Method for measuring position of magnetic grid encoder and magnetic grid encoder

Abstract

The application discloses a position measuring method of a magnetic grid encoder and the magnetic grid encoder. The position measuring method of the magnetic grid encoder comprises the following steps: acquiring a splicing difference value used for representing the relative distance between adjacent segments; acquiring the position encoding information read by one reading part located on the segment as initial measuring position information; determining the segment where the reading part is located according to the initial measuring position information to obtain segment information; and obtaining position measuring data according to the initial measuring position information, the splicing difference value and the segment information. The position measuring method has the advantages of accurate positioning and convenient use.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of industrial control equipment, in particular to a position measurement method of a magnetic encoder and the magnetic encoder. BACKGROUND

[0002] The magnetic encoder is a commonly used industrial control component, which is often used to measure the relative position of the components of industrial equipment. The existing magnetic encoder is usually composed of a non-segmented magnetic ruler and a reading part, and the non-segmented magnetic ruler limits the application of the magnetic encoder. For example, if there is an obstacle at the preset position of the magnetic ruler, the design needs to be changed to adapt to the magnetic ruler, and the installation and use are not flexible enough. The structure of the existing magnetic encoder limits the use of production designers, so how to make the use of the magnetic encoder more flexible is a technical problem that needs to be solved by the technical personnel in the field.

[0003] CONTENT

[0004] The present application aims to at least solve one of the technical problems in the prior art. To this end, the present application provides a position measurement method of a magnetic encoder and the magnetic encoder, which can adapt to various installation environments and is flexible and convenient to use.

[0005] The first aspect of the present application provides a position measurement method of a magnetic encoder, the magnetic encoder comprising a plurality of reading parts and a magnetic ruler, the magnetic ruler being composed of a plurality of segmented sections arranged in the same direction, the position encoding information between any two adjacent segmented sections being continuous, the reading parts being movable together, and the position measurement method comprising the following steps:

[0006] Obtaining a splicing difference value representing the relative distance between adjacent segmented sections;

[0007] Obtaining the position encoding information read by one of the reading parts located on the segmented section as initial measurement position information;

[0008] According to the initial measurement position information, determining the segmented section where the reading part is located to obtain segmented section information;

[0009] According to the initial measurement position information, the splicing difference value and the segmented section information, obtaining position measurement data.

[0010] The position measurement method of the magnetic encoder according to the first aspect of the present application has at least the following technical effects: the magnetic ruler arranged in sections can adapt to various complex installation conditions and be used flexibly; the plurality of reading units enable the present embodiment to have multiple measurement modes, for example, when the condition that at least one reading unit can read the encoding information of the magnetic ruler is met, the present application can continuously output the position measurement data, and the output position measurement data is not affected by obstacles; for another example, when the condition that at least one reading unit can read the encoding information of the magnetic ruler is not met, the present application can intermittently output the position measurement data, and the output interval represents an obstacle or a specific area; meanwhile, the plurality of reading units enable the present application to have the advantages of good redundancy and strong anti-interference capability; the sections have continuous position encoding information, so that after installation, the position encoding information of the ruler does not need to be recalibrated, and the use is convenient.

[0011] The coarse position information is acquired as a reference for calculation, so that the position measurement data can be calculated in real time according to the splicing difference value and the section information subsequently; the section in which the reading unit is located is determined according to the initial position information, the section information is obtained, the number of sections between the section in which the reading unit is located and the initial section is determined according to the section information, and the splicing difference value between these sections is accumulated to form a total splicing value; the total splicing value is used to compensate the position information of the reading unit, so that the logical position of the reading unit can be calculated.

[0012] According to the present application, the step of acquiring the splicing difference value for representing the relative distance between two adjacent sections includes the following steps:

[0013] The reading units are jointly moved along the length direction of the magnetic ruler on the magnetic ruler;

[0014] When one of the reading units moves across the sections, the duration of the lost signal is recorded;

[0015] The displacement of the other reading units in the duration is calculated to obtain the splicing difference value.

[0016] According to the present application, the step of acquiring the position encoding information read by one of the reading units located on the section as the initial position information includes the following steps:

[0017] One of the reading units is set as a main reading unit, and the other reading units are set as auxiliary reading units;

[0018] It is judged whether the main reading unit can read the position encoding information, and if yes, the position encoding information read by the main reading unit is taken as the initial position information.

