Dual-track absolute position detection method and system of dual-chip array

Abstract

The invention provides a double-chip array double-track absolute position detection method and system, and belongs to the field of displacement detection.The method comprises the steps that a to-be-detected object is detected through a double-track magnetic railing ruler, a reading head moves along with the to-be-detected object, and when the to-be-detected object linearly moves relative to the double-track magnetic railing ruler, the reading head reads the to-be-detected object; incremental magnetic track information of the incremental coding magnetic track is read through an incremental coding reading head; a first level signal set is output through the first magnetic induction chip array, a second level signal set is output through the second magnetic induction chip array, the return difference range of the chips is smaller than or equal to one half of the polar distance, and the distance between the chips of the two chip arrays is larger than or equal to one half of the polar distance. When the first chip array is located outside the return difference range and the corresponding position of the second chip array is located in the return difference range, absolute track information is determined according to the first level signal set, and a dual-track absolute position detection result is obtained through calculation. According to the method, the absolute track information is not influenced by return difference, so that accurate positioning can be realized.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of displacement detection, and particularly relates to a double-chip array double-track absolute position detection method and system. BACKGROUND

[0002] The non-contact displacement detection technology using the anisotropic magnetoresistance effect sensor and the magnetic scale with proper pole pitch or magnetic pitch has been relatively mature, and has been applied in a large number of fields such as linear displacement measurement, and can realize absolute displacement detection within one pole pitch, and when the number of pole pitches or magnetic pitches crossed by software measurement is used, displacement measurement with a range exceeding one pole pitch or magnetic pitch can be performed, and then used for relative displacement detection.

[0003] The double-track magnetic scale is provided with a large-range position coordinate by an absolute encoding track, and a local subdivision on the basis of the absolute position is performed by an incremental encoding track, so that an accurate position detection result is obtained, and the double-track magnetic scale becomes an ideal choice for position feedback of high-end industrial equipment. Although the magnetic induction chip can realize positioning through decoding, the magnetic induction chip has the defect that the opening point and the release point of the response to the magnetic field are not zero values, the opening point and the release point do not coincide to form a backlash, and then cause decoding errors, and the positioning recognition accuracy is low. SUMMARY

[0004] In order to solve the problem that the existing magnetic induction chip is affected by the backlash to cause decoding errors and the positioning recognition accuracy is low, the application provides a double-chip array double-track absolute position detection method and system.

[0005] In order to achieve the above purpose, the application provides the following technical scheme: A double-chip array double-track absolute position detection method, which detects a to-be-measured object through a double-code track magnetic scale, the double-code track magnetic scale comprising an incremental encoding reading head and an absolute encoding reading head, the absolute encoding reading head being composed of a first magnetic induction chip array and a second magnetic induction chip array, the first magnetic induction chip array and the second magnetic induction chip array each being composed of latch induction type switch position detection chips arranged at intervals along an absolute encoding track measurement direction, the to-be-measured object being connected with the incremental encoding reading head and the absolute encoding reading head, and comprising the following steps: When the to-be-measured object moves linearly relative to the double-code track magnetic scale, incremental track information of an incremental encoding track of the double-code track magnetic scale is read through the incremental encoding reading head; The latch-in-sensing type switch position detection chip in the first magnetic induction chip array respectively senses the polarity of the magnetic pole at the position of the latch-in-sensing type switch position detection chip on the absolute encoding magnetic track in the double code track magnetic scale, and outputs a first level signal group according to the polarity; the latch-in-sensing type switch position detection chip in the second magnetic induction chip array respectively senses the polarity of the magnetic pole at the position of the latch-in-sensing type switch position detection chip on the absolute encoding magnetic track in the double code track magnetic scale, and outputs a second level signal group according to the polarity, wherein the first magnetic induction chip array and the second magnetic induction chip array are parallel to the extension direction of the double magnetic track magnetic scale, the backlash range of the latch-in-sensing type switch position detection chip is less than or equal to one half of the incremental encoding magnetic track pole distance, and the distance between the latch-in-sensing type switch position detection chip of the first magnetic induction chip array and the corresponding latch-in-sensing type switch position detection chip of the second magnetic induction chip array is greater than or equal to one half of the incremental encoding magnetic track pole distance. According to the incremental magnetic track information, the position of the first magnetic induction chip array and the position of the second magnetic induction chip array are judged, when the corresponding position of the first magnetic induction chip array is located outside the backlash range and the corresponding position of the second magnetic induction chip array is located inside the backlash range, the absolute magnetic track information is determined according to the first level signal group. The incremental magnetic track information and the absolute magnetic track information are combined and calculated to obtain the double magnetic track absolute position detection result of the object to be detected.

[0006] Optionally, the double-chip array double-magnetic-track absolute position detection method provided by the application further comprises: When the corresponding position of the first magnetic induction chip array is located inside the backlash range and the corresponding position of the second magnetic induction chip array is located outside the backlash range, the position characteristic code conversion is performed according to the second level signal group to obtain the position characteristic code conversion result, wherein the second level signal group is the level signal obtained by detecting the magnetic pole of the absolute encoding magnetic track by the second magnetic induction chip array. The array decoding result is obtained by combining the decoding array, and the absolute magnetic track information is determined by combining the distance between the latch-in-sensing type switch position detection chip of the first magnetic induction chip array and the corresponding latch-in-sensing type switch position detection chip of the second magnetic induction chip array.

[0007] Optionally, the double-chip array double-magnetic-track absolute position detection method provided by the application further comprises: When the corresponding position of the first magnetic induction chip array and the corresponding position of the second magnetic induction chip array are both located outside the backlash range, the absolute magnetic track information is determined from the position characteristic codes corresponding to the first level signal group and the second level signal group according to the pre-set decoding output rule.

