Method and system for judging validity of measurement data of magnetic grid displacement sensor

Abstract

The invention discloses a method and system for determining validity of measured data of a magnetic grating displacement sensor, and relates to the technical field of magnetic grating rulers, and the method comprises the steps: obtaining an installable position and a plurality of longitudinal difference parameters and relative deviation displacements; obtaining a deviation interval based on a judgment analysis method; acquiring a real-time longitudinal parameter; determining the validity of the measurement data based on the deviation interval corresponding to the real-time longitudinal parameter; the method is used for solving the problems that in an existing method for judging the validity of measured data of the magnetic grating displacement sensor, signal calibration needs to be carried out on the position where a magnetic grating ruler is located after position adjustment and then the magnetic grating ruler is put into use, and validity judgment cannot be carried out on the measured data only through signal calibration when installation deviation exists between a magnetic head and the magnetic ruler; and the efficiency and the accuracy of data measurement in actual application are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic scales, and in particular to a method and system for determining the validity of measurement data of a magnetic scale displacement sensor. Background Art

[0002] The magnetic grating displacement sensor, also known as the magnetic scale, is a displacement sensor that uses the magnetic interaction between the magnetic grid and the magnetic head for measurement. It is a new type of digital sensor. Its working principle is based on the principle of electromagnetic induction, and the displacement is measured through the interaction between the magnetic grid and the magnetic head. The magnetic grating displacement sensor has the advantages of low cost, easy installation and use, and can be positioned and recorded by laser, with high accuracy of up to ±0.01 mm / m and a resolution of 1~5 microns. The magnetic grating displacement sensor consists of a magnetic scale, a magnetic head and a detection circuit. When the magnetic head moves in a straight line in the magnetic field space of the magnetic scale, the magnetic head will output a standard position pulse in real time according to the relevant displacement of the movement. This working mode enables the magnetic grating displacement sensor to measure displacement with high precision.

[0003] The existing method for determining the validity of the measured data of the magnetic grating displacement sensor is usually to calibrate the signal generated by the magnetic grating displacement sensor and its corresponding position calibration detection circuit, and to improve the validity and accuracy of the position feedback system by using the magnetic grating displacement sensor after signal calibration. Although this improved method can reduce the design cost of the motor sensor, when the magnetic grating displacement sensor can be placed at different positions of the equipment and the position of the magnetic grating displacement sensor needs to be adjusted, the position of the magnetic grating displacement sensor needs to be calibrated before it is put into use after the position adjustment. Moreover, the validity of the measured data cannot be determined by signal calibration alone when there is a deviation in the installation of the magnetic head and the magnetic scale, resulting in a problem of reducing the efficiency and accuracy of data measurement in actual application. For example, in the patent application with publication number CN112066863A, Disclosed are a moving coil linear motor position calibration device and method. The scheme is to calibrate the motor position signal collected by the linear Hall sensor by taking the magnetic grating measurement sensor as a reference. Other improvements in the validity judgment of the measurement data of the magnetic grating displacement sensor are usually improvements in the measurement stability. It is still impossible to solve the problem that when the magnetic grating displacement sensor can be placed at different positions of the equipment and the position of the magnetic grating displacement sensor needs to be adjusted, the position of the magnetic grating displacement sensor needs to be calibrated before it is put into use after the position adjustment. Moreover, the validity of the measurement data cannot be judged only by signal calibration when there is a deviation in the installation of the magnetic head and the magnetic scale, resulting in reduced efficiency and accuracy of data measurement in actual application. In view of this, it is necessary to improve the existing method for determining the validity of the measurement data of the magnetic grating displacement sensor. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the prior art to at least a certain extent, and proposes a method and system for determining the validity of measurement data of a magnetic grating displacement sensor, so as to solve the problem that in the existing method for determining the validity of measurement data of a magnetic grating displacement sensor, when the magnetic grating displacement sensor can be placed at different positions of a device and the position of the magnetic grating displacement sensor needs to be adjusted, it is necessary to perform signal calibration on the position of the magnetic grating displacement sensor after the position adjustment before putting it into use, and that the validity of the measurement data cannot be determined by signal calibration alone when there is a deviation in the installation of the magnetic head and the magnetic scale, resulting in reduced efficiency and accuracy of data measurement in actual applications.

[0005] To achieve the above objectives, in a first aspect, the present application provides a method for determining the validity of measurement data of a magnetic grating displacement sensor, comprising the following steps: A device for measuring data based on a magnetic grating displacement sensor, obtaining a position in the device where the magnetic grating displacement sensor can be installed, and recording it as an installable position; obtaining multiple longitudinal difference parameters of the magnetic scale and a relative deviation displacement of the magnetic head under each longitudinal difference parameter based on the installable position, wherein the relative deviation displacement includes a parallel deviation displacement and a vertical deviation displacement; Based on the relative deviation displacement, a decision analysis method is used to obtain the allowable deviation interval corresponding to each longitudinal difference parameter, wherein the allowable deviation interval includes a vertical deviation interval and a parallel deviation interval; When the magnetic grating displacement sensor is running, the real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the position of the magnetic grating displacement sensor and recorded as the real-time longitudinal parameter; the validity of the measurement data of the magnetic grating displacement sensor is judged based on the deviation range corresponding to the real-time longitudinal parameter.

