Method and system for determining validity of measurement data of magnetic grating displacement sensor

Abstract

The present invention discloses a method and system for determining the validity of measurement data of a magnetic grating displacement sensor, relating to the technical field of magnetic grating rulers, including: obtaining installable positions, a plurality of longitudinal difference parameters, and relative deviation displacements; obtaining a deviation allowable range based on a determination analysis method; obtaining real-time longitudinal parameters; and determining the validity of measurement data based on the deviation allowable range corresponding to the real-time longitudinal parameters. The present invention is used to solve the problems in the existing method for determining the validity of measurement data of a magnetic grating displacement sensor, where it is necessary to calibrate the signal of the position where the magnetic grating ruler is located after position adjustment before putting it into use, and only through signal calibration, it is impossible to determine the validity of measurement data when there is a deviation in the installation of the magnetic head and the magnetic scale, resulting in a reduction in the efficiency and accuracy of data measurement in actual applications.

Description

Technical Field

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

[0002] A magnetic grating displacement sensor, namely a magnetic grating ruler, is a displacement sensor that uses the magnetic interaction between a magnetic grating and a magnetic head for measurement, belonging to a new type of digital sensor; its working principle is based on the electromagnetic induction principle, and the displacement is measured through the interaction between the magnetic grating and the magnetic head; the magnetic grating displacement sensor has the advantages of low cost, easy installation and use, etc., and can be magnetically recorded by laser positioning, with high precision, 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 linearly in the magnetic field space of the magnetic scale, the magnetic head will output position pulses that meet the standards in real time according to the relevant displacement amount of the movement; this working method enables the magnetic grating displacement sensor to measure displacement with high precision.

[0003] Existing methods for determining the validity of measurement data of magnetic grating displacement sensors usually calibrate the signals generated by the magnetic grating displacement sensor and its corresponding position calibration detection circuit, and improve the effectiveness and accuracy of the position feedback system by using the magnetic grating displacement sensor after signal calibration. Although this improvement method can reduce the design cost of the motor sensor, when the magnetic grating displacement sensor can be placed at different positions of the device and the position of the magnetic grating displacement sensor needs to be adjusted, it is necessary to calibrate the signal of the position where the magnetic grating displacement sensor is located after the position adjustment before putting it into use, and only through signal calibration, it is impossible to judge the validity of the measurement data when there is a deviation in the installation of the magnetic head and the magnetic scale, resulting in problems of reducing the efficiency and accuracy of data measurement in actual applications. For example, in the patent application with the publication number CN112066863A, a moving coil linear motor position calibration device and method are disclosed. This solution calibrates the motor position signal collected by the linear Hall sensor based on the magnetic grating measurement sensor. Other improvements in the determination of the validity of measurement data of magnetic grating displacement sensors are usually improvements in measurement stability, and still cannot solve the problem that when the magnetic grating displacement sensor can be placed at different positions of the device and the position of the magnetic grating displacement sensor needs to be adjusted, it is necessary to calibrate the signal of the position where the magnetic grating displacement sensor is located after the position adjustment before putting it into use, and only through signal calibration, it is impossible to judge the validity of the measurement data when there is a deviation in the installation of the magnetic head and the magnetic scale, resulting in problems of reducing the efficiency and accuracy of data measurement in actual applications. In view of this, it is necessary to improve the existing method for determining the validity of measurement data of magnetic grating displacement sensors. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to some extent. By providing a method and system for determining the validity of measurement data of a magnetic grating displacement sensor, it is used to solve the problem in the existing method for determining the validity of measurement data of a magnetic grating displacement sensor that 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 where the magnetic grating displacement sensor is located after the position adjustment before putting it into use, and only through signal calibration, it is impossible to judge the validity of measurement data when there is a deviation in the installation of the magnetic head and the magnetic scale, resulting in a reduction in the efficiency and accuracy of data measurement in actual applications.

[0005] To achieve the above object, in a first aspect, the present application provides a method for determining the validity of measurement data of a magnetic grating displacement sensor, including the following steps:

[0006] For a device that measures data based on a magnetic grating displacement sensor, obtain the positions where the magnetic grating displacement sensor can be installed in the device, and record them as installable positions; based on the installable positions, obtain multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter, where the relative deviation displacements include parallel deviation displacements and vertical deviation displacements;

[0007] Based on the relative deviation displacements, use a determination analysis method to obtain the deviation allowable intervals corresponding to each longitudinal difference parameter, where the deviation allowable intervals include vertical deviation intervals and parallel deviation intervals;

[0008] When the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and record it as the real-time longitudinal parameter; based on the deviation allowable interval corresponding to the real-time longitudinal parameter, determine the validity of the measurement data of the magnetic grating displacement sensor.