[0008] Optionally, the decoding output rule is a translation name output minimum value rule, the array decoding result corresponding to the first level signal group is less than the array decoding result corresponding to the second level signal group, and the absolute position detection method of the double-chip array double-track provided by the application further comprises the following steps of: Based on the translation name output minimum value rule, the absolute track information is determined according to the position characteristic code corresponding to the first level signal group.

[0009] Optionally, the absolute position detection method of the double-chip array double-track provided by the application further comprises the following steps of: Periodic judgment is performed on the position characteristic code corresponding to the first level signal group, when the position characteristic code corresponding to the first level signal group is a tail value of the previous period, the array decoding result is assigned and the absolute track information is determined.

[0010] Optionally, the absolute position detection method of the double-chip array double-track provided by the application further comprises the following steps of: The incremental track information is subjected to position judgment with the sequentially arranged multiple characteristic intervals, wherein the sequentially arranged multiple characteristic intervals jointly constitute the range of the pole pitch, and the endpoints of the characteristic intervals are used to distinguish the relationship between the chips and the runout range in the first magnetic induction chip array and the second magnetic induction chip array, the number of the characteristic intervals is greater than or equal to 3, and the multiple characteristic intervals are pre-divided into a first type characteristic interval, a second type characteristic interval and a third type characteristic interval. When the incremental track information is located in the first type characteristic interval, it is judged that the corresponding positions of the first magnetic induction chip array and the second magnetic induction chip array are both located outside the runout range. When the incremental track information is located in the second type characteristic interval, it is judged that the corresponding position of the second magnetic induction chip array is located outside the runout range and the corresponding position of the first magnetic induction chip array is located inside the runout range. When the incremental track information is located in the third type characteristic interval, it is judged that the corresponding position of the first magnetic induction chip array is located outside the runout range and the corresponding position of the second magnetic induction chip array is located inside the runout range.

[0011] Optionally, in the absolute position detection method of the double-chip array double-track provided by the application, the runout range of the latch induction type switch position detection chip is less than or equal to one third of the incremental encoding track pole pitch.

[0012] This invention also provides a dual-chip array dual-track absolute position detection system, which detects the object under test using a dual-track magnetic grating ruler. The dual-track magnetic grating ruler includes an incremental encoding reading head and an absolute encoding reading head. The absolute encoding reading head is composed of a first magnetic induction chip array and a second magnetic induction chip array. Both the first and second magnetic induction chip arrays are composed of latching induction type switch position detection chips arranged at intervals along the measurement direction of the absolute encoding magnetic track. The object under test is connected to the incremental encoding reading head and the absolute encoding reading head, including: The incremental track detection module is used to read the incremental track information of the incremental coded track of the dual-track magnetic scale through the incremental encoding reading head when the object under test moves linearly relative to the dual-track magnetic scale. An absolute magnetic track detection module is used to have each latching inductive switch position detection chip in the first magnetic induction chip array sense the polarity of the magnetic pole at the location of the latching inductive switch position detection chip on the absolute encoded magnetic track of the dual-track magnetic grating ruler, and output a first level signal group according to the polarity; and to have each latching inductive switch position detection chip in the second magnetic induction chip array sense the polarity of the magnetic pole at the location of the latching inductive switch position detection chip on the absolute encoded magnetic track of the dual-track magnetic grating ruler, and output a second level signal group according to the polarity. The first and second magnetic induction chip arrays are both parallel to the extension direction of the dual-track magnetic grating ruler. The hysteresis range of the latching inductive switch position detection chips is less than or equal to half the incremental encoded magnetic track pole pitch. The spacing between the corresponding latching inductive switch position detection chips in the first and second magnetic induction chip arrays is greater than or equal to half the incremental encoded magnetic track pole pitch. The level signal decoding module is used to determine the position of the first magnetic induction chip array and the second magnetic induction chip array based on the incremental magnetic track information. When the corresponding position of the first magnetic induction chip array is outside the hysteresis range and the corresponding position of the second magnetic induction chip array is within the hysteresis range, the absolute magnetic track information is determined based on the first level signal group. The position detection module is used to combine and calculate the incremental and absolute magnetic track information to obtain the absolute position detection result of the dual magnetic tracks of the object under test.

[0013] The present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement any of the steps of a dual-chip array dual-track absolute position detection method.

[0014] The present invention also provides a computer-readable storage medium storing a computer program that, when loaded by a processor, can execute any of the steps of a dual-track absolute position detection method for a dual-chip array.

[0015] The present invention provides a method, system, computer device, and storage medium for detecting the absolute position of dual tracks in a dual-chip array, which has the following advantages: Because the hysteresis range of the latching induction type switch position detection chip in the magnetic induction chip array provided by this invention is less than half of the incremental encoding track pole pitch, and the interval between the two sets of magnetic induction chip arrays is greater than or equal to half of the incremental encoding track pole pitch, this method ensures that at any given time, there is always a chip array outside the hysteresis range. At this time, by generating a level value through magnetic pole detection by both sets of magnetic induction chip arrays, it is possible to select the level value corresponding to the chip array outside the hysteresis range for position feature code conversion and pole pitch position determination, thereby obtaining a magnetic induction chip decoding result that is not affected by hysteresis and can be accurately located, thus ensuring the accuracy of dual-track magnetic grating ruler position detection. Attached Figure Description