[0006] Further, obtaining a plurality of longitudinal difference parameters of the magnetic scale and a relative deviation displacement of the magnetic head under each longitudinal difference parameter based on the installable position includes: For any installable position of the device for measuring data of the magnetic grating displacement sensor: when the magnetic grating displacement sensor is installed at the installable position, the two ends of the magnetic scale are respectively recorded as the first end point and the second end point, and the heights of the first end point and the second end point from the ground are respectively obtained and recorded as L1 and L2, and the difference between L1 and L2 is recorded as the longitudinal difference parameter; The surface where the magnetic scale contacts the magnetic head is recorded as the analysis surface; based on the type of the magnetic scale and the magnetic head, the maximum distance that the magnetic head is allowed to deviate in the magnetic scale is obtained and recorded as the maximum offset distance; after the magnetic head is installed on the analysis surface of the magnetic scale, the offset of the magnetic head relative to the magnetic scale is adjusted to the maximum offset distance.

[0007] Furthermore, obtaining a plurality of longitudinal difference parameters of the magnetic scale and a relative deviation displacement of the magnetic head under each longitudinal difference parameter based on the installable position also includes: The two long sides of the magnetic scale are respectively recorded as scale A side and scale B side, and the area where the magnetic head and the magnetic scale are attached is recorded as the magnetic head area; the point in the magnetic head area with the shortest distance to scale A side and scale B side is recorded as the A side offset point and the B side offset point; The line segment in the analysis plane that is perpendicular to the edge A of the ruler and overlaps with the head area is recorded as a perpendicular analysis line, and the line segment in the analysis plane that is parallel to the edge A of the ruler and overlaps with the head area is recorded as a parallel analysis line.

[0008] Furthermore, obtaining a plurality of longitudinal difference parameters of the magnetic scale and a relative deviation displacement of the magnetic head under each longitudinal difference parameter based on the installable position also includes: The vertical analysis lines that have only one intersection with the head area among all the vertical analysis lines are recorded as vertical deviation lines CP 1 And the vertical deviation line CP 2 , and the vertical deviation line CP 1 And the vertical deviation line CP 2 The intersection points of the center and the head area are respectively denoted as the head vertex CD 1 And the head vertex CD 2 ; The vertical analysis line that coincides with the A side offset point among all the vertical analysis lines is recorded as the A side vertical line, and the vertical deviation line CP 1 The distance from the vertical line on the A side is recorded as CA 1 , the vertical deviation line CP 2 The distance from the vertical line on the A side is recorded as CA 2 , CA 1 With CA 2 The minimum value in is recorded as the vertical displacement of side A; The vertical analysis line that coincides with the offset point of side B among all vertical analysis lines is recorded as the vertical line of side B, and the vertical deviation line CP 1 The distance from the vertical line on the B side is recorded as CB 1 , the vertical deviation line CP 2 The distance from the vertical line on the B side is recorded as CB 2 , CB 1 With CB 2 The minimum value is recorded as the vertical displacement of side B, and the sum of the vertical displacement of side A and the vertical displacement of side B is recorded as the vertical deviation displacement.

[0009] Furthermore, obtaining a plurality of longitudinal difference parameters of the magnetic scale and a relative deviation displacement of the magnetic head under each longitudinal difference parameter based on the installable position also includes: All parallel analysis lines are centered on the head vertex CD1 And the head vertex CD 2 The overlapping parallel analysis lines are recorded as parallel deviation lines PP 1 and the parallel deviation line PP 2 ; Among all the parallel analysis lines, the parallel analysis lines that coincide with the offset point of side A are recorded as the parallel lines on the side A, and the parallel deviation line PP 1 The distance from the parallel line on side A is denoted as PA 1 , parallel deviation line PP 2 The distance from the parallel line on side A is denoted as PA 2 , CA 1 With CA 2 The minimum value in is recorded as the parallel displacement of side A; The parallel analysis lines that coincide with the offset point of side B among all the parallel analysis lines are recorded as the parallel lines on the side B, and the distance between the parallel deviation line PP1 and the parallel lines on the side B is recorded as PB. 1 , parallel deviation line PP 2 The distance from the parallel line on the B side is PB 2 , CB 1 With CB 2 The minimum value is recorded as the parallel displacement of side B; and the sum of the parallel displacement of side A and the parallel displacement of side B is recorded as the parallel deviation displacement; Obtain the longitudinal difference parameters and relative deviation displacement corresponding to all installable positions.

[0010] Furthermore, the decision analysis method includes: For any installable position, randomly obtain k mutually different values ​​greater than 0 and less than the maximum offset distance, and record them as the deviation distance KP 1 To deviation distance KP k ; For any deviation distance KP k , adjust the offset distance of the magnetic head relative to the magnetic scale to the allowable deviation distance KP k , and obtain the vertical deviation displacement and parallel deviation displacement at this time.

[0011] Furthermore, the decision analysis method also includes: Obtain the vertical deviation distances and parallel deviation displacements corresponding to all deviation distances KP, and record the interval formed by the vertical deviation distances of all deviation distances KP and the vertical deviation distances of the relative deviation displacement as the vertical deviation interval, and record the interval formed by the parallel deviation distances of all deviation distances KP and the parallel deviation distances of the relative deviation displacement as the parallel deviation interval, wherein the vertical deviation distance of the relative deviation displacement in the vertical deviation interval is recorded as the vertical anchoring distance, and the parallel deviation distance of the relative deviation displacement in the parallel deviation interval is recorded as the parallel anchoring distance.