[0009] Further, obtaining multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter based on the installable positions includes:

[0010] For any installable position in the device that measures data based on a 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;

[0011] Record the surface where the magnetic scale contacts the magnetic head as the analysis surface; based on the types of the magnetic scale and the magnetic head, obtain the maximum distance that the magnetic head is allowed to deviate in the magnetic scale, and record it as the maximum deviation distance; when the magnetic head is installed on the analysis surface of the magnetic scale, adjust the deviation of the magnetic head relative to the magnetic scale to the maximum deviation distance.

[0012] Further, obtaining 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 installable position further includes:

[0013] Denote the two long sides of the magnetic scale as scale side A and scale side B respectively, and denote the area where the magnetic head is in contact with the magnetic scale as the magnetic head area; denote the points with the shortest distances from the magnetic head area to scale side A and scale side B as the A-side offset point and the B-side offset point respectively;

[0014] Denote the line segment in the analysis plane that is perpendicular to scale side A and overlaps with the magnetic head area as the vertical analysis line, and denote the line segment in the analysis plane that is parallel to scale side A and overlaps with the magnetic head area as the parallel analysis line.

[0015] Further, obtaining 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 installable position further includes:

[0016] Denote the vertical analysis lines that have only one intersection point with the magnetic head area among all the vertical analysis lines as vertical deviation line CP1 and vertical deviation line CP2 respectively, and denote the intersection points of vertical deviation line CP1 and vertical deviation line CP2 with the magnetic head area as magnetic head vertex CD1 and magnetic head vertex CD2 respectively;

[0017] Denote the vertical analysis line that coincides with the A-side offset point among all the vertical analysis lines as the A-side vertical line, denote the distance between vertical deviation line CP1 and the A-side vertical line as CA1, denote the distance between vertical deviation line CP2 and the A-side vertical line as CA2, and denote the minimum value of CA1 and CA2 as the A-side vertical displacement;

[0018] Denote the vertical analysis line that coincides with the B-side offset point among all the vertical analysis lines as the B-side vertical line, denote the distance between vertical deviation line CP1 and the B-side vertical line as CB1, denote the distance between vertical deviation line CP2 and the B-side vertical line as CB2, denote the minimum value of CB1 and CB2 as the B-side vertical displacement, and denote the sum of the A-side vertical displacement and the B-side vertical displacement as the vertical deviation displacement.

[0019] Further, obtaining 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 installable position further includes:

[0020] Among all the parallel analysis lines, the parallel analysis lines that coincide with the magnetic head vertex CD1 and the magnetic head vertex CD2 are respectively denoted as the parallel deviation line PP1 and the parallel deviation line PP2; among all the parallel analysis lines, the parallel analysis line that coincides with the A-side offset point is denoted as the A-side parallel line, the distance between the parallel deviation line PP1 and the A-side parallel line is denoted as PA1, the distance between the parallel deviation line PP2 and the A-side parallel line is denoted as PA2, and the minimum value of CA1 and CA2 is denoted as the A-side parallel displacement;

[0021] Among all the parallel analysis lines, the parallel analysis line that coincides with the B-side offset point is denoted as the B-side parallel line, the distance between the parallel deviation line PP1 and the B-side parallel line is denoted as PB1, the distance between the parallel deviation line PP2 and the B-side parallel line is denoted as PB2, and the minimum value of CB1 and CB2 is denoted as the B-side parallel displacement; and the sum of the A-side parallel displacement and the B-side parallel displacement is denoted as the parallel deviation displacement;

[0022] Obtain the longitudinal difference parameters and relative deviation displacements corresponding to all installable positions.

[0023] Furthermore, the determination analysis method includes:

[0024] For any installable position, randomly obtain k unequal values greater than 0 and less than the maximum offset distance, and denote them as the deviation distances KP1 to KP k ;

[0025] For any deviation distance KP k , adjust the offset distance of the magnetic head relative to the magnetic scale to the deviation distance KP k , and obtain the vertical deviation displacement and the parallel deviation displacement at this time.

[0026] Furthermore, the determination analysis method also includes:

[0027] Obtain the vertical deviation distances and parallel deviation displacements corresponding to all deviation distances KP, and denote the interval formed by the vertical deviation distances of all deviation distances KP and the vertical deviation distance of the relative deviation displacement as the vertical deviation interval, and denote the interval formed by the parallel deviation distances of all deviation distances KP and the parallel deviation distance of the relative deviation displacement as the parallel deviation interval. Among them, the vertical deviation distance of the relative deviation displacement in the vertical deviation interval is denoted as the vertical anchoring distance, and the parallel deviation distance of the relative deviation displacement in the parallel deviation interval is denoted as the parallel anchoring distance.