[0016] To more clearly illustrate the embodiments and design schemes of the present invention, the accompanying drawings required for this embodiment will be briefly described below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is an example of the hysteresis characteristics of a latching inductive switch position detection chip provided in an embodiment of the present invention; Figure 2 This is one of the schematic diagrams of a dual-chip array dual-track absolute position detection method provided in an embodiment of the present invention; Figure 3 This is a second schematic diagram of a dual-chip array dual-track absolute position detection method provided in an embodiment of the present invention; Figure 4 This is the third schematic diagram of a dual-chip array dual-track absolute position detection method provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a dual-chip array dual-track absolute position detection system provided in an embodiment of the present invention. Detailed Implementation

[0018] To enable those skilled in the art to better understand and implement the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0019] While existing latching inductive switch position detection chips can detect magnetic changes and can be used for absolute coded track identification in dual-track magnetic rulers, they suffer from a hysteresis window between the on and off points. The output remains consistent with the previous state rather than being zero, leading to a misalignment between the on and off points and creating a hysteresis error. Figure 1 As shown, when the latching inductive switch position detection chip is located and When the chip enters the region between these two points, whether the output signal is high or low depends only on its initial position before entering that region. For example, as shown by the green dashed line, when the chip enters this region from the S (South) position, it maintains a low level until it crosses the boundary. Only then does it output a high level. As shown by the red solid line, when the chip enters this region from the N-terminal position, it maintains a high level until it crosses over... Only after that will a low level be output, indicating the chip's output state within that region. This is not unique, leading to decoding errors in this area. Furthermore, although the same model of latching inductive switch position detection chip is nominally... and Unique, but in reality, every chip... and The discrepancies between the values ​​and the corresponding nominal values ​​result in asynchronous hysteresis ranges in the magnetic induction chip array composed of latching inductive switch position detection chips of the same model, thus affecting the accuracy of decoding. While it's possible to minimize the physical area corresponding to the hysteresis range by selecting chips with smaller hysteresis, or even considering reducing the hysteresis to zero to eliminate the corresponding physical area, the former would drastically increase chip costs, making displacement detection too uneconomical. The latter is currently not technically feasible.

[0020] To address the hysteresis defect in magnetic induction chips, such as latching induction switch position detection chips, the magnetic induction chip decoding method provided in this invention does not consider reducing the chip hysteresis value. Instead, it uses two sets of conventional latching induction switch position detection chips, each forming a magnetic induction chip array, to detect the absolute encoding track and determine the level signal used for decoding based on the chip's position. Since at any given time, there will always be a chip array outside the hysteresis range, the individual chips... and This solves the problem of decoding errors in the hysteresis region of latch-type inductive switch position detection chip arrays when the values ​​are unequal and the hysteresis region is not zero.

[0021] Example 1 This invention provides a dual-track absolute position detection method using a dual-chip array. The method involves detecting an object under test using a dual-track magnetic grating ruler. The object is connected to a reading head, which moves with the object. The reading head includes an incremental encoding reading head and an absolute encoding reading head. The absolute encoding reading head comprises a first magnetic induction chip array and a second magnetic induction chip array, consisting of latching induction-type switch position detection chips spaced apart along the measurement direction of the absolute encoding track. The dual-track magnetic grating ruler includes incremental and absolute encoding tracks arranged parallel to each other on the same substrate. Specifically, as shown... Figure 2 As shown, it includes the following steps: Step 11: When the object to be measured moves linearly relative to the dual-track magnetic scale, the incremental track information of the incremental track of the dual-track magnetic scale is read through the incremental coding reading head.

[0022] Step 12: Each latching induction switch position detection chip in the first magnetic induction chip array senses the polarity of the magnetic pole at the location of the latching induction switch position detection chip on the absolute coding track of the dual-track magnetic grating ruler, and outputs a first level signal group according to the polarity; each latching induction switch position detection chip in the second magnetic induction chip array senses the polarity of the magnetic pole at the location of the latching induction switch position detection chip on the absolute coding track of the dual-track magnetic grating ruler, and outputs a second level signal group according to the polarity. The first and second magnetic induction chip arrays are parallel to the extension direction of the dual-track magnetic grating ruler. The hysteresis range of the latching induction switch position detection chips is less than or equal to half the incremental coding track pole pitch. The spacing between the corresponding latching induction switch position detection chips in the first and second magnetic induction chip arrays is greater than or equal to half the incremental coding track pole pitch.

[0023] Step 13: Determine the position of the first magnetic induction chip array and the second magnetic induction chip array based on the incremental magnetic track information. When the corresponding position of the first magnetic induction chip array is outside the hysteresis range and the corresponding position of the second magnetic induction chip array is within the hysteresis range, determine the absolute magnetic track information based on the first level signal group.

[0024] Step 14: Combine and calculate the incremental track information and the absolute track information to obtain the absolute position detection result of the dual track of the object under test.

[0025] Furthermore, in the dual-chip array dual-track absolute position detection method provided by the present invention, the hysteresis range of the latching inductive switch position detection chip is less than or equal to one-third of the incremental coded track pole pitch.

[0026] Specifically, the magnetic induction chip decoding method provided by this invention is mainly applied to a dual-track magnetic grating ruler. Reading head A and reading head B detect the incremental track information of the parallel-arranged incremental coded tracks and the absolute track information of the absolute coded tracks. Reading head B, which reads the absolute track information, consists of two sets of magnetic induction chip arrays. Both sets of magnetic induction chip arrays are arranged at intervals along the detected direction of motion. The hysteresis range of the latching induction type switch position detection chip in the magnetic induction chip array corresponding to the absolute coded track size does not exceed the pole pitch of the incremental coded tracks in the dual-track magnetic grating ruler. Half of the hysteresis range of latching inductive switch position detection chips of the same model can be selected based on the hysteresis range not exceeding one-third of the incremental encoding track pole pitch, further ensuring the accuracy of the decoding results. Furthermore, the distance between the two sets of magnetic induction chip arrays along the detection direction needs to be greater than or equal to half of the incremental encoding track pole pitch. Considering that excessive distance may affect the detection results, a more precise selection can be made. The distance between the two sets of magnetic induction chip arrays along the detection direction.