[0019] According to the present application, the step of acquiring the position encoding information read by one of the reading units located on the section as the initial position information includes the following steps:

[0020] Set one of the reading units as a main reading unit, and the rest as auxiliary reading units;

[0021] Calculate an installation difference value representing the relative positions of the main reading unit and the auxiliary reading units;

[0022] Determine whether the main reading unit can read the position encoding information, and if not, use the position encoding information read by the auxiliary reading unit as the preliminary position information.

[0023] According to the embodiments of the present application, the position measurement data is obtained according to the preliminary position information, the splicing difference value and the segmentation information, including the following steps:

[0024] According to the installation difference value, the splicing difference value and the segmentation information, the preliminary position information is compensated and calculated to obtain the position measurement data.

[0025] According to the embodiments of the present application, the installation difference value representing the relative positions of the main reading unit and the auxiliary reading units is calculated, including the following steps:

[0026] Make the main reading unit and the auxiliary reading unit read the position encoding information of the same segment, calculate the position difference value of the main reading unit and the auxiliary reading unit, and obtain the installation difference value.

[0027] The second aspect of the embodiments of the present application provides a magnetic scale encoder, including:

[0028] The magnetic scale has a plurality of segments arranged along the length direction of the magnetic scale, and the position encoding information between any two adjacent segments is continuous.

[0029] The reading unit is provided with at least two reading units, which can move together along the length direction of the magnetic scale, and the reading unit is used to read the encoding information.

[0030] According to the magnetic scale encoder of the second aspect of the embodiments of the present application, at least the following technical effects are achieved: according to the magnetic scale encoder of the embodiments of the present application, at least the following technical effects are achieved: the magnetic scale is segmented, so that the magnetic scale can adapt to various use cases, for example: the distance between two adjacent segments can be adjusted as needed, and the application is flexible; there are multiple reading units, which can use different position measurement methods as needed, and have good expansibility; at the same time, the design of multiple reading units makes the embodiments of the present application have the advantage of high redundancy, and improves the anti-interference performance of the system.

[0031] According to some embodiments of the present application, two groups of magnetic scales are arranged in parallel along the length direction of the magnetic scale, and at least one of the reading units can read the encoding information.

[0032] According to the embodiment of the present application, the distance between two adjacent segments is less than the distance between the two read parts farthest apart along the length direction of the magnetic scale, and the length of each segment is greater than the distance between the two read parts closest apart along the length direction of the magnetic scale.

[0033] According to the embodiment of the present application, two groups of the magnetic scale are arranged in parallel along the length direction of the magnetic scale, and at least one read part can read the encoding information.

[0034] According to the embodiment of the present application, the segments of the two magnetic scales are staggered.

[0035] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 Flowchart of the position measurement method of the magnetic encoder of the first aspect embodiment of the present application;

[0037] Figure 2 For the position measurement method of the magnetic encoder of the first aspect embodiment of the present application, a specific method of obtaining the parameters in step S100 is shown in the diagram, and the diagrams ABCD represent four different states.

[0038] Figure 3 For the position measurement method of the magnetic encoder of the first aspect embodiment of the present application, a specific flowchart of step S200 is shown in the diagram.

[0039] Reference signs: secondary read part 201a; primary read part 201b; segment 100. DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0041] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more.

[0042] The first aspect of the present application provides a position measurement method of a magnetic grid encoder, the magnetic grid encoder comprising a plurality of reading parts and a magnetic ruler, the magnetic ruler being composed of a plurality of sections arranged in the same direction, the position encoding information between any two adjacent sections being continuous, the reading parts being movable together, the position measurement method comprising the following steps:

[0043] S100, obtaining a splicing difference value representing the relative distance between adjacent sections;

[0044] S200, obtaining the position encoding information read by one of the reading parts located on the section as initial measurement position information;

[0045] S300, determining the section in which the reading part is located according to the initial measurement position information, and obtaining section information;

[0046] S400, obtaining position measurement data according to the initial measurement position information, the splicing difference value and the section information.

[0047] Specifically, the magnetic ruler has an initial section, which serves as a positioning reference for the magnetic ruler and can be any section. Since the position encoding information is continuous, it is generally selected as the initial section. Each section has a different encoding segment. In the principle description part of the embodiment, the section at the end is selected as the initial section, and all installation difference values are positive when recorded.

