NL9201434A - Teat cup position determination with the aid of a Hall switching system - Google Patents
Teat cup position determination with the aid of a Hall switching system Download PDFInfo
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- NL9201434A NL9201434A NL9201434A NL9201434A NL9201434A NL 9201434 A NL9201434 A NL 9201434A NL 9201434 A NL9201434 A NL 9201434A NL 9201434 A NL9201434 A NL 9201434A NL 9201434 A NL9201434 A NL 9201434A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01J—MANUFACTURE OF DAIRY PRODUCTS
- A01J5/00—Milking machines or devices
- A01J5/017—Automatic attaching or detaching of clusters
- A01J5/0175—Attaching of clusters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/004—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
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- Life Sciences & Earth Sciences (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- Animal Husbandry (AREA)
- Environmental Sciences (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
Description
Speenbekerpositie-bepaling met behulp van een Hall-schakelsysteem.Teat cup position determination using a Hall switching system.
De uitvinding betreft een positiebepalingssysteem voor het bepalenvan de positie van een voorwerp in twee dimensies omvattend een arrayvan Hall-sensoren opgesteld in tenminste twee rijen, waarbij elke rijtenminste twee Hall-sensoren bevat, een permanente magneet en een elek¬trische schakeling voor verwerking van de van de Hall-sensoren afkomsti¬ge signalen, die een indikatie vormen van de genoemde positie.The invention relates to a position determination system for determining the position of an object in two dimensions comprising an array of Hall sensors arranged in at least two rows, each row comprising at least two Hall sensors, a permanent magnet and an electrical circuit for processing the signals from the Hall sensors, which indicate the said position.
Een dergelijk systeem is bekend uit het Britse octrooischrift2.203.549. De daarin beschreven inrichting is bestemd om op niet-destruktieve wijze de korrosie van metalen banden te detekteren dieworden gebruikt bij de wanden van holten. Daartoe wordt een array vanHall-sensoren toegepast van bij voorkeur 7 bij 9 elementen en een perma¬nente magneet die een veld door dit array genereert. Met behulp van opde Hall-sensoren aangesloten elektronika kan de positie van de metalenband worden gedetekteerd, alsmede of de betreffende band gekorrodeerd isof niet. Korrosie kan aldus worden gedetekteerd, omdat gekorrodeerdedelen van de band het veld van de permanente magneet minder verstorendan niet gekorrodeerde delen. Het toepassen van een array van Hall-sen-soren in een matrixvorm geeft de mogelijkheid van positiebepaling intwee dimensies.Such a system is known from British patent specification 2,203,549. The apparatus described therein is intended to non-destructively detect the corrosion of metal tapes used on cavity walls. To this end, an array of Hall sensors of preferably 7 by 9 elements is used and a permanent magnet that generates a field through this array. The electronics of the Hall sensors can be used to detect the position of the metal strip and whether the strip in question is corroded or not. Corrosion can thus be detected, because corroded parts of the tape disturb the permanent magnet field less than non-corroded parts. The use of an array of Hall sensors in a matrix form allows the positioning of two dimensions.
De onderhavige uitvinding stelt zich ten doel om de nauwkeurigheid van de positiebepaling van voorwerpen in twee dimensies te vergroten- tenopzichte van de mogelijkheden van de stand van de techniek.The present invention aims to increase the accuracy of the position determination of objects in two dimensions in view of the possibilities of the prior art.
Daartoe heeft de inrichting volgens de uitvinding het kenmerk, datde Hall-sensoren in de ene rij met althans nagenoeg de helft van delengte van een individuele Hall-sensor zijn verschoven ten opzichte vande Hall-sensoren in de andere rij.To this end, the device according to the invention is characterized in that the Hall sensors in one row are displaced by at least half the length of an individual Hall sensor relative to the Hall sensors in the other row.
Door deze maatregelen toe te passen wordt de nauwkeurigheid van de plaatsbepaling van een voorwerp vergroot. Bij een juiste keuze van demagnetische veldsterkte van de permanente magneet en van de afstand vande magneet tot de Hall-sensoren is een resolutie in de positie van eenkwart van de lengte van een Hall-sensor bereikbaar.By applying these measures, the accuracy of the location of an object is increased. If the magnetic field strength of the permanent magnet and the distance from the magnet to the Hall sensors are selected correctly, a resolution in the position of a quarter of the length of a Hall sensor is achievable.