[0027] For example, if the encoding order of an absolute encoded track is from left to right, and the relative movement between the read head B and the absolute encoded track is from the left end to the right end of the absolute encoded track, then, apart from the erroneous output value within the hysteresis range, the corresponding decoded data... The values ​​are increased sequentially from smallest to largest, and the incremental encoding of the track subdivision values ​​within a pole pitch is also increased. Also, from smallest to largest, and when the reading head B detects the absolute encoded track, the first magnetic induction chip array is located to the left of the second magnetic induction chip array. In this invention, the incremental encoded track subdivision values... Growth patterns and absolute encoded track decoding data The growth pattern can also be negatively correlated; in this case, incremental encoding of the track pole pitch can be used. Subtracting the subdivision values ​​yields the new As one of the calculation bases for position detection, this invention does not impose any limitations.

[0028] During position detection, while the incrementally encoded track is read by the corresponding reading head, two sets of magnetic induction chip arrays read the absolute encoded track information. Each chip in the array outputs a level signal, resulting in two sets of level signals. Subsequently, the positions of the chips in the two sets of magnetic induction chip arrays are determined. When it is confirmed that the position corresponding to the first magnetic induction chip array is outside the hysteresis range while the position corresponding to the second magnetic induction chip array is within the hysteresis range, the second level signal set is inaccurate due to the hysteresis range, while the first level signal set is not affected by the hysteresis range. The position feature code conversion is then performed based on the first level signal set. The position decoding result of the absolute coded track is obtained by combining the decoding array, which is the absolute track information.

[0029] While determining the absolute track information, the corresponding position data is simultaneously calculated based on the incremental track information of the incrementally coded track. And combined with polar distance Determine the final location data This enables position detection using a dual-track magnetic grating ruler.

[0030] Because the hysteresis range of the latching induction type switch position detection chip in the magnetic induction chip array provided by this invention is less than half of the incremental encoding track pole pitch, and the interval between the two sets of magnetic induction chip arrays is greater than or equal to half of the incremental encoding track pole pitch, this method ensures that at any given time, there is always a chip array outside the hysteresis range. At this time, by generating a level value through magnetic pole detection by both sets of magnetic induction chip arrays, it is possible to select the level value corresponding to the chip array outside the hysteresis range for position feature code conversion and pole pitch position determination, thereby obtaining a magnetic induction chip decoding result that is not affected by hysteresis and can be accurately located, thus ensuring the accuracy of dual-track magnetic grating ruler position detection.

[0031] Based on the above implementation methods, such as Figure 3 As shown, in the dual-track absolute position detection method for a dual-chip array provided by the present invention, step 13 further includes: Step 131: When the position corresponding to the first magnetic induction chip array is within the hysteresis range and the position corresponding to the second magnetic induction chip array is outside the hysteresis range, position feature code conversion is performed according to the second level signal group to obtain the position feature code conversion result. The second level signal group is the level signal obtained by the second magnetic induction chip array from the magnetic pole detection of the absolute coded track. Step 132: Combine the decoding array to find the array decoding result, and combine the spacing between the latching induction type switch position detection chip of the first magnetic induction chip array and the corresponding latching induction type switch position detection chip of the second magnetic induction chip array to determine the absolute magnetic track information.

[0032] Furthermore, in the dual-chip array dual-track absolute position detection method provided by the present invention, step 13 further includes: Step 133: When the positions corresponding to the first magnetic induction chip array and the second magnetic induction chip array are both outside the hysteresis range, the absolute magnetic track information is determined from the position feature codes corresponding to the first level signal group and the second level signal group according to the preset decoding output rules.

[0033] Based on the above implementation method, the decoding output rule is the minimum value rule for the decoded output, where the array decoding result corresponding to the first level signal group is less than the array decoding result corresponding to the second level signal group. In the dual-track absolute position detection method for a dual-chip array provided by this invention, step 133 includes: Step 1331: Based on the minimum value rule of translation output, determine the absolute track information according to the position feature code corresponding to the first level signal group.

[0034] Specifically, in the magnetic induction chip decoding method provided by this invention, when it is confirmed that the corresponding position of the first magnetic induction chip array is within the hysteresis range while the corresponding position of the second magnetic induction chip array is outside the hysteresis range, the first level signal group is inaccurate due to the hysteresis range, while the second level signal group is not affected by the hysteresis range. The position feature code conversion is then performed based on the second level signal group. The position decoding result of the absolute coded track is obtained by combining the decoding array, which is the absolute track information.

[0035] Furthermore, considering the inherent distance difference between the first and second magnetic induction chip arrays, it is also possible to... By performing simple processing, such as subtracting or adding one, a position decoding result that is consistent with the position of the first magnetic induction chip array when it is outside the hysteresis range is obtained.

[0036] When it is confirmed that the positions corresponding to the first magnetic induction chip array and the second magnetic induction chip array are both outside the hysteresis range, the first level signal group and the second level signal group are not affected by the hysteresis range. The decoding results corresponding to the two level signals can be measured and output according to the preset decoding output rules, so as to provide position detection in combination with the subdivision data within the pole distance.