[0048] The specific principle of the embodiment is as follows: in step S300, the initial position information is used to determine the segment in which the reading part is located, and the segment information is obtained. In step S400, according to the segment information, the number of segments between the segment in which the reading part is located and the initial segment is determined, and the splicing difference between these segments is accumulated to form a splicing total value; according to the splicing total value, the initial position information is compensated to calculate the position measurement data. The formula of the compensation operation is: the position information plus the splicing total value.

[0049] It can be seen from the working principle that the position measurement method of the embodiment of the application does not need to find zero after starting, and is convenient to use.

[0050] Since the position encoding information is continuous, the distance between the segments can be set as required, so it can be seen that the embodiment of the application also has the characteristics of flexible setting.

[0051] In addition, in some cases, the existing magnetic ruler can also be modified: the existing magnetic ruler is sawn to form multiple segments, and the existing magnetic ruler has continuous position encoding information, so it is not necessary to rewrite the encoding of the segments, so it can be seen that the embodiment of the application also has the advantages of low modification cost and wide application range.

[0052] According to the position measurement method of the magnetic encoder of the embodiment of the application, at least the following advantages are achieved: the magnetic ruler with segments can adapt to various complex installation conditions and is flexible to use; the multiple reading parts make the measurement method of the embodiment have multiple measurement modes to adapt to various application conditions, and some application cases are listed below to illustrate:

[0053] For example, the distance between the segments or the distance between the reading parts is adjusted to meet the condition that at least one reading part can read the encoding information of the magnetic ruler at any moment, so that the application can continuously output the logical position information, and the output logical position information is not affected by obstacles.

[0054] For another example, the distance between the segments or the distance between the reading parts is adjusted, and it is not necessary to meet the condition that at least one reading part can read the encoding information of the magnetic ruler at any moment, so that the application can intermittently output the logical position information, and the output interval represents the obstacle or the specific area, so that the position measurement method of the embodiment also has identifiable data segments and good application potential.

[0055] Meanwhile, the multiple reading parts make the application also have the advantages of good redundancy and strong anti-interference ability; the segments have continuous position encoding information, so that after installation is completed, it is not necessary to recalibrate the position encoding information of the ruler, and the application is convenient to use.

[0056] In some embodiments of the present application, in step S100, the acquisition of the splicing difference representing the relative distance between two adjacent segments includes the following steps:

[0057] Moving the reading units together along the length direction of the magnetic scale;

[0058] When one of the reading units moves across the segment, recording the duration of the lost signal;

[0059] Calculating the displacement of the other reading units in the duration to obtain the splicing difference.

[0060] Any one of the reading units can be selected to record the duration of the lost signal. If there is a reading unit that can continuously read the position information in the duration, the displacement of the reading unit is calculated as the splicing difference. If there is no reading unit that can continuously read the position information, the displacement of the whole multiple reading units in the duration is calculated as the splicing difference through the relay of multiple reading units.

[0061] Specifically, in order to conveniently and continuously measure each splicing difference, two reading units are selected for measurement, the distance between the reading units is adjusted to meet the condition that at least one reading unit can read the encoding information of the magnetic scale at any time, and one of the reading units is selected to record the duration of the lost signal. When the reading units move across the segment, one reading unit loses the signal, and the other reading unit will necessarily continuously obtain the signal. The displacement of the reading unit is recorded as the splicing difference. By dragging the reading units together along the length direction of the magnetic scale from one end to the other end of the magnetic scale, the splicing difference between two adjacent segments can be continuously obtained, which is convenient and fast. The following will be described in combination with Figure 2 Specific description of the calculation method:

[0062] One of the reading units is set as the main reading unit 201b, and the other reading units are set as the auxiliary reading units 201a. When moving across the segment, there are four different states in time sequence as shown in sub-figures A, B, C and D. The main reading unit 201b is selected to record the duration, and the auxiliary reading unit 201a is selected to measure the displacement. From A to C, the duration of the lost signal of the main reading unit 201b can be measured, and the auxiliary reading unit 201a can continuously obtain the signal in this time period. Thus, the displacement of the auxiliary reading unit 201a can be measured, and the splicing difference between two adjacent segments can be measured.