[0028] Furthermore, when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and denote it as the real-time longitudinal parameter; 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 includes:

[0029] 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, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor, and record it as the real-time longitudinal parameter.

[0030] Furthermore, when the magnetic grating displacement sensor is running, based on the position where the magnetic grating displacement sensor is located, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor, and record it as the real-time longitudinal parameter; the validity determination of the measurement data of the magnetic grating displacement sensor based on the allowable deviation interval corresponding to the real-time longitudinal parameter further includes:

[0031] Record the allowable deviation interval corresponding to the real-time longitudinal parameter as the standard reference interval, and obtain 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, record the measurement data of the magnetic grating displacement sensor at this time as invalid data;

[0032] 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, record the measurement data of the magnetic grating displacement sensor at this time as valid data.

[0033] In a second aspect, the present application further provides a validity determination system for the measurement data of a magnetic grating displacement sensor, including a magnetic grating scale position analysis module, a multi-position deviation determination module, and a measurement validity determination module;

[0034] The magnetic grating scale position analysis module is used to obtain the positions where the magnetic grating displacement sensor can be installed in the device based on the device for data measurement by the magnetic grating displacement sensor, and record them as installable positions; based on the installable positions, obtain multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter, where the relative deviation displacements include parallel deviation displacements and vertical deviation displacements;

[0035] The multi-position deviation determination module is used to obtain the allowable deviation interval corresponding to each longitudinal difference parameter based on the relative deviation displacement using the determination analysis method, where the allowable deviation interval includes a vertical deviation interval and a parallel deviation interval;

[0036] The measurement validity determination module is used to, when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and record it as the real-time longitudinal parameter; determine the validity of the measurement data of the magnetic grating displacement sensor based on the allowable deviation interval corresponding to the real-time longitudinal parameter.

[0037] Advantages of the present invention: The present application first obtains the installable positions; based on the installable positions, it obtains multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter; based on the relative deviation displacements, it uses the determination analysis method to obtain the deviation allowable intervals corresponding to each longitudinal difference parameter. The advantage of this is that by obtaining multiple longitudinal difference parameters and the corresponding relative deviation displacements, it is possible to obtain the position-related parameters corresponding to the magnetic grating scale at each installation position and the deviation between the magnetic head and the magnetic scale at each installation position, which helps to accurately and efficiently obtain the determination intervals of the measurement data of the magnetic grating scale based on the longitudinal difference parameters and the relative deviation displacements even when the installation position of the magnetic grating scale changes during subsequent analysis, thereby improving the efficiency and accuracy of data measurement based on the magnetic grating scale;

[0038] The present application also, when the magnetic grid displacement sensor is operating, obtains the real-time longitudinal difference parameter of the magnetic grid displacement sensor based on the position where the magnetic grid displacement sensor is located, and records it as the real-time longitudinal parameter; it determines the validity of the measurement data of the magnetic grid displacement sensor based on the deviation allowable interval corresponding to the real-time longitudinal parameter. The advantage of this is that by obtaining the real-time longitudinal parameter and performing the validity determination, it is possible to efficiently determine the validity of the measurement data of the magnetic grating scale while ensuring that even if the installation position of the magnetic grating scale changes temporarily, it is still possible to flexibly and accurately determine the validity of the measurement data based on the real-time longitudinal parameter, which helps to effectively obtain the measurement data. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is the principle block diagram of the system of the present invention;

[0040] Figure 2 is the step flow chart of the method of the present invention;

[0041] Figure 3 is the schematic diagram for obtaining the longitudinal difference parameter of the present invention;

[0042] Figure 4 is the schematic diagram for obtaining the vertical deviation displacement and the parallel deviation displacement of the present invention;

[0043] Figure 5 is the structural schematic diagram of the electronic device of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0045] Example 1, please refer to Figure 1 As shown in the figure, the present application provides a system for determining the validity of measurement data of a magnetic grating displacement sensor, including a magnetic grating ruler position analysis module, a multi-position deviation determination module, and a measurement validity determination module;

[0046] The magnetic grating ruler position analysis module is used for a device that measures data based on a magnetic grating displacement sensor, to obtain the positions where the magnetic grating displacement sensor can be installed in the device, and record them as installable positions; based on the installable positions, obtain multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter, where the relative deviation displacements include parallel deviation displacements and vertical deviation displacements;

[0047] The magnetic grating ruler position analysis module includes a multi-position analysis unit, and the multi-position analysis unit is configured with a multi-position analysis strategy, and the multi-position analysis strategy includes:

[0048] For any installable position in the device that measures data with a 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;

[0049] In the specific implementation process, for example, during a data analysis, an installable position of the magnetic grating displacement sensor is as Figure 3 shown in the figure. Among them, the plane DM is the ground, CX is the magnetic scale, the points DD1 and DD2 are the first end point and the second end point of the magnetic scale respectively, and L1 and L2 are the heights corresponding to the first end point and the second end point from the ground respectively. Then, the difference between L1 and L2 can be recorded as the longitudinal difference parameter of the current installable position;

[0050] The surface where the magnetic scale contacts the magnetic head is recorded as the analysis surface; based on the types of the magnetic scale and the magnetic head, obtain the maximum distance that the magnetic head is allowed to offset in the magnetic scale, and record it as the maximum offset distance; when the magnetic head is installed on the analysis surface of the magnetic scale, adjust the offset of the magnetic head relative to the magnetic scale to the maximum offset distance;

[0051] In the specific implementation process, for example, during a data analysis, if the maximum distance that the magnetic head is allowed to offset in the magnetic scale is 0.1 cm, then the maximum offset distance can be set to 0.1 cm; because it is considered that there will be a certain amount of offset between the magnetic head and the magnetic scale during actual installation, so in the subsequent analysis, the maximum offset amount, that is, the maximum offset distance, is directly used for analysis to obtain extreme deviation data and provide a data basis for the subsequent acquisition of the deviation interval;

[0052] Denote the two long sides of the magnetic scale as scale side A and scale side B respectively, and denote the area where the magnetic head is in contact with the magnetic scale as the magnetic head area; Denote the points with the shortest distances from scale side A and scale side B in the magnetic head area as the A-side offset point and the B-side offset point respectively;

[0053] Denote the line segment perpendicular to scale side A and overlapping with the magnetic head area in the analysis plane as the vertical analysis line, and denote the line segment parallel to scale side A and overlapping with the magnetic head area in the analysis plane as the parallel analysis line;

[0054] Denote the vertical analysis lines that have only one intersection point with the magnetic head area among all vertical analysis lines as vertical deviation lines CP1 and CP2 respectively, and denote the intersection points of vertical deviation lines CP1 and CP2 with the magnetic head area as magnetic head vertices CD1 and CD2 respectively;

[0055] Denote the vertical analysis line that coincides with the A-side offset point among all vertical analysis lines as the A-side vertical line, denote the distance between vertical deviation line CP1 and the A-side vertical line as CA1, denote the distance between vertical deviation line CP2 and the A-side vertical line as CA2, and denote the minimum value of CA1 and CA2 as the A-side vertical displacement;

[0056] Denote the vertical analysis line that coincides with the B-side offset point among all vertical analysis lines as the B-side vertical line, denote the distance between vertical deviation line CP1 and the B-side vertical line as CB1, denote the distance between vertical deviation line CP2 and the B-side vertical line as CB2, denote the minimum value of CB1 and CB2 as the B-side vertical displacement, and denote the sum of the A-side vertical displacement and the B-side vertical displacement as the vertical deviation displacement;

[0057] In the specific implementation process, for example, during a data analysis, the positional relationship between the magnetic head and the magnetic scale obtained is as Figure 4 shown, where CT is the magnetic head and CX is the magnetic scale. Through analysis, it can be obtained that point AP and point BP are the A-side offset point and the B-side offset point respectively, and point CD1 and point CD2 are the magnetic head vertices CD1 and CD2 respectively; Through analysis, it can be obtained that the sum of CW1 and CW2 is the vertical deviation displacement. Similarly, it can be obtained that the sum of PW1 and PW2 is the parallel deviation displacement;

[0058] Denote the parallel analysis lines that coincide with magnetic head vertices CD1 and CD2 among all parallel analysis lines as parallel deviation lines PP1 and PP2 respectively; Denote the parallel analysis line that coincides with the A-side offset point among all parallel analysis lines as the A-side parallel line, denote the distance between parallel deviation line PP1 and the A-side parallel line as PA1, denote the distance between parallel deviation line PP2 and the A-side parallel line as PA2, and denote the minimum value of CA1 and CA2 as the A-side parallel displacement;

[0059] Among all the parallel analysis lines, the parallel analysis lines that coincide with the offset points on side B are denoted as the parallel lines on the B side. The distance between the parallel deviation line PP1 and the parallel lines on the B side is denoted as PB1, the distance between the parallel deviation line PP2 and the parallel lines on the B side is denoted as PB2, and the minimum value of CB1 and CB2 is denoted as the parallel displacement on the B side; and the sum of the parallel displacement on the A side and the parallel displacement on the B side is denoted as the parallel deviation displacement.