In een voorkeursuitvoeringsvorm van het systeem volgens de uitvin¬ding heeft iedere Hall-sensor drie aansluitingen, die zich alle drie aaneen zijde van de betreffende Hall-sensor bevinden en de Hall-sensoren inde beide rijen zo zijn opgesteld, dat de aansluitingen van de Hall-sen¬soren in de ene rij van de andere rij zijn afgekeerd en de Hall-sensorenvan de ene rij ruggelings tegen de Hall-sensoren in de andere rij lig¬gen.In a preferred embodiment of the system according to the invention, each Hall sensor has three connections, which are all three on one side of the respective Hall sensor and the Hall sensors in both rows are arranged such that the connections of the Hall sensors in one row of the other row are turned away and the Hall sensors of one row lie back to back against the Hall sensors in the other row.
In een andere voorkeursuitvoeringsvorm van het systeem volgens deuitvinding is elke uitgang van de Hall-sensoren met een door een mikro-computer bestuurde parallel-serieomzetter verbonden, alsmede met depositieve voedingsspanning via een weerstand, waarbij de uitgang van deparallel-serieomzetter gegevens aan de mikrocomputer toevoert, waaruitde mikrocomputer de genoemde positie bepaalt.In another preferred embodiment of the system according to the invention, each output of the Hall sensors is connected to a micro-computer controlled parallel series converter, as well as to a positive supply voltage via a resistor, the output of the parallel series converter supplying data to the micro computer , from which the microcomputer determines the said position.
In een andere voorkeursuitvoeringsvorm van het systeem volgens deuitvinding wordt het toegepast bij het bepalen van de positie van eenspeenbeker bij het automatisch melken van bijvoorbeeld koeien, waarbijde mikrocomputer een regelsignaal opwekt voor een automatische speenbe-kerpositioneerinrichting in afhankelijkheid van de positie van de speen¬beker ten opzichte van een speen.In another preferred embodiment of the system according to the invention, it is used in determining the position of a teat cup in the automatic milking of, for example, cows, the microcomputer generating a control signal for an automatic teat cup positioning device depending on the position of the teat cup relative to a pacifier.
De onderhavige uitvinding zal worden toegelicht aan de hand van debijgevoegde tekeningen, dié slechts dienen tot voorbeeld en niet in be¬perkende zin mogen worden opgevat, en waarin: figuur 1 het principe-schema geeft van de opstelling van een arrayvan Hall-sensoren; figuur 2a t/m c drie uitvoeringsvormen van het array van Hall-sen¬soren volgens de uitvinding; figuur 3 een schematisch overzicht geeft van een elektronischeschakeling waarmee de uitgangssignalen van de Hall-sensoren worden ver¬werkt en de positie van een voorwerp kan worden bepaald.The present invention will be elucidated with reference to the annexed drawings, which are for illustrative purposes only and are not to be taken in a limiting sense, and in which: figure 1 shows the principle diagram of the arrangement of an array of Hall sensors; Figures 2a to c show three embodiments of the array of Hall sensors according to the invention; figure 3 gives a schematic overview of an electronic circuit with which the output signals of the Hall sensors are processed and the position of an object can be determined.
In figuur 1 wordt de meest eenvoudige uitvoeringsvorm van de op¬stelling van de Hall-sensoren HS1 ... HS4 getoond. In deze opstellingvan vier Hall-sensoren zijn twee Hall-sensoren HS1, HS3 op een eersterij gelegen, terwijl de beide andere Hall-sensoren HS2, HS4 op een ande¬re rij zijn gelegen. De beide genoemde rijen liggen zodanig tegen elkaaraan, dat de centra van de beide eerstgenoemde Hall-sensoren HS1, HS3over de helft van de lengte 10 zijn verplaatst ten opzichte van de cen¬tra van de beide tweede genoemde Hall-sensoren HS2, HS4. Hiervoor kunnenbijvoorbeeld Hall-sensoren van het type UGN3120UA worden toegepast.Figure 1 shows the simplest embodiment of the arrangement of the Hall sensors HS1 ... HS4. In this arrangement of four Hall sensors, two Hall sensors HS1, HS3 are located on a first row, while the other two Hall sensors HS2, HS4 are located in a different row. The two aforementioned rows lie against each other such that the centers of the two first mentioned Hall sensors HS1, HS3 are displaced over half the length 10 with respect to the centers of the two second mentioned Hall sensors HS2, HS4. For example, Hall sensors of the type UGN3120UA can be used for this.