[0063] Of course, the splicing difference can also be directly measured, such as using a ruler to directly measure, using a laser range finder to directly measure, etc.

[0064] In some embodiments of the present application, in step S200, the position encoding information read by one of the reading units on the segment is obtained as the initial position information, including the following steps, referring to Figure 3 :

[0065] One of the reading units is set as the main reading unit 201b, and the rest are set as the auxiliary reading units 201a;

[0066] S210, the installation difference indicating the relative position between the main reading unit 201b and the auxiliary reading unit 201a is calculated;

[0067] S220, it is judged whether the main reading unit 201b can read the position encoding information. If yes, the position encoding information read by the main reading unit is taken as the initial position information. The relationship between the main reading unit 201a and the segment 100 is shown in FIGS. A, C and D. Figure 2

[0068] S230, it is judged whether the main reading unit 201b can read the position encoding information. If no, the position encoding information read by the auxiliary reading unit 201a is taken as the initial position information. The relationship between the auxiliary reading unit 201a and the segment 100 is shown in FIG. B. Figure 2

[0069] Specifically, one of the reading units is selected as the main reading unit 201b as the positioning reference, and the auxiliary reading unit 201a is used for correction, which can effectively improve the positioning accuracy.

[0070] The installation difference is obtained, which is convenient for correcting the position information of the auxiliary reading unit 201a to correct the position information of the main reading unit 201b.

[0071] More specifically, if more accurate position calculation data is needed, in step S230, the initial position information obtained in step S230 is compensated according to the installation difference, the splicing difference and the segment information, and the position calculation data is calculated. The position information of the auxiliary reading unit 201a is corrected, and the position information of the main reading unit 201b can be obtained. Therefore, in the present embodiment, the cooperation of the main reading unit 201b and the auxiliary reading unit can make the present application obtain accurate positioning information.

[0072] When the condition that at least one reading unit can read the encoding information of the magnetic ruler at any time is met, the position calculation method of the present embodiment can also provide accurate positioning information at any time.

[0073] ​​In addition, when the position information can be read by both the secondary reading unit 201a and the primary reading unit 201b, the position information of the secondary reading unit 201a can be used for comparison with the position information read by the primary reading unit after being corrected, for judging whether the magnetic scale encoder starts to age, so that the embodiment can provide a certain device health warning function, and has the advantage of great expandability.

[0074] In some embodiments of the present application, the installation difference for representing the relative position of the primary reading unit 201b and the secondary reading unit 201a comprises the following steps:

[0075] The position encoding information of the same segment can be read by both the primary reading unit and the secondary reading unit, and the position difference of the primary reading unit and the secondary reading unit is calculated to obtain the installation difference.

[0076] The position encoding information of the same segment can be read by both the primary reading unit 201b and the secondary reading unit 201a, and the position difference of the primary reading unit 201b and the secondary reading unit 201a is calculated to obtain the installation difference.

[0077] Of course, the installation difference can also be obtained by direct measurement, such as direct measurement by a ruler, direct measurement by a laser range finder, etc.

[0078] The present application also provides a magnetic scale encoder, which refers to Figure 2 The sectional view A comprises:

[0079] The magnetic ruler has a plurality of segments 100 arranged along the length direction of the magnetic ruler, and the position encoding information between any two adjacent segments 100 is continuous.

[0080] The reading unit 201 is provided with at least two, which can move together along the length direction of the magnetic ruler, and the reading unit 201 is used for reading the encoding information.

[0081] The magnetic scale encoder according to the embodiment of the present application has the following advantages: the sectional magnetic ruler can adapt to various use cases, for example, the distance between the two adjacent segments 100 can be adjusted according to the needs, and the application is flexible; a plurality of reading units 201 can be used according to the needs, and different position calculation methods can be used, and the design of the plurality of reading units 201 makes the embodiment have the advantage of high redundancy, and improves the anti-interference performance of the system.

[0082] One or more of the position calculation methods of the secondary scale encoder of the embodiment refer to the position calculation methods of all the foregoing embodiments, and have all the beneficial technical effects of the position calculation methods of the foregoing embodiments, which will not be described one by one.

[0083] In some embodiments of the present application, the distance between two adjacent segments 100 is less than the distance between the two read units 201 farthest apart along the length of the magnetic scale, and the length of each segment 100 is greater than the distance between the two read units 201 closest together along the length of the magnetic scale.