[0012] Furthermore, when the magnetic grating displacement sensor is in operation, a real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the position of the magnetic grating displacement sensor and recorded as a real-time longitudinal parameter; and the validity of the measurement data of the magnetic grating displacement sensor is determined based on the deviation interval corresponding to the real-time longitudinal parameter, including: When the magnetic grating displacement sensor is running, the real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the real-time position of the magnetic grating displacement sensor and the real-time heights of the first end point and the second end point from the ground, and is recorded as the real-time longitudinal parameter.

[0013] Further, when the magnetic grating displacement sensor is running, a real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the position of the magnetic grating displacement sensor, and recorded as the real-time longitudinal parameter; and determining the validity of the measurement data of the magnetic grating displacement sensor based on the deviation interval corresponding to the real-time longitudinal parameter also includes: The deviation interval corresponding to the real-time longitudinal parameter is recorded as the standard reference interval, and the parallel deviation displacement and the vertical deviation displacement at this time are obtained in real time. When the parallel deviation displacement or the vertical deviation displacement is outside the parallel deviation interval or the vertical deviation interval of the standard reference interval, the measurement data of the magnetic grating displacement sensor at this time is recorded as invalid data; When the parallel deviation displacement or the vertical deviation displacement is within the parallel deviation interval or the vertical deviation interval of the standard reference interval, the measurement data of the magnetic grating displacement sensor at this time is recorded as valid data.

[0014] In a second aspect, the present application also provides a system for determining the validity of measurement data of a magnetic grating displacement sensor, including a magnetic scale position analysis module, a multi-position deviation determination module, and a measurement validity determination module; The magnetic scale position analysis module is used for a device that performs data measurement based on a magnetic scale displacement sensor, obtains the position where the magnetic scale displacement sensor can be installed in the device, and records it as an installable position; based on the installable position, multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacement of the magnetic head under each longitudinal difference parameter are obtained, wherein the relative deviation displacement includes parallel deviation displacement and vertical deviation displacement; The multi-position deviation determination module is used to obtain the allowable deviation interval corresponding to each longitudinal difference parameter using a determination analysis method based on the relative deviation displacement, wherein the allowable deviation interval includes a vertical deviation interval and a parallel deviation interval; The measurement validity judgment module is used to obtain the real-time longitudinal difference parameters of the magnetic grating displacement sensor based on the position of the magnetic grating displacement sensor when the magnetic grating displacement sensor is running, and record them as real-time longitudinal parameters; based on the deviation range corresponding to the real-time longitudinal parameters, the validity of the measurement data of the magnetic grating displacement sensor is judged.