[0037] For example, when the decoding output of the absolute encoded track is the minimum value, since the encoding order of the absolute encoded track is from left to right, the corresponding decoded data... Increase sequentially from smallest to largest. Less than At this time, based on the decoding obtained from the first magnetic induction chip array As the decoding output. And when the decoding output of the absolute encoded track is at its maximum value, because... Less than At this time, based on the decoding obtained from the second magnetic induction chip array As the output of the decoder.

[0038] Because the dual-track absolute position detection method for a dual-chip array provided by this invention can provide corresponding decoding output results in two cases: when the corresponding position of the first magnetic induction chip array is within the hysteresis range and the corresponding position of the second magnetic induction chip array is outside the hysteresis range, and when the corresponding positions of the first magnetic induction chip array and the corresponding positions of the second magnetic induction chip array are both outside the hysteresis range, and can also adjust to achieve uniformity of decoding output results in the scenario where the corresponding position of the first magnetic induction chip array is outside the hysteresis range and the corresponding position of the second magnetic induction chip array is within the hysteresis range, the accuracy of decoding is further guaranteed, thereby ensuring the accuracy of dual-track magnetic grating ruler position detection.

[0039] Furthermore, in the dual-chip array dual-track absolute position detection method provided by the present invention, step 13 further includes: Step 134: Compare the corresponding position of the first magnetic induction chip array with the hysteresis range to determine the internal and external relationship between the corresponding position of the first magnetic induction chip array and the hysteresis range. The hysteresis range is greater than the theoretical hysteresis range of the latching induction type switch position detection chip.

[0040] Based on the above embodiments, the present invention provides a dual-chip array dual-track absolute position detection method, such as... Figure 4 As shown, step 13 also includes: Step 136: Determine the position of the incremental magnetic track information and the sequentially arranged multiple feature intervals. The sequentially arranged multiple feature intervals together form the range of the pole distance, and the endpoints of the feature intervals are used to distinguish the relationship between the chips and the hysteresis range in the first magnetic induction chip array and the second magnetic induction chip array. The number of feature intervals is greater than or equal to 3, and the multiple feature intervals are pre-divided into the first type of feature interval, the second type of feature interval, and the third type of feature interval.

[0041] Step 137: When the incremental magnetic track information is located in the first type of feature interval, determine that the corresponding positions of the first magnetic induction chip array and the second magnetic induction chip array are both outside the hysteresis range.

[0042] Step 138: When the incremental magnetic track information is located in the second type of feature interval, determine that the corresponding position of the second magnetic induction chip array is outside the hysteresis range and the corresponding position of the first magnetic induction chip array is within the hysteresis range.

[0043] Step 139: When the incremental magnetic track information is located in the third type of feature interval, determine that the corresponding position of the first magnetic induction chip array is outside the hysteresis range and the corresponding position of the second magnetic induction chip array is within the hysteresis range.

[0044] Specifically, in the dual-chip array dual-track absolute position detection method provided by this invention, the hysteresis range in practical applications is greater than the theoretical range of the latching inductive switch position detection chip. For example, by expanding the hysteresis range by a certain length on both sides, or by utilizing the different results of entering the hysteresis range from different directions, the hysteresis range for practical applications can be determined. Furthermore, when the number of feature intervals is greater than or equal to three, the position can be determined using the dual-chip array dual-track absolute position detection method provided by this invention. Specifically, the feature intervals are pre-divided into three categories. When the incremental track information is located in a certain feature interval, the positional relationship between the first and second magnetic induction chip arrays and the hysteresis range is determined based on the feature interval of that category, thereby executing the corresponding absolute track information determination action.

[0045] For example, in a test involving movement from left to right, the incremental chip outputs subdivided values. At a polar distance The internal enlargement process has four characteristic points, namely: , , and The first magnetic induction chip array in reading head B is in Decoding is correct within the range unaffected by backlash. Decoding errors within the range affected by backlash, in Decoding is correct within the range unaffected by backlash. Decoding errors within the range affected by backlash, in Decoding is correct within the range unaffected by hysteresis. Subsequently, during testing from right to left, a new... , , and Numerical values. Finally, compare two numerical values ​​with the same meaning in different directions. and Take the minimum value. and Take the maximum value, and the structure built at this time Scope and The maximum range represents the hysteresis range in practical applications. Furthermore, both ranges can be further expanded, for example, to... and Subtract 0.1mm from each, for and Add 0.1mm to each to create a wider hysteresis range. and The specific values ​​for increasing or decreasing can be determined based on actual needs, and this application does not impose any restrictions. After the test is completed, during the absolute displacement measurement of the dual magnetic tracks, it is only necessary to compare the incremental magnetic track information with the positional relationship of these four feature points to determine the specific relationship between the two magnetic induction chip arrays and the hysteresis range. For example, from left to right, the newly determined... , and Classified as a first-class feature interval Classified as a second type of feature interval, It is classified as the third type of characteristic interval, and different level signal groups are selected based on the differences between the various characteristic intervals to determine the absolute magnetic track information.

[0046] Because the magnetic induction chip decoding method provided by this invention expands the hysteresis range based on the theoretical hysteresis range of latching inductive switch position detection chips, it further avoids the problem of hysteresis misjudgment and incorrect output results caused by parameter dispersion of chips of the same model, thus ensuring the accuracy of the decoding output. Specifically, by adjusting the values ​​of the four feature points according to the test results, the differences caused by the dispersion of the turn-on and release points of each chip are resolved, meeting the requirements of engineering implementation. Furthermore, the requirements for the difference between the turn-on and release points of the chips are reduced, increasing the range of chip selection and further reducing manufacturing costs.