Elk van de Hall-sensoren heeft drie, aan de zijkant daarvan gelegenaansluitingen voor verbinding met andere schakelingskomponenten. Zoheeft de Hall-sensor HS1 een aansluiting 4l die een Hall-spanningVHALLSW ontvangt (vergelijk figuur 3)· Voorts heeft deze Hall-sensor HS1een aansluiting 51 die met aarde wordt doorverbonden, en een aansluiting6l die een uitgangssignaal geeft afhankelijk van de positie van een zichin de buurt van het array bevindende (niet weergegeven) magneet. Alleoverige Hall-sensoren HS2 .., HS4 hebben overeenkomstige aansluitingen 42, 52, 62; 43, 53« 63; 44, 54, 64, zoals verder bij figuur 3 nog zal worden toegelicht. De aansluitingen van de Hall-sensoren in de ene rijzijn van de Hall-sensoren in de andere rij af gekeerd, zodat de Hall-sensoren in de ene rij 180* ten opzichte van die in de andere rij zijngedraaid.Each of the Hall sensors has three terminals located on its side for connection to other circuit components. For example, the Hall sensor HS1 has a terminal 4l that receives a Hall voltage VHALLSW (compare figure 3). Furthermore, this Hall sensor HS1 has a terminal 51 that is connected to earth, and a terminal 6l that gives an output signal depending on the position of a magnet located near the array (not shown). All other Hall sensors HS2 .., HS4 have corresponding terminals 42, 52, 62; 43, 53, 63; 44, 54, 64, as will be further explained in Figure 3. The connectors of the Hall sensors in one row are turned away from the Hall sensors in the other row, so that the Hall sensors in one row are turned 180 * from those in the other row.
De afstand xl tussen naburige aansluitingen van een Hall-sensor be¬draagt bij voorkeur ongeveer 1,27 mm, terwijl de afstand x2 tussen tweenaast elkaar gelegen aansluitingen van twee naburige Hall-sensoren (bij¬voorbeeld aansluitingen 61 en 43) ongeveer 1,65 mm bedraagt. De afstandx3 tussen het uiteinde van de aansluitingen en het daar tegenover gele¬gen uiteinde van elk Hall-element (zie figuur 1) bedraagt ongeveer 7,62mm.The distance x1 between adjacent terminals of a Hall sensor is preferably about 1.27 mm, while the distance x2 between two adjacent terminals of two neighboring Hall sensors (eg terminals 61 and 43) is about 1.65 mm. The distance x3 between the end of the connections and the opposite end of each Hall element (see figure 1) is approximately 7.62mm.
In figuur 2 worden enkele voorbeelden gegeven van een opstellingwaarin meer dan vier Hall-sensoren worden toegepast. In figuur 2a wordteen drager 1, bijvoorbeeld een printplaat, getoond waarop zich tweestroken 21, 31 bevinden, die ieder 38 Hall-sensoren bevatten. De totalelengte 11 van de drager 1 bedraagt ongeveer 167,64 mm, terwijl de breed¬te bl daarvan ongeveer 22,86 mm bedraagt. In de uitvoeringsvorm volgensfiguur 2b zijn twee stroken 22, 32 getoond, die ieder 19 Hall-sensorenbevatten. De breedte b2 van de daar getoonde drager is gelijk aan bl,terwijl de lengte 12 daarvan ongeveer 88,90 mm bedraagt. In figuur 2ctenslotte worden twee stroken 23, 33 getoond, die ieder 12 Hall-sensorenbevatten. De breedte b3 is weer gelijk aan bl, terwijl de lengte 13 vande drager in dit geval ongeveer 58,42 mm bedraagt. In de weergave vol¬gens figuur 2 zijn de respektieve aansluitingen 4l, 51» 61, enz. van derespektieve Hall-sensoren omwille van de eenvoud weggelaten. Uiteraardzijn de Hall-sensoren van de respektieve naast elkaar gelegen rijen welweer steeds met de halve lengte van een individuele Hall-sensor verscho¬ven ten opzichte van de Hall-sensoren in een naast gelegen rij. Naarmatemeer Hall-sensoren in de twee naast elkaar gelegen rijen worden toege¬past wordt het gebied waarover een nauwkeurige plaatsbepaling kan wordenverkregen uiteraard vergroot.Figure 2 gives some examples of an arrangement in which more than four Hall sensors are used. Figure 2a shows a carrier 1, for example a printed circuit board, on which two strips 21, 31 are located, each containing 38 Hall sensors. The total length 11 of the carrier 1 is approximately 167.64 mm, while its width b1 is approximately 22.86 mm. In the embodiment of Figure 2b, two strips 22, 32 are shown, each containing 19 Hall sensors. The width b2 of the support shown there is equal to b1, while the length 12 thereof is approximately 88.90 mm. Finally, in Figure 2, two strips 23, 33 are shown, each containing 12 Hall sensors. The width b3 is again equal to b1, while the length 13 of the carrier in this case is approximately 58.42 mm. In the display according to FIG. 2, the respective terminals 41, 51, 61, etc. of the respective Hall sensors are omitted for the sake of simplicity. Of course, the Hall sensors of the respective adjacent rows are always half the length of an individual Hall sensor offset from the Hall sensors in an adjacent row. As more Hall sensors are used in the two adjacent rows, the area over which accurate positioning can be obtained is, of course, enlarged.