[0060] Obtain the longitudinal difference parameters and relative deviation displacements corresponding to all installable positions.

[0061] The multi-position deviation determination module is used to obtain the deviation intervals corresponding to each longitudinal difference parameter based on the relative deviation displacement using the determination analysis method, where the deviation intervals include the vertical deviation interval and the parallel deviation interval.

[0062] 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:

[0063] For any installable position, randomly obtain k unequal values greater than 0 and less than the maximum offset distance, and denote them as the deviation distances KP1 to KP k ;

[0064] For any deviation distance KP k , adjust the offset distance of the magnetic head relative to the magnetic scale to the deviation distance KP k , and obtain the vertical deviation displacement and the parallel deviation displacement at this time.

[0065] In the specific implementation process, for example, during a data analysis, the vertical deviation displacements corresponding to all deviation displacements KP obtained are 0.01 cm, 2 cm, and 1.3 cm respectively, and the vertical deviation distance of the relative deviation displacement is 0.9 cm. The vertical deviation interval can be set as [0.01 cm, 2 cm]; by obtaining the vertical deviation interval and the parallel deviation interval, it is possible to obtain the data corresponding to all the situations where the magnetic head and the magnetic scale can have an offset in the same installable position, which helps to judge the validity of the measurement data in the subsequent analysis.

[0066] Obtain the vertical deviation distances and parallel deviation displacements corresponding to all deviation distances KP, and denote the interval formed by the vertical deviation distances of all deviation distances KP and the vertical deviation distance of the relative deviation displacement as the vertical deviation interval, and denote the interval formed by the parallel deviation distances of all deviation distances KP and the parallel deviation distance of the relative deviation displacement as the parallel deviation interval. Among them, the vertical deviation distance of the relative deviation displacement in the vertical deviation interval is denoted as the vertical anchoring distance, and the parallel deviation distance of the relative deviation displacement in the parallel deviation interval is denoted as the parallel anchoring distance.

[0067] The measurement validity determination module is used to, when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and record it as the real-time longitudinal parameter; and determine the validity of the measurement data of the magnetic grating displacement sensor based on the allowable deviation interval corresponding to the real-time longitudinal parameter.

[0068] The measurement validity determination module includes a data validity determination unit, and the data validity determination unit is configured with a data validity determination strategy. The data validity determination strategy includes: when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the real-time position where the magnetic grating displacement sensor is located, as well as the real-time heights of the first end point and the second end point from the ground, and record it as the real-time longitudinal parameter.

[0069] Record the allowable deviation interval corresponding to the real-time longitudinal parameter as the standard reference interval, and obtain 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, record the measurement data of the magnetic grating displacement sensor at this time as invalid data.

[0070] In a specific implementation process, for example, in a data analysis, the obtained parallel deviation displacement and vertical deviation displacement are 2.3 cm and 0.03 cm respectively, and the vertical deviation interval and the parallel deviation interval are [0.01 cm, 2 cm] and [0.01 cm, 2 cm] 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.

[0071] 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, record the measurement data of the magnetic grating displacement sensor at this time as valid data.

[0072] 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, including the following steps:

[0073] Step S1, for the device based on which the magnetic grating displacement sensor performs data measurement, obtain the positions where the magnetic grating displacement sensor can be installed in the device, and record them as installable positions; based on the installable positions, obtain multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements under each longitudinal difference parameter, where the relative deviation displacements include the parallel deviation displacement and the vertical deviation displacement.

[0074] Step S1 includes: Step S101, for any installable position in the device for data measurement 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 denoted as the first end point and the second end point. The heights of the first end point and the second end point from the ground are respectively obtained and denoted as L1 and L2, and the difference between L1 and L2 is denoted as the longitudinal difference parameter;

[0075] Step S102, denote the surface where the magnetic scale contacts the magnetic head as the analysis surface; obtain the maximum distance that the magnetic head is allowed to offset in the magnetic scale based on the types of the magnetic scale and the magnetic head, and denote it as the maximum offset distance; after the magnetic head is installed on the analysis surface of the magnetic scale, adjust the offset of the magnetic head relative to the magnetic scale to the maximum offset distance;

[0076] Step S103, denote the two long sides of the magnetic scale as scale side A and scale side B respectively, and denote the area where the magnetic head fits the magnetic scale as the magnetic head area; denote the points with the shortest distances from the magnetic head area to scale side A and scale side B as the A-side offset point and the B-side offset point respectively;

[0077] Step S104, denote the line segment perpendicular to scale side A and overlapping with the magnetic head area in the analysis surface as the vertical analysis line, and denote the line segment parallel to scale side A and overlapping with the magnetic head area in the analysis surface as the parallel analysis line;