[0047] Based on the above embodiments, in the dual-chip array dual-track absolute position detection method provided by the present invention, step 13 further includes: Step 140: Perform periodic judgment on the position feature code corresponding to the first level signal group. When the position feature code corresponding to the first level signal group is the tail value of the previous period, assign the array decoding result and determine the absolute track information.

[0048] Specifically, considering the existence of two sets of magnetic induction chip arrays located in different period ranges, when the position feature code is confirmed to be the tail value of the previous period, a new position decoding result is generated. For example, when the decoding output of the absolute encoded track is a small value, and neither the first nor the second magnetic induction chip array is affected by the hysteresis range, decoding is performed according to the first level signal group measured by the first magnetic induction chip array. However, when the chips in the first and second magnetic induction chip arrays are in different periods, the decoding result of the first level signal group is the maximum value. At this point, the absolute track information is determined by assignment, for example, by assigning a value. Where n is the number of latching inductive switch position detection chips in the array, and the longest period of the binary sequence is... Similarly, when the decoding output of the absolute encoded track is a large value, and neither the first nor the second magnetic induction chip array is affected by the hysteresis range, decoding is performed according to the second level signal group measured by the second magnetic induction chip array. However, when the chips in the first and second magnetic induction chip arrays are in different cycles, the decoding result of the second level signal group is the maximum value. At this point, the position decoding result, i.e., the absolute track information, is determined by assignment, for example, by assigning a value. .

[0049] Example 2 Based on Example 1, this invention combines incremental chip output with subdivision values. At a polar distance Four characteristic points in the internal enlargement process , , and Here is a specific example of output decoding: Specifically, based on 4 feature points , , and Each pole-gap incremental coding track is divided into , , , and Five intervals are defined, and the decoding result is output according to different rules when the subdivision result is located in different intervals.

[0050] Since the first and second magnetic induction chip arrays are spaced at a fixed distance along the detection direction, within a range of one pole pitch variation of the incrementally encoded track, there is a possibility that their decoded values ​​differ by 1. For example, the decoded value of the second magnetic induction chip array may be greater than that of the first magnetic induction chip array. In this case, the decoding of the absolute encoded track offers two options: outputting a larger value or outputting a smaller value. This invention does not impose any restrictions; it only requires ensuring that the decoding output is uniform at any position. The difference between the two is that their absolute zero points differ by one pole pitch P.

[0051] Under the rule that the decoding output of the absolute encoded track is a smaller value, when At that time, the first magnetic induction chip array outputs the decoding result. The second magnetic induction chip array outputs the decoding result. All values ​​are unaffected by hysteresis and are valid values. The smaller value is selected according to the rule. For the output results, in addition, when the first magnetic induction chip array and the second magnetic induction chip array are not in the same cycle, This is the tail value of the previous period, i.e. At this time, the value is assigned. As output; when At that time, the first magnetic induction chip array outputs the decoding result. The output is invalid due to hysteresis; the second magnetic induction chip array outputs the decoding result. Values ​​unaffected by hysteresis are considered valid; select [the appropriate value]. For the output result; when At that time, the first magnetic induction chip array outputs the decoding result. The second magnetic induction chip array outputs the decoding result. All values ​​are unaffected by hysteresis and are valid values. The smaller value is selected according to the rule. For the output result; when At that time, the first magnetic induction chip array outputs the decoding result. Unaffected by hysteresis, the output of the second magnetic induction chip array is an effective value. Output invalid due to hysteresis, select For the output result; when At that time, the first magnetic induction chip array outputs the decoding result. The second magnetic induction chip array outputs the decoding result. All values ​​are unaffected by hysteresis and are valid values. The smaller value is selected according to the rule. This is the output result.

[0052] Under the rule that the decoding output of the absolute encoded track is a larger value, when At that time, the first magnetic induction chip array outputs the decoding result. The second magnetic induction chip array outputs the decoding result. All values ​​are unaffected by hysteresis and are valid values. The larger value is selected. For the output results, in addition, when the first magnetic induction chip array and the second magnetic induction chip array are not in the same cycle, This is the tail value of the previous period, i.e. At this time, the value is assigned. As output; when At that time, the first magnetic induction chip array outputs the decoding result. The output is invalid due to hysteresis; the second magnetic induction chip array outputs the decoding result. Values ​​unaffected by hysteresis are considered valid; select [the appropriate value]. For the output result; when At that time, the first magnetic induction chip array outputs the decoding result. The second magnetic induction chip array outputs the decoding result. All values ​​are unaffected by hysteresis and are valid values. The larger value is selected. For the output result; when At that time, the first magnetic induction chip array outputs the decoding result. Unaffected by hysteresis, the output of the second magnetic induction chip array is an effective value. Output invalid due to hysteresis, select For the output result; when At that time, the first magnetic induction chip array outputs the decoding result. The second magnetic induction chip array outputs the decoding result. All values ​​are unaffected by hysteresis and are valid values. The larger value is selected. This is the output result.

[0053] Furthermore, considering that the alignment states of absolute and incremental encoded tracks may differ (e.g., perfectly aligned, misaligned by a certain distance), feature point values ​​can be adjusted through testing and verification. If necessary, the output can also be adjusted. or The displacement detection requirements of the dual-track magnetic grating ruler are met by adding or subtracting 1.