[0015] Beneficial effects of the present invention: the present invention first obtains an installable position; based on the installable position, obtains multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacement of the magnetic head under each longitudinal difference parameter; based on the relative deviation displacement, a determination analysis method is used to obtain a deviation interval corresponding to each longitudinal difference parameter. The advantage of this is that by obtaining multiple longitudinal difference parameters and the corresponding relative deviation displacement, the position-related parameters corresponding to the magnetic scale at each installation position and the deviation between the magnetic head and the magnetic scale at each installation position can be obtained, which helps in subsequent analysis. Even if the installation position of the magnetic scale changes, the determination interval of the measurement data of the magnetic scale can still be accurately and efficiently obtained based on the longitudinal difference parameters and the relative deviation displacement, thereby improving the efficiency and accuracy of data measurement based on the magnetic scale. The present application also obtains real-time longitudinal difference parameters of the magnetic grating displacement sensor based on the position of the magnetic grating displacement sensor when the magnetic grating displacement sensor is running, and records them as real-time longitudinal parameters; and determines the validity of the measurement data of the magnetic grating displacement sensor based on the deviation interval corresponding to the real-time longitudinal parameters. The advantage of this is that by obtaining the real-time longitudinal parameters and making validity determinations, it is possible to efficiently determine the validity of the magnetic scale measurement data while ensuring that even if there are temporary changes in the installation position of the magnetic scale, the validity of the measurement data can still be flexibly and accurately determined based on the real-time longitudinal parameters, which helps to effectively obtain the measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a functional block diagram of the system of the present invention; Figure 2 is a flow chart of the steps of the method of the present invention; Figure 3 It is a schematic diagram of obtaining the longitudinal difference parameter of the present invention; Figure 4 It is a schematic diagram of obtaining the vertical deviation displacement and the parallel deviation displacement of the present invention; Figure 5 It is a schematic structural diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Example 1, please refer to Figure 1As shown, the present application provides a system for determining the validity of measurement data of a magnetic grating displacement sensor, including a magnetic scale position analysis module, a multi-position deviation determination module, and a measurement validity determination module; The magnetic scale position analysis module is used for a device that performs data measurement based on a magnetic scale displacement sensor, obtains the position where the magnetic scale displacement sensor can be installed in the device, and records it as an installable position; based on the installable position, multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacement of the magnetic head under each longitudinal difference parameter are obtained, wherein the relative deviation displacement includes parallel deviation displacement and vertical deviation displacement; The magnetic scale position analysis module includes a multi-position analysis unit, which is configured with a multi-position analysis strategy. The multi-position analysis strategy includes: For any installable position of the device for measuring data of the magnetic grating displacement sensor: when the magnetic grating displacement sensor is installed at the installable position, the two ends of the magnetic scale are respectively recorded as the first end point and the second end point, and the heights of the first end point and the second end point from the ground are respectively obtained and recorded as L1 and L2, and the difference between L1 and L2 is recorded as the longitudinal difference parameter; In the specific implementation process, for example, during a data analysis, a magnetic grating displacement sensor can be installed at a position such as Figure 3 As shown, plane DM is the ground, CX is the magnetic scale, point DD1 and point DD2 are the first end point and the second end point of the magnetic scale, L1 and L2 are the heights of the first end point and the second end point from the ground, respectively, and the difference between L1 and L2 can be recorded as the longitudinal difference parameter of the installable position at this time; The surface where the magnetic scale contacts the magnetic head is recorded as the analysis surface; based on the magnetic scale and the type of the magnetic head, the maximum distance that the magnetic head is allowed to deviate in the magnetic scale is obtained and recorded as the maximum offset distance; after the magnetic head is installed on the analysis surface of the magnetic scale, the offset of the magnetic head relative to the magnetic scale is adjusted to the maximum offset distance; In the specific implementation process, for example, in a data analysis, if the maximum distance that the magnetic scale allows the magnetic head to deviate is 0.1 cm, the maximum offset distance can be set to 0.1 cm; considering that in actual application, the magnetic head will have a certain amount of offset from the magnetic scale when installed, the maximum offset, that is, the maximum offset distance, is directly used in the subsequent analysis to obtain extreme deviation data, providing a data basis for the subsequent acquisition of deviation intervals; The two long sides of the magnetic scale are respectively recorded as scale A side and scale B side, and the area where the magnetic head and the magnetic scale are attached is recorded as the magnetic head area; the point in the magnetic head area with the shortest distance to scale A side and scale B side is recorded as the A side offset point and the B side offset point; The line segment in the analysis surface that is perpendicular to the edge A of the ruler and overlaps with the magnetic head area is recorded as a perpendicular analysis line, and the line segment in the analysis surface that is parallel to the edge A of the ruler and overlaps with the magnetic head area is recorded as a parallel analysis line; The vertical analysis lines that have only one intersection with the head area among all the vertical analysis lines are recorded as vertical deviation lines CP 1 And the vertical deviation line CP 2 , and the vertical deviation line CP 1 And the vertical deviation line CP 2 The intersection points of the center and the head area are respectively denoted as the head vertex CD 1 And the head vertex CD 2 ; The vertical analysis line that coincides with the A side offset point among all the vertical analysis lines is recorded as the A side vertical line, and the vertical deviation line CP 1 The distance from the vertical line on the A side is recorded as CA 1 , the vertical deviation line CP 2 The distance from the vertical line on the A side is recorded as CA 2 , CA 1 With CA 2 The minimum value in is recorded as the vertical displacement of side A; The vertical analysis line that coincides with the offset point of side B among all vertical analysis lines is recorded as the vertical line of side B, and the vertical deviation line CP 1 The distance from the vertical line on the B side is recorded as CB 1 , the vertical deviation line CP 2 The distance from the vertical line on the B side is recorded as CB 2 , CB 1 With CB 2 The minimum value is recorded as the vertical displacement of side B, and the sum of the vertical displacement of side A and the vertical displacement of side B is recorded as the vertical deviation displacement; In the specific implementation process, for example, during a data analysis, the position relationship between the magnetic head and the magnetic scale is obtained as follows: Figure 4 As shown, CT is the magnetic head, CX is the magnetic scale, and through analysis, it can be obtained that point AP and point BP are the offset point of side A and side B respectively, and point CD1 and point CD2 are the vertex CD of the magnetic head respectively. 1 And the head vertex CD 2 ; Through analysis, it can be obtained that the sum of CW1 and CW2 is the vertical deviation displacement, and similarly, the sum of PW1 and PW2 is the parallel deviation displacement; All parallel analysis lines are centered on the head vertex CD 1 And the head vertex CD 2 The overlapping parallel analysis lines are recorded as parallel deviation lines PP 1 and the parallel deviation line PP 2; Among all the parallel analysis lines, the parallel analysis lines that coincide with the offset point of side A are recorded as the parallel lines on the side A, and the distance between the parallel deviation line PP1 and the parallel lines on the side A is recorded as PA 1 , parallel deviation line PP 2 The distance from the parallel line on side A is denoted as PA 2 , CA 1 With CA 2 The minimum value in is recorded as the parallel displacement of side A; The parallel analysis lines that coincide with the offset point of side B among all the parallel analysis lines are recorded as the parallel lines on the side B, and the parallel deviation line PP is recorded as the parallel line on the side B. 1 The distance from the parallel line on the B side is PB 1 , parallel deviation line PP 2 The distance from the parallel line on the B side is PB 2 , CB 1 With CB 2 The minimum value is recorded as the parallel displacement of side B; and the sum of the parallel displacement of side A and the parallel displacement of side B is recorded as the parallel deviation displacement; Obtain the longitudinal difference parameters and relative deviation displacement corresponding to all installable positions.

