located on the elevator bridge.

18. A position measurement method for a position measurement device, the position measurement device comprising a scale body made of ferromagnetic material, a magnetizing device comprising a magnet, a magnetic field detector and a position processor, the scale body having a predetermined coding pattern, the magnet forming a structurally balanced transition magnetic field, the position measurement method comprising: placing the magnetic field detector in the transition magnetic field; When the magnetizing device moves relative to the scale body, the magnetic field detector is used to detect the magnetic field value of the transition magnetic field changed under the action of the scale body; transmitting the magnetic field value to the position processor; The position processor calculates the position of the magnetic field detector relative to the scale body according to the magnetic field value detected by the magnetic field detector. Wherein, the magnets are a first magnet and a second magnet arranged opposite to each other, and a first polarity direction of the first magnet and a second polarity direction of the second magnet are opposite to each other; or The magnet is a single magnet with a relative structure, The predetermined coding pattern of the scale body makes the ferromagnetic material discontinuous in the length direction and changes the balance structure of the transition magnetic field when approaching the magnet, thereby using the transition magnetic field whose balance structure has been changed to form a position code for position measurement.

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