[0054] Example 3 This invention also provides a dual-chip array dual-track absolute position detection system. The system detects the object under test using a dual-track magnetic grating ruler. The dual-track magnetic grating ruler includes an incremental encoding reading head and an absolute encoding reading head. The absolute encoding reading head consists of a first magnetic induction chip array and a second magnetic induction chip array. Both the first and second magnetic induction chip arrays are composed of latching induction-type switch position detection chips arranged at intervals along the measurement direction of the absolute encoding magnetic track. The object under test is connected to the incremental encoding reading head and the absolute encoding reading head as follows: Figure 5 As shown, it includes: The incremental magnetic track detection module 31 is used to read the incremental magnetic track information of the incremental coded magnetic track of the dual-track magnetic scale through the incremental encoding reading head when the object under test moves linearly relative to the dual-track magnetic scale.

[0055] The absolute magnetic track detection module 32 is used to sense the polarity of the magnetic pole at the location of the latch-inductive switch position detection chip on the absolute encoded magnetic track of the dual-track magnetic grating ruler by each latch-inductive switch position detection chip in the first magnetic induction chip array, and output a first level signal group according to the polarity; and to sense the polarity of the magnetic pole at the location of the latch-inductive switch position detection chip on the absolute encoded magnetic track of the dual-track magnetic grating ruler by each latch-inductive switch position detection chip in the second magnetic induction chip array, and output a second level signal group according to the polarity. The first and second magnetic induction chip arrays are both parallel to the extension direction of the dual-track magnetic grating ruler. The hysteresis range of the latch-inductive switch position detection chips is less than or equal to half the incremental encoded magnetic track pole pitch. The spacing between the corresponding latch-inductive switch position detection chips in the first and second magnetic induction chip arrays is greater than or equal to half the incremental encoded magnetic track pole pitch.

[0056] The level signal decoding module 33 is used to determine the position of the first magnetic induction chip array and the second magnetic induction chip array based on the incremental magnetic track information. When the corresponding position of the first magnetic induction chip array is outside the hysteresis range and the corresponding position of the second magnetic induction chip array is within the hysteresis range, the absolute magnetic track information is determined based on the first level signal group.

[0057] The position detection module 34 is used to combine and calculate the incremental magnetic track information and the absolute magnetic track information to obtain the absolute position detection result of the dual magnetic tracks of the object under test.

[0058] The present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement the steps in an embodiment of a dual-chip array dual-track absolute position detection method. Specific implementation methods can be found in the method embodiments, and will not be repeated here.

[0059] Furthermore, the present invention also provides a non-transitory computer-readable storage medium containing instructions, on which a computer program is stored. For example, a memory containing instructions that can be executed by a processor of a computer device to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc. When the computer program is executed by the processor, it can implement the steps in an embodiment of a dual-chip array dual-track absolute position detection method. Specific implementation methods can be found in the method embodiments, which will not be repeated here.

[0060] Those skilled in the art will understand that embodiments of the present invention can provide methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0061] This invention is described in terms of flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowcharts and / or block diagrams, as well as combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowcharts and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0062] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0063] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0064] It should be noted that the above specific embodiments enable those skilled in the art to more fully understand the present invention, but do not limit the present invention in any way. Therefore, although the present invention has been described in detail in this specification and embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention; and all technical solutions and improvements that do not depart from the spirit and scope of the present invention are covered within the protection scope of the present invention patent. No reference numerals in the claims should be construed as limiting the scope of the claims. Any simple variations or equivalent substitutions of technical solutions that can be readily obtained by those skilled in the art within the scope of the technology disclosed in the present invention are within the protection scope of the present invention.

Claims

1. A method for detecting the absolute position of dual magnetic tracks in a dual-chip array, characterized in that, The method involves detecting an object under test using a dual-track magnetic grating ruler. The dual-track magnetic grating ruler includes an incremental encoding reading head and an absolute encoding reading head. The absolute encoding reading head is composed of a first magnetic induction chip array and a second magnetic induction chip array. Both the first and second magnetic induction chip arrays are composed of latching inductive switch position detection chips arranged at intervals along the measurement direction of the absolute encoding magnetic track. The object under test is connected to the incremental and absolute encoding reading heads. The method includes the following steps: When the object under test moves linearly relative to the dual-track magnetic scale, the incremental track information of the incremental track of the dual-track magnetic scale is read through the incremental coding reading head. Each latching induction switch position detection chip in the first magnetic induction chip array senses the polarity of the magnetic pole at the location of the latching induction switch position detection chip on the absolute coding track of the dual-track magnetic grating ruler, and outputs a first level signal group according to the polarity; each latching induction switch position detection chip in the second magnetic induction chip array senses the polarity of the magnetic pole at the location of the latching induction switch position detection chip on the absolute coding track of the dual-track magnetic grating ruler, and outputs a second level signal group according to the polarity. Both the first and second magnetic induction chip arrays are parallel to the extension direction of the dual-track magnetic grating ruler. The hysteresis range of the latching induction switch position detection chips is less than or equal to half the incremental coding track pole pitch. The spacing between the corresponding latching induction switch position detection chips in the first and second magnetic induction chip arrays is greater than or equal to half the incremental coding track pole pitch. The positions of the first magnetic induction chip array and the second magnetic induction chip array are determined based on the incremental magnetic track information. When the corresponding position of the first magnetic induction chip array is outside the hysteresis range and the corresponding position of the second magnetic induction chip array is within the hysteresis range, the absolute magnetic track information is determined based on the first level signal group. The incremental and absolute magnetic track information are combined and calculated to obtain the dual-track absolute position detection result of the object under test.