[0019] The multi-position deviation determination module is used to obtain the allowable deviation interval corresponding to each longitudinal difference parameter using a determination analysis method based on the relative deviation displacement, wherein the allowable deviation interval includes a vertical deviation interval and a parallel deviation interval; The multi-position deviation determination module includes a deviation interval acquisition unit, and the deviation interval acquisition unit is configured with a deviation interval acquisition strategy, and the deviation interval acquisition strategy includes: For any installable position, randomly obtain k mutually different values ​​greater than 0 and less than the maximum offset distance, and record them as the deviation distance KP 1 To deviation distance KP k ; For any deviation distance KP k , adjust the offset distance of the magnetic head relative to the magnetic scale to the allowable deviation distance KP k , and obtain the vertical deviation displacement and parallel deviation displacement at this time; In the specific implementation process, for example, in a data analysis, the vertical deviation displacements corresponding to all the deviable displacements KP are 0.01cm, 2cm and 1.3cm respectively, and the vertical deviation distance of the relative deviation displacement is 0.9cm, and the vertical deviation interval can be set to [0.01cm, 2cm]. By obtaining the vertical deviation interval and the parallel deviation interval, the data corresponding to all situations in which the magnetic head and the magnetic scale can be offset in the same installable position can be obtained, which is helpful to judge the validity of the measurement data in the subsequent analysis. Obtain the vertical deviation distances and parallel deviation displacements corresponding to all deviation distances KP, and record the interval formed by the vertical deviation distances of all deviation distances KP and the vertical deviation distances of the relative deviation displacement as the vertical deviation interval, and record the interval formed by the parallel deviation distances of all deviation distances KP and the parallel deviation distances of the relative deviation displacement as the parallel deviation interval, wherein the vertical deviation distance of the relative deviation displacement in the vertical deviation interval is recorded as the vertical anchoring distance, and the parallel deviation distance of the relative deviation displacement in the parallel deviation interval is recorded as the parallel anchoring distance.

[0020] The measurement validity judgment module is used to obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position of the magnetic grating displacement sensor when the magnetic grating displacement sensor is running, and record it as the real-time longitudinal parameter; based on the deviation interval corresponding to the real-time longitudinal parameter, the validity of the measurement data of the magnetic grating displacement sensor is judged; The measurement validity determination module includes a data validity determination unit, which is configured with a data validity determination strategy, and the data validity determination strategy includes: when the magnetic grating displacement sensor is running, based on the real-time position of the magnetic grating displacement sensor and the real-time heights of the first end point and the second end point from the ground, obtaining the real-time longitudinal difference parameter of the magnetic grating displacement sensor, and recording it as the real-time longitudinal parameter; The deviation interval corresponding to the real-time longitudinal parameter is recorded as the standard reference interval, and the parallel deviation displacement and the vertical deviation displacement at this time are obtained in real time. When the parallel deviation displacement or the vertical deviation displacement is outside the parallel deviation interval or the vertical deviation interval of the standard reference interval, the measurement data of the magnetic grating displacement sensor at this time is recorded as invalid data; In the specific implementation process, for example, in a data analysis, the parallel deviation displacement and the vertical deviation displacement are 2.3cm and 0.03cm respectively, and the vertical deviation interval and the parallel deviation interval are [0.01cm, 2cm] and [0.01cm, 2cm] respectively. Then, through analysis, it can be obtained that the parallel deviation displacement is outside the parallel deviation interval, indicating that the magnetic head is abnormally offset at this time, and the measurement data is abnormal. The measurement data of the magnetic grating displacement sensor at this time can be recorded as invalid data; When the parallel deviation displacement or the vertical deviation displacement is within the parallel deviation interval or the vertical deviation interval of the standard reference interval, the measurement data of the magnetic grating displacement sensor at this time is recorded as valid data.