[0078] Step S105, denote the vertical analysis lines that have only one intersection point with the magnetic head area among all the vertical analysis lines as the vertical deviation lines CP1 and CP2 respectively, and denote the intersection points of the vertical deviation lines CP1 and CP2 with the magnetic head area as the magnetic head vertices CD1 and CD2 respectively;

[0079] Step S106, denote the vertical analysis line that coincides with the A-side offset point among all the vertical analysis lines as the A-side vertical line, denote the distance between the vertical deviation line CP1 and the A-side vertical line as CA1, denote the distance between the vertical deviation line CP2 and the A-side vertical line as CA2, and denote the minimum value of CA1 and CA2 as the A-side vertical displacement;

[0080] Step S107, denote the vertical analysis line that coincides with the B-side offset point among all the vertical analysis lines as the B-side vertical line, denote the distance between the vertical deviation line CP1 and the B-side vertical line as CB1, denote the distance between the vertical deviation line CP2 and the B-side vertical line as CB2, denote the minimum value of CB1 and CB2 as the B-side vertical displacement, and denote the sum of the A-side vertical displacement and the B-side vertical displacement as the vertical deviation displacement;

[0081] Step S108: Denote the parallel analysis lines that coincide with the magnetic head vertex CD1 and the magnetic head vertex CD2 among all the parallel analysis lines as the parallel deviation lines PP1 and PP2 respectively; Denote the parallel analysis lines that coincide with the A-side offset point among all the parallel analysis lines as the A-side parallel lines, denote the distance between the parallel deviation line PP1 and the A-side parallel lines as PA1, denote the distance between the parallel deviation line PP2 and the A-side parallel lines as PA2, and denote the minimum value of CA1 and CA2 as the A-side parallel displacement;

[0082] Step S109: Denote the parallel analysis lines that coincide with the B-side offset point among all the parallel analysis lines as the B-side parallel lines, denote the distance between the parallel deviation line PP1 and the B-side parallel lines as PB1, denote the distance between the parallel deviation line PP2 and the B-side parallel lines as PB2, and denote the minimum value of CB1 and CB2 as the B-side parallel displacement; And denote the sum of the A-side parallel displacement and the B-side parallel displacement as the parallel deviation displacement;

[0083] Obtain the longitudinal difference parameters and relative deviation displacements corresponding to all installable positions.

[0084] Step S2: Based on the relative deviation displacement, use the determination analysis method to obtain the deviation intervals corresponding to each longitudinal difference parameter, where the deviation intervals include the vertical deviation interval and the parallel deviation interval;

[0085] The determination analysis method includes:

[0086] Step S201: For any installable position, randomly obtain k unequal values greater than 0 and less than the maximum offset distance, and denote them as the deviation distances KP1 to KP k ;

[0087] Step S202: For any deviation distance KP k , adjust the offset distance of the magnetic head relative to the magnetic scale to the deviation distance KP k , and obtain the vertical deviation displacement and the parallel deviation displacement at this time;

[0088] Step S203: Obtain the vertical deviation distances and parallel deviation displacements corresponding to all deviation distances KP, and denote the interval formed by the vertical deviation distances of all deviation distances KP and the vertical deviation distance of the relative deviation displacement as the vertical deviation interval, and denote the interval formed by the parallel deviation distances of all deviation distances KP and the parallel deviation distance of the relative deviation displacement as the parallel deviation interval. Among them, denote the vertical deviation distance of the relative deviation displacement in the vertical deviation interval as the vertical anchoring distance, and denote the parallel deviation distance of the relative deviation displacement in the parallel deviation interval as the parallel anchoring distance.

[0089] Step S3, when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and record it as the real-time longitudinal parameter; determine the validity of the measurement data of the magnetic grating displacement sensor based on the allowable deviation interval corresponding to the real-time longitudinal parameter; Step S3 includes:

[0090] Step S301, when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the real-time position where the magnetic grating displacement sensor is located, the real-time height of the first end point and the second end point from the ground, and record it as the real-time longitudinal parameter;

[0091] Step S302, record the allowable deviation interval corresponding to the real-time longitudinal parameter as the standard reference interval, and obtain the parallel deviation displacement and the vertical deviation displacement 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, record the measurement data of the magnetic grating displacement sensor at this time as invalid data;

[0092] 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, record the measurement data of the magnetic grating displacement sensor at this time as valid data.