2. The method for absolute position detection of dual magnetic tracks in a dual-chip array according to claim 1, characterized in that, After determining the positions of the first magnetic induction chip array and the second magnetic induction chip array, the method further includes: When the position corresponding to the first magnetic induction chip array is within the hysteresis range and the position corresponding to the second magnetic induction chip array is outside the hysteresis range, position feature code conversion is performed according to the second level signal group to obtain the position feature code conversion result. The second level signal group is the level signal obtained by the second magnetic induction chip array from the magnetic pole detection of the absolute coded track. The array decoding result is obtained by combining the decoding array, and the absolute magnetic track information is determined by combining the spacing between the latch-induction type switch position detection chip of the first magnetic induction chip array and the corresponding latch-induction type switch position detection chip of the second magnetic induction chip array.

3. The method for absolute position detection of dual tracks in a dual-chip array according to claim 2, characterized in that, After determining the positions of the first magnetic induction chip array and the second magnetic induction chip array, the method further includes: When the corresponding positions of the first magnetic induction chip array and the second magnetic induction chip array are both outside the hysteresis range, the absolute magnetic track information is determined from the position feature codes corresponding to the first level signal group and the second level signal group according to the preset decoding output rules.

4. The method for absolute position detection of dual tracks in a dual-chip array according to claim 3, characterized in that, The decoding output rule is a minimum value rule, where the array decoding result corresponding to the first level signal group is less than the array decoding result corresponding to the second level signal group. Based on the preset decoding output rule, the absolute track information is determined from the array decoding results corresponding to the first and second level signal groups, including: Based on the minimum value rule of the translated output, the absolute track information is determined according to the position feature code corresponding to the first level signal group.

5. The method for absolute position detection of dual tracks in a dual-chip array according to claim 4, characterized in that, After both the corresponding positions of the first magnetic induction chip array and the corresponding positions of the second magnetic induction chip array are outside the hysteresis range, the method further includes: Periodic judgment is performed on the position feature code corresponding to the first level signal group. When the position feature code corresponding to the first level signal group is the tail value of the previous period, the array decoding result is assigned and the absolute track information is determined.

6. The method for absolute position detection of dual tracks in a dual-chip array according to claim 1, characterized in that, Determining the position of the first magnetic induction chip array and the second magnetic induction chip array includes: The incremental magnetic track information is used to determine the position of multiple sequentially arranged feature intervals. The multiple sequentially arranged feature intervals together form the range of pole distance, and the endpoints of the feature intervals are used to distinguish the relationship between the chips in the first magnetic induction chip array and the hysteresis range in the second magnetic induction chip array. The number of feature intervals is greater than or equal to 3, and the multiple feature intervals are pre-divided into a first type of feature interval, a second type of feature interval, and a third type of feature interval. When the incremental magnetic track information is located in the first type of feature interval, it is determined that the corresponding positions of the first magnetic induction chip array and the second magnetic induction chip array are both outside the hysteresis range. When the incremental magnetic track information is located in the second type of feature interval, it is determined that the corresponding position of the second magnetic induction chip array is outside the hysteresis range and the corresponding position of the first magnetic induction chip array is within the hysteresis range. When the incremental magnetic track information is located in the third type of feature interval, it is determined that the corresponding position of the first magnetic induction chip array is outside the hysteresis range and the corresponding position of the second magnetic induction chip array is within the hysteresis range.

7. The method for absolute position detection of dual tracks in a dual-chip array according to claim 1, characterized in that, The hysteresis range of the latching inductive switch position detection chip is less than or equal to one-third of the incremental coded track pole pitch.

8. A dual-chip array dual-track absolute position detection system, characterized in that, The object under test is detected by a dual-track magnetic grating ruler. The dual-track magnetic grating ruler includes an incremental encoding reading head and an absolute encoding reading head. The absolute encoding reading head consists of a first magnetic induction chip array and a second magnetic induction chip array. Both the first and second magnetic induction chip arrays are composed of latching inductive switch position detection chips spaced apart along the measurement direction of the absolute encoding magnetic track. The object under test is connected to the incremental and absolute encoding reading heads, including: The incremental track detection module is used to read the incremental track information of the incremental coded track of the dual-track magnetic scale through the incremental encoding reading head when the object under test moves linearly relative to the dual-track magnetic scale. An absolute magnetic track detection module is used to have each latching inductive switch position detection chip in the first magnetic induction chip array sense the polarity of the magnetic pole at the location of the latching inductive switch position detection chip on the absolute encoded magnetic track of the dual-track magnetic grating ruler, and output a first level signal group according to the polarity; and to have each latching inductive switch position detection chip in the second magnetic induction chip array sense the polarity of the magnetic pole at the location of the latching inductive switch position detection chip on the absolute encoded magnetic track of the dual-track magnetic grating ruler, and output a second level signal group according to the polarity. The first and second magnetic induction chip arrays are both parallel to the extension direction of the dual-track magnetic grating ruler. The hysteresis range of the latching inductive switch position detection chips is less than or equal to half the incremental encoded magnetic track pole pitch. The spacing between the corresponding latching inductive switch position detection chips in the first and second magnetic induction chip arrays is greater than or equal to half the incremental encoded magnetic track pole pitch. The level signal decoding module is used to determine the position of the first magnetic induction chip array and the second magnetic induction chip array based on the incremental magnetic track information. When the corresponding position of the first magnetic induction chip array is outside the hysteresis range and the corresponding position of the second magnetic induction chip array is within the hysteresis range, the absolute magnetic track information is determined based on the first level signal group. The position detection module is used to combine and calculate the incremental magnetic track information and the absolute magnetic track information to obtain the absolute position detection result of the dual magnetic tracks of the object under test.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the dual-track absolute displacement detection method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is loaded by the processor, it is able to execute the steps of the dual-track absolute position detection method for a dual-chip array as described in any one of claims 1 to 7.

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