[0021] Example 2, please refer to Figure 2 As shown, the present application also provides a method for determining the validity of measurement data of a magnetic grating displacement sensor, comprising the following steps: Step S1, based on the device for measuring data with a magnetic grating displacement sensor, obtain the position in the device where the magnetic grating displacement sensor can be installed, and record it as the installable position; based on the installable position, obtain multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacement under each longitudinal difference parameter, wherein the relative deviation displacement includes parallel deviation displacement and vertical deviation displacement; Step S1 includes: step S101, for any installable position in the device for measuring data of the magnetic grating displacement sensor: when the magnetic grating displacement sensor is installed at the installable position, the two ends of the magnetic scale are respectively recorded as the first end point and the second end point, respectively obtaining the heights of the first end point and the second end point from the ground, and recording them as L1 and L2 respectively, and recording the difference between L1 and L2 as the longitudinal difference parameter; Step S102, recording the surface where the magnetic scale contacts the magnetic head as the analysis surface; obtaining the maximum distance that the magnetic head is allowed to deviate in the magnetic scale based on the type of the magnetic scale and the magnetic head, and recording it as the maximum offset distance; after the magnetic head is installed on the analysis surface of the magnetic scale, adjusting the offset of the magnetic head relative to the magnetic scale to the maximum offset distance; Step S103, the two long sides of the magnetic scale are respectively recorded as scale A side and scale B side, and the area where the magnetic head and the magnetic scale are attached is recorded as the magnetic head area; the point in the magnetic head area with the shortest distance to scale A side and scale B side is recorded as the A side offset point and the B side offset point; Step S104, the line segment in the analysis plane that is perpendicular to the edge A of the ruler and overlaps with the magnetic head area is recorded as a perpendicular analysis line, and the line segment in the analysis plane that is parallel to the edge A of the ruler and overlaps with the magnetic head area is recorded as a parallel analysis line; Step S105: the vertical analysis lines that have only one intersection with the magnetic head area among all the vertical analysis lines are recorded as vertical deviation lines CP 1 And the vertical deviation line CP 2 , and the vertical deviation line CP 1 And the vertical deviation line CP 2 The intersection points of the center and the head area are respectively denoted as the head vertex CD 1 And the head vertex CD 2 ; Step S106: The vertical analysis lines that coincide with the offset point of side A among all the vertical analysis lines are recorded as the vertical lines of side A, and the vertical deviation line CP is recorded as the vertical line of side A. 1 The distance from the vertical line on the A side is recorded as CA 1 , the vertical deviation line CP 2 The distance from the vertical line on the A side is recorded as CA 2 , CA 1 With CA 2 The minimum value in is recorded as the vertical displacement of side A; Step S107: The vertical analysis lines that coincide with the offset point of side B among all the vertical analysis lines are recorded as the vertical lines on the side B, and the vertical deviation line CP is recorded as the vertical line on the side B. 1 The distance from the vertical line on the B side is recorded as CB 1 , the vertical deviation line CP 2 The distance from the vertical line on the B side is recorded as CB 2 , CB 1 With CB 2 The minimum value is recorded as the vertical displacement of side B, and the sum of the vertical displacement of side A and the vertical displacement of side B is recorded as the vertical deviation displacement; Step S108: all parallel analysis lines that are adjacent to the head vertex CD 1 And the head vertex CD 2 The overlapping parallel analysis lines are recorded as parallel deviation lines PP 1 and the parallel deviation line PP 2 ; Among all the parallel analysis lines, the parallel analysis lines that coincide with the offset point of side A are recorded as the parallel lines on the side A, and the distance between the parallel deviation line PP1 and the parallel lines on the side A is recorded as PA 1 , parallel deviation line PP 2 The distance from the parallel line on side A is denoted as PA 2 , CA 1 With CA 2 The minimum value in is recorded as the parallel displacement of side A; Step S109: record the parallel analysis lines that coincide with the offset point of side B among all the parallel analysis lines as the parallel lines on the side B, and record the parallel deviation line PP 1 The distance from the parallel line on the B side is PB 1 , parallel deviation line PP 2 The distance from the parallel line on the B side is PB 2 , CB 1 With CB 2 The minimum value is recorded as the parallel displacement of side B; and the sum of the parallel displacement of side A and the parallel displacement of side B is recorded as the parallel deviation displacement; Obtain the longitudinal difference parameters and relative deviation displacement corresponding to all installable positions.

[0022] Step S2, using a determination analysis method based on the relative deviation displacement to obtain a deviation range corresponding to each longitudinal difference parameter, wherein the deviation range includes a vertical deviation range and a parallel deviation range; Determinant analysis methods include: Step S201: for any installable position, randomly obtain k mutually different values ​​greater than 0 and less than the maximum offset distance, and record them as the allowable deviation distance KP 1 To deviation distance KP k ; Step S202: for any deviation distance KPk , adjust the offset distance of the magnetic head relative to the magnetic scale to the allowable deviation distance KP k , and obtain the vertical deviation displacement and parallel deviation displacement at this time; Step S203, obtain the vertical deviation distances and parallel deviation displacements corresponding to all the deviation distances KP, and record the interval formed by the vertical deviation distances of all the deviation distances KP and the vertical deviation distances of the relative deviation displacement as the vertical deviation interval, and record the interval formed by the parallel deviation distances of all the deviation distances KP and the parallel deviation distances of the relative deviation displacement as the parallel deviation interval, wherein the vertical deviation distance of the relative deviation displacement in the vertical deviation interval is recorded as the vertical anchoring distance, and the parallel deviation distance of the relative deviation displacement in the parallel deviation interval is recorded as the parallel anchoring distance.

[0023] Step S3, when the magnetic grating displacement sensor is running, the real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the position of the magnetic grating displacement sensor, and recorded as the real-time longitudinal parameter; the validity of the measurement data of the magnetic grating displacement sensor is determined based on the deviation interval corresponding to the real-time longitudinal parameter; Step S3 includes: Step S301, when the magnetic grating displacement sensor is running, based on the real-time position of the magnetic grating displacement sensor and the real-time heights of the first end point and the second end point from the ground, a real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained and recorded as a real-time longitudinal parameter; Step S302, recording the deviation interval corresponding to the real-time longitudinal parameter as the standard reference interval, and obtaining the parallel deviation displacement and the vertical deviation displacement at this time in real time, when the parallel deviation displacement or the vertical deviation displacement is outside the parallel deviation interval or the vertical deviation interval of the standard reference interval, recording the measurement data of the magnetic grating displacement sensor at this time as invalid data; Step S303: When the parallel deviation displacement or the vertical deviation displacement is within the parallel deviation interval or the vertical deviation interval of the standard reference interval, the measurement data of the magnetic grating displacement sensor at this time is recorded as valid data.