[0093] Embodiment 3, please refer to Figure 5 as shown in Figure 5 illustrates a schematic structural diagram of an electronic device. The electronic device may include: a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus. The memory stores computer-readable instructions. The processor can 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 measurement data of a magnetic grating displacement sensor are run to achieve the following functions: first, obtain the installable position; obtain 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; obtain the allowable deviation interval corresponding to each longitudinal difference parameter using the decision analysis method based on the relative deviation displacement; when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and record it as the real-time longitudinal parameter; determine the validity of the measurement data of the magnetic grating displacement sensor based on the allowable deviation interval corresponding to the real-time longitudinal parameter.

[0094] In addition, when the logical instructions in the above-mentioned memory are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0095] Embodiment 4, this application also provides a computer-readable storage medium. This application provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, it runs the steps in the method for determining the validity of measurement data of a magnetic grating displacement sensor as described above to achieve the following functions: First, obtain the installable position; based on the installable position, obtain 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, use the determination analysis method to obtain the deviation allowable range corresponding to each longitudinal difference parameter; when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and record it as the real-time longitudinal parameter; based on the deviation allowable range corresponding to the real-time longitudinal parameter, determine the validity of the measurement data of the magnetic grating displacement sensor.

[0096] Through the description of the above embodiments, the embodiments of the present invention can be provided as a method, a system, or a computer program product. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disks, optical discs, etc., and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments.

[0097] 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 illustrative. For example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation. For another 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of systems, modules, and units can be in electrical, mechanical, or other forms.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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 method includes the following steps: For a device that measures data based on a magnetic grating displacement sensor, obtain the positions where the magnetic grating displacement sensor can be installed in the device, and denote them as installable positions; based on the installable positions, obtain multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter, where the relative deviation displacements include parallel deviation displacements and vertical deviation displacements; Based on the relative deviation displacements, use the decision analysis method to obtain the allowable deviation intervals corresponding to each longitudinal difference parameter, where the allowable deviation intervals include vertical deviation intervals and parallel deviation intervals; When the magnetic grating displacement sensor is operating, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and denote it as the real-time longitudinal parameter; based on the allowable deviation interval corresponding to the real-time longitudinal parameter, determine the validity of the measurement data of the magnetic grating displacement sensor; Obtaining multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter based on the installable positions includes: For any installable position in the device that measures data using a magnetic grating displacement sensor: when the magnetic grating displacement sensor is installed at the installable position, denote the two ends of the magnetic scale as the first end point and the second end point respectively, obtain the heights of the first end point and the second end point from the ground respectively, and denote them as L1 and L2, and denote the difference between L1 and L2 as the longitudinal difference parameter; Denote the surface where the magnetic scale contacts the magnetic head as the analysis surface; based on the types of the magnetic scale and the magnetic head, obtain the maximum distance that the magnetic head is allowed to offset in the magnetic scale, and denote it as the maximum offset distance; after the magnetic head is installed on the analysis surface of the magnetic scale, adjust the offset of the magnetic head relative to the magnetic scale to the maximum offset distance; Obtaining multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter based on the installable positions further includes: Denote the two long sides of the magnetic scale as the scale A side and the scale B side respectively, and denote the area where the magnetic head fits the magnetic scale as the magnetic head area; denote the points in the magnetic head area that are closest to the scale A side and the scale B side as the A-side offset point and the B-side offset point respectively; Denote the line segment in the analysis surface that is perpendicular to the scale A side and coincides with the magnetic head area as the vertical analysis line, and denote the line segment in the analysis surface that is parallel to the scale A side and coincides with the magnetic head area as the parallel analysis line; Obtaining multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter based on the installable positions further includes: Denote the vertical analysis lines that have only one intersection point with the magnetic head area among all the vertical analysis lines as the vertical deviation line CP1 and the vertical deviation line CP2 respectively, and denote the intersection points of the vertical deviation line CP1 and the vertical deviation line CP2 with the magnetic head area as the magnetic head vertex CD1 and the magnetic head vertex CD2 respectively; Denote the vertical analysis line that coincides with the A-side offset point among all the vertical analysis lines as the A-side vertical line, denote the distance between the vertical deviation line CP1 and the A-side vertical line as CA1, denote the distance between the vertical deviation line CP2 and the A-side vertical line as CA2, and denote the minimum value of CA1 and CA2 as the A-side vertical displacement; Among all the vertical analysis lines, the vertical analysis line that coincides with the offset point of side B is denoted 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 denoted as CB1, and the distance between the vertical deviation line CP2 and the vertical line on the B side is denoted as CB2. The minimum value of CB1 and CB2 is denoted 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 denoted as the vertical deviation displacement; Obtaining multiple longitudinal difference parameters of the magnetic scale based on the installable positions and the relative deviation displacements of the magnetic head under each longitudinal difference parameter further includes: Among all the parallel analysis lines, the parallel analysis lines that coincide with the magnetic head vertex CD1 and the magnetic head vertex CD2 are respectively denoted as the parallel deviation line PP1 and the parallel deviation line PP2; among all the parallel analysis lines, the parallel analysis line that coincides with the offset point of side A is denoted as the parallel line on the A side. The distance between the parallel deviation line PP1 and the parallel line on the A side is denoted as PA1, the distance between the parallel deviation line PP2 and the parallel line on the A side is denoted as PA2, and the minimum value of CA1 and CA2 is denoted as the parallel displacement on the A side; Among all the parallel analysis lines, the parallel analysis line that coincides with the offset point of side B is denoted as the parallel line on the B side. The distance between the parallel deviation line PP1 and the parallel line on the B side is denoted as PB1, the distance between the parallel deviation line PP2 and the parallel line on the B side is denoted as PB2, and the minimum value of CB1 and CB2 is denoted as the parallel displacement on the B side; and the sum of the parallel displacement on the A side and the parallel displacement on the B side is denoted as the parallel deviation displacement; Obtain the longitudinal difference parameters and relative deviation displacements corresponding to all installable positions.