[0084] Specifically, the above design ensures that at least one read unit 201 can read the encoding information of the magnetic scale at any time, so that the positioning of the present embodiment is more accurate.

[0085] In some embodiments of the present application, two groups of magnetic scales are arranged parallel along the length of the magnetic scale, and at least one read unit 201 can read the encoding information.

[0086] Specifically, two groups of magnetic scales are used, so that in the event of failure of one group of magnetic scales, the other group of magnetic scales can still work, further improving the redundancy of the present embodiment and the anti-interference performance of the system.

[0087] In some embodiments of the present application, the segments 100 of the two magnetic scales are staggered.

[0088] Specifically, the staggered arrangement of the segments 100 of the two groups of magnetic scales has the following effects: first, if the length of a segment 100 is greater than the gap between segments 100, there will be continuous position encoding information along the length of the magnetic scale, further improving the system redundancy.

[0089] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0090] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method of position measurement of a magnetic encoder, characterized in that, The magnetic grid encoder comprises a plurality of reading parts and a magnetic ruler, the magnetic ruler is composed of a plurality of segments arranged in the same direction, the position encoding information between any two adjacent segments is continuous, the reading parts can move together, and the position measurement method comprises the following steps: Obtaining a splicing difference value for representing the relative distance between adjacent segments; Obtaining the position encoding information read by one reading part on the segment as the initial measurement position information; According to the initial measurement position information, the segment where the reading part is located is determined to obtain segment information; According to the initial measurement position information, the splicing difference value and the segment information, position measurement data is obtained; The step of obtaining the splicing difference value for representing the relative distance between the two segments includes the following steps: moving the reading parts together along the length direction of the magnetic ruler on the magnetic ruler; when one reading part moves across the segment, the duration of the lost signal is recorded; the displacement of the other reading parts within the duration is calculated to obtain the splicing difference value.

2. The method of position measurement of a magnetic encoder according to claim 1, characterized in that, The step of obtaining the position encoding information read by one reading part on the segment as the initial measurement position information includes the following steps: Setting one reading part as a main reading part and the rest as auxiliary reading parts; Judging whether the main reading part can read the position encoding information, and if yes, taking the position encoding information read by the main reading part as the initial measurement position information.

3. The method of position measurement of a magnetic encoder according to claim 1, characterized in that, The step of obtaining the position encoding information read by one reading part on the segment as the initial measurement position information includes the following steps: Setting one reading part as a main reading part and the rest as auxiliary reading parts; Calculating the installation difference value for representing the relative position of the main reading part and the auxiliary reading part; Judging whether the main reading part can read the position encoding information, and if not, taking the position encoding information read by the auxiliary reading part as the initial measurement position information.

4. The method of position measurement of a magnetic encoder according to claim 3, characterized in that, The step of obtaining the position measurement data according to the initial measurement position information, the splicing difference value and the segment information includes the following steps: According to the installation difference value, the splicing difference value and the segment information, compensating the initial measurement position information to calculate the position measurement data.

5. The method of position measurement of a magnetic encoder according to claim 3, wherein, The step of calculating the installation difference value for representing the relative position of the main reading part and the auxiliary reading part includes the following steps: Making the main reading part and the auxiliary reading part read the position encoding information of the same segment, calculating the position difference value of the main reading part and the auxiliary reading part to obtain the installation difference value.

6. A magnetic encoder, characterized by The position measurement method for realizing the magnetic grid encoder according to any one of claims 1 to 5 comprises: A magnetic ruler having a plurality of segments arranged along the length direction of the magnetic ruler, and the position encoding information between any two adjacent segments is continuous; Reading parts, at least two of which are provided and can move together along the length direction of the magnetic ruler, and the reading parts are used to read the encoding information.

7. A magnetic encoder according to claim 6, wherein, The distance between the two adjacent segments is less than the distance between the two reading parts farthest apart along the length direction of the magnetic ruler, and the length of each segment is greater than the distance between the two reading parts closest together along the length direction of the magnetic ruler.

8. A magnetic encoder according to any one of claims 6 to 7, wherein, Two groups of the magnetic rulers are arranged in parallel along the length direction of the magnetic ruler, and at least one reading part can read the encoding information.

9. A magnetic encoder according to claim 8, wherein, The segments of the two magnetic rulers are staggered.

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