[0024] Example 3, please refer to Figure 5 As shown, Figure 5The structural schematic diagram of an electronic device is illustrated, and the electronic device may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus. The memory stores computer-readable instructions, and the processor may call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in a method for determining the validity of measured data of a magnetic grating displacement sensor are executed to achieve the following functions: first, an installable position is obtained; based on the installable position, multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacement of the magnetic head under each longitudinal difference parameter are obtained; based on the relative deviation displacement, a determination analysis method is used to obtain the deviation interval corresponding to each longitudinal difference parameter; when the magnetic grating displacement sensor is running, the real-time longitudinal difference parameters of the magnetic grating displacement sensor are obtained based on the position where the magnetic grating displacement sensor is located, and recorded as the real-time longitudinal parameters; and the validity of the measured data of the magnetic grating displacement sensor is determined based on the deviation interval corresponding to the real-time longitudinal parameters.

[0025] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0026] Embodiment 4, the present application also provides a computer-readable storage medium, the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the method for determining the validity of the measurement data of a magnetic grating displacement sensor as described above are executed to achieve the following functions: first, an installable position is obtained; based on the installable position, multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacement of the magnetic head under each longitudinal difference parameter are obtained; based on the relative deviation displacement, a determination analysis method is used to obtain the deviation range corresponding to each longitudinal difference parameter; when the magnetic grating displacement sensor is running, the real-time longitudinal difference parameters of the magnetic grating displacement sensor are obtained based on the position where the magnetic grating displacement sensor is located, and recorded as the real-time longitudinal parameters; based on the deviation range corresponding to the real-time longitudinal parameters, the validity of the measurement data of the magnetic grating displacement sensor is determined.

[0027] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0028] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units 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 communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for determining the validity of measurement data of a magnetic grating displacement sensor, characterized in that: The steps include: A device for measuring data based on a magnetic grating displacement sensor, obtaining a position in the device where the magnetic grating displacement sensor can be installed, and recording it as an installable position; obtaining multiple longitudinal difference parameters of the magnetic scale and a relative deviation displacement of the magnetic head under each longitudinal difference parameter based on the installable position, wherein the relative deviation displacement includes a parallel deviation displacement and a vertical deviation displacement; Based on the relative deviation displacement, a decision analysis method is used to obtain the allowable deviation interval corresponding to each longitudinal difference parameter, wherein the allowable deviation interval includes a vertical deviation interval and a parallel deviation interval; When the magnetic grating displacement sensor is running, the real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the position of the magnetic grating displacement sensor and recorded as the real-time longitudinal parameter; the validity of the measurement data of the magnetic grating displacement sensor is judged based on the deviation range corresponding to the real-time longitudinal parameter.

2. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 1, characterized in that: The multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacement of the magnetic head under each longitudinal difference parameter are obtained based on the installable position, including: For any installable position of the device for measuring data of the magnetic grating displacement sensor: when the magnetic grating displacement sensor is installed at the installable position, the two ends of the magnetic scale are respectively recorded as the first end point and the second end point, and the heights of the first end point and the second end point from the ground are respectively obtained and recorded as L1 and L2, and the difference between L1 and L2 is recorded as the longitudinal difference parameter; The surface where the magnetic scale contacts the magnetic head is recorded as the analysis surface; based on the type of the magnetic scale and the magnetic head, the maximum distance that the magnetic head is allowed to deviate in the magnetic scale is obtained and recorded as the maximum offset distance; after the magnetic head is installed on the analysis surface of the magnetic scale, the offset of the magnetic head relative to the magnetic scale is adjusted to the maximum offset distance.

3. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 2, characterized in that: Acquiring multiple longitudinal difference parameters of the magnetic scale based on the installable position and the relative deviation displacement of the magnetic head under each longitudinal difference parameter also includes: The two long sides of the magnetic scale are respectively recorded as scale A side and scale B side, and the area where the magnetic head and the magnetic scale are attached is recorded as the magnetic head area; the point in the magnetic head area with the shortest distance to scale A side and scale B side is recorded as the A side offset point and the B side offset point; The line segment in the analysis plane that is perpendicular to the edge A of the ruler and overlaps with the head area is recorded as a perpendicular analysis line, and the line segment in the analysis plane that is parallel to the edge A of the ruler and overlaps with the head area is recorded as a parallel analysis line.

4. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 3, characterized in that: Acquiring multiple longitudinal difference parameters of the magnetic scale based on the installable position and the relative deviation displacement of the magnetic head under each longitudinal difference parameter also includes: The vertical analysis lines that have only one intersection with the magnetic head region among all the vertical analysis lines are respectively recorded as vertical deviation line CP1 and vertical deviation line CP2, and the intersections of the vertical deviation line CP1 and the vertical deviation line CP2 with the magnetic head region are respectively recorded as magnetic head vertex CD1 and magnetic head vertex CD2; The vertical analysis line that coincides with the offset point of side A among all vertical analysis lines is recorded as the vertical line of side A, the distance between the vertical deviation line CP1 and the vertical line of side A is recorded as CA1, the distance between the vertical deviation line CP2 and the vertical line of side A is recorded as CA2, and the minimum value between CA1 and CA2 is recorded as the vertical displacement of side A; The vertical analysis line that coincides with the offset point of side B among all vertical analysis lines is recorded as the vertical line on the B side, the distance between the vertical deviation line CP1 and the vertical line on the B side is recorded as CB1, the distance between the vertical deviation line CP2 and the vertical line on the B side is recorded as CB2, the minimum value between CB1 and CB2 is recorded as the vertical displacement on the B side, and the sum of the vertical displacement on the A side and the vertical displacement on the B side is recorded as the vertical deviation displacement.

5. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 4, characterized in that: Acquiring multiple longitudinal difference parameters of the magnetic scale based on the installable position and the relative deviation displacement of the magnetic head under each longitudinal difference parameter also includes: The parallel analysis lines that coincide with the head vertex CD1 and the head vertex CD2 among all the parallel analysis lines are recorded as parallel deviation line PP1 and parallel deviation line PP2 respectively; the parallel analysis lines that coincide with the A side offset point among all the parallel analysis lines are recorded as A side parallel lines, the distance between the parallel deviation line PP1 and the A side parallel line is recorded as PA1, the distance between the parallel deviation line PP2 and the A side parallel line is recorded as PA2, and the minimum value between CA1 and CA2 is recorded as A side parallel displacement; The parallel analysis lines that coincide with the offset point of side B among all parallel analysis lines are recorded as the parallel lines on the side B, the distance between the parallel deviation line PP1 and the parallel line on the side B is recorded as PB1, the distance between the parallel deviation line PP2 and the parallel line on the side B is recorded as PB2, the minimum value between CB1 and CB2 is recorded as the parallel displacement on the side B; and the sum of the parallel displacement on the side A and the parallel displacement on the side B is recorded as the parallel deviation displacement; Obtain the longitudinal difference parameters and relative deviation displacement corresponding to all installable positions.

6. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 1, characterized in that: Determinant analysis methods include: For any installable position, randomly obtain k mutually unequal values ​​greater than 0 and less than the maximum offset distance, and record them as allowable deviation distances KP1 to KP k ; For any deviation distance KP k , adjust the offset distance of the magnetic head relative to the magnetic scale to the allowable deviation distance KP k , and obtain the vertical deviation displacement and parallel deviation displacement at this time.

7. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 1, characterized in that: Determinant analysis also includes: Obtain the vertical deviation distances and parallel deviation displacements corresponding to all deviation distances KP, and record the interval formed by the vertical deviation distances of all deviation distances KP and the vertical deviation distances of the relative deviation displacement as the vertical deviation interval, and record the interval formed by the parallel deviation distances of all deviation distances KP and the parallel deviation distances of the relative deviation displacement as the parallel deviation interval, wherein the vertical deviation distance of the relative deviation displacement in the vertical deviation interval is recorded as the vertical anchoring distance, and the parallel deviation distance of the relative deviation displacement in the parallel deviation interval is recorded as the parallel anchoring distance.

8. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 1, characterized in that: When the magnetic grating displacement sensor is running, the real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the position of the magnetic grating displacement sensor and recorded as the real-time longitudinal parameter; the validity of the measurement data of the magnetic grating displacement sensor is determined based on the deviation interval corresponding to the real-time longitudinal parameter, including: When the magnetic grating displacement sensor is running, the real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the real-time position of the magnetic grating displacement sensor and the real-time heights of the first end point and the second end point from the ground, and is recorded as the real-time longitudinal parameter.

9. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 1, characterized in that: When the magnetic grating displacement sensor is running, a real-time longitudinal difference parameter of the magnetic grating displacement sensor is obtained based on the position of the magnetic grating displacement sensor and recorded as the real-time longitudinal parameter; and the validity determination of the measurement data of the magnetic grating displacement sensor based on the deviation interval corresponding to the real-time longitudinal parameter also includes: The deviation interval corresponding to the real-time longitudinal parameter is recorded as the standard reference interval, and the parallel deviation displacement and the vertical deviation displacement at this time are obtained in real time. When the parallel deviation displacement or the vertical deviation displacement is outside the parallel deviation interval or the vertical deviation interval of the standard reference interval, the measurement data of the magnetic grating displacement sensor at this time is recorded as invalid data; When the parallel deviation displacement or the vertical deviation displacement is within the parallel deviation interval or the vertical deviation interval of the standard reference interval, the measurement data of the magnetic grating displacement sensor at this time is recorded as valid data.

10. A system for determining the validity of measurement data of a magnetic grating displacement sensor, used to implement a method for determining the validity of measurement data of a magnetic grating displacement sensor according to any one of claims 1 to 9, characterized in that: It includes a magnetic scale position analysis module, a multi-position deviation determination module and a measurement validity determination module; The magnetic scale position analysis module is used for a device that performs data measurement based on a magnetic scale displacement sensor, obtains the position where the magnetic scale displacement sensor can be installed in the device, and records it as an installable position; based on the installable position, multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacement of the magnetic head under each longitudinal difference parameter are obtained, wherein the relative deviation displacement includes parallel deviation displacement and vertical deviation displacement; The multi-position deviation determination module is used to obtain the allowable deviation interval corresponding to each longitudinal difference parameter using a determination analysis method based on the relative deviation displacement, wherein the allowable deviation interval includes a vertical deviation interval and a parallel deviation interval; The measurement validity judgment module is used to obtain the real-time longitudinal difference parameters of the magnetic grating displacement sensor based on the position of the magnetic grating displacement sensor when the magnetic grating displacement sensor is running, and record them as real-time longitudinal parameters; based on the deviation range corresponding to the real-time longitudinal parameters, the validity of the measurement data of the magnetic grating displacement sensor is judged.

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