2. The method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 1, wherein, The determination analysis method includes: For any installable position, randomly obtain k unequal values greater than 0 and less than the maximum offset distance, and denote them as deviation distances KP1 to KP k ; For any deviation distance KP k , adjust the offset distance between the magnetic head and the magnetic scale to the deviation distance KP k , and obtain the vertical deviation displacement and the parallel deviation displacement at this time.

3. A method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 2, characterized in that The determination analysis method further includes: Obtain the vertical deviation distances and parallel deviation displacements corresponding to all adjustable distances KP. Denote the interval formed by the vertical deviation distances of all adjustable distances KP and the vertical deviation distances of the relative deviation displacements as the vertical deviation interval, and denote the interval formed by the parallel deviation distances of all adjustable distances KP and the parallel deviation distances of the relative deviation displacements as the parallel deviation interval. Among them, the vertical deviation distance of the relative deviation displacement in the vertical deviation interval is denoted as the vertical anchoring distance, and the parallel deviation distance of the relative deviation displacement in the parallel deviation interval is denoted as the parallel anchoring distance.

4. A method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 3, characterized in that When the magnetic grating displacement sensor is operating, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and denote it as the real-time longitudinal parameter; the validity determination of the measurement data of the magnetic grating displacement sensor based on the adjustable interval corresponding to the real-time longitudinal parameter includes: When the magnetic grating displacement sensor is operating, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the real-time position where the magnetic grating displacement sensor is located, the real-time height of the first end point and the second end point from the ground. And denote it as the real-time longitudinal parameter.

5. A method for determining the validity of measurement data of a magnetic grating displacement sensor according to claim 4, characterized in that When the magnetic grating displacement sensor is operating, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located, and denote it as the real-time longitudinal parameter; the validity determination of the measurement data of the magnetic grating displacement sensor based on the adjustable interval corresponding to the real-time longitudinal parameter further includes: Record the deviation interval corresponding to the real-time longitudinal parameter as the standard reference interval, and obtain the parallel deviation displacement and the vertical deviation displacement 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, record the measurement data of the magnetic grating displacement sensor at this time 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, record the measurement data of the magnetic grating displacement sensor at this time as valid data.

6. A validity determination system for measurement data of a magnetic grating displacement sensor, which is used to implement the validity determination method for measurement data of a magnetic grating displacement sensor according to any one of claims 1-5, characterized in that, It includes a magnetic grating ruler position analysis module, a multi-position deviation determination module, and a measurement validity determination module; The magnetic grating ruler position analysis module is a device for data measurement based on a magnetic grating displacement sensor, which obtains the positions where the magnetic grating displacement sensor can be installed in the device and records them as installable positions; based on the installable positions, it obtains multiple longitudinal difference parameters of the magnetic scale and the relative deviation displacements of the magnetic head under each longitudinal difference parameter, where the relative deviation displacements include parallel deviation displacements and vertical deviation displacements; The multi-position deviation determination module is used to obtain the deviation interval corresponding to each longitudinal difference parameter by using the determination analysis method based on the relative deviation displacement, where the deviation interval includes a vertical deviation interval and a parallel deviation interval; The measurement validity determination module is used to, when the magnetic grating displacement sensor is running, obtain the real-time longitudinal difference parameter of the magnetic grating displacement sensor based on the position where the magnetic grating displacement sensor is located and record it as the real-time longitudinal parameter; determine the validity of the measurement data of the magnetic grating displacement sensor based on the deviation interval corresponding to the real-time longitudinal parameter.

Images