In figuur 3 wordt een elektrische schakeling getoond, waarmee opbasis van de uitgangssignalen van de Hall-sensoren de positie van eenniet nader weergegeven magneet kan worden bepaald. In een voorkeurstoe¬passing van de uitvinding is een dergelijke magneet bevestigd aan despeenbeker van een automatische melkinstallatie, zodat de speenbekertijdens het bevestigen daarvan aan een speen van bijvoorbeeld een koenauwkeurig kan worden gepositioneerd.Figure 3 shows an electrical circuit with which the position of a magnet (not shown) can be determined on the basis of the output signals of the Hall sensors. In a preferred application of the invention, such a magnet is attached to the teat cup of an automatic milking installation, so that the teat cup can be accurately positioned during attachment to a teat of, for example, a cow.
In figuur 3 wordt uitgegaan van het gebruik van 8 Hall-sensoren HS1... HS8, waarin de Hall-sensoren HS1, HS3, HS5, HS7 op een eerste rij liggen en de Hall-sensoren HS2, HS4, HS6, HS8 op een tweede rij liggen,welke rijen met een halve lengte van een individueel Hall-element tenopzichte van elkaar zijn verschoven, zoals eerder is toegelicht. Rechts¬boven in de figuur zijn de onderlinge posities van de Hall-sensoren HS1... HS8 ten opzichte van elkaar weergegeven met behulp van gestippeldelijnen. Links in de figuur zijn de Hall-sensoren HS1 ... HS8 boven el¬kaar getekend, maar dit heeft geen betrekking op de werkelijke positieop de drager 1 waarop de2e zijn gemonteerd. Zo is de positie van de drieaansluitingen (bijvoorbeeld 4l, 51» 61) van de respektieve Hall-sensorenin figuur 3 evenmin een weergave van de posities daarvan op de drager 1.De werkelijke posities daarvan zijn in overeenstemming met figuur 1.Alle respektieve aansluitingen 4l ... 48 ontvangen dezelfde Hall-span-ning VHALLSW, terwijl alle aansluitingen 51 ... 58 met aarde zijn ver¬bonden. De aansluitingen 6l ... 68 leveren de respektieve uitgangssigna¬len van de Hall-sensoren HS1 ... HS8. Alle 8 uitgangssignalen wordenrespektievelijk toegevoerd aan een ingang A ... H van een parallel-se-rieomzetter. De aansluitingen 61 ... 68 zijn tevens verbonden met depositieve voedingsspanning VCC via een weerstand R3 ... R10. De weer¬standen R3 ... R10 bedragen bijvoorbeeld 10 kQ.Figure 3 assumes the use of 8 Hall sensors HS1 ... HS8, in which the Hall sensors HS1, HS3, HS5, HS7 are on a first row and the Hall sensors HS2, HS4, HS6, HS8 on a second row, which half-length rows of an individual Hall element are offset from each other as previously explained. At the top right of the figure, the mutual positions of the Hall sensors HS1 ... HS8 with respect to each other are shown by dotted lines. To the left of the figure, Hall sensors HS1 ... HS8 are drawn one above the other, but this does not relate to the actual position on the carrier 1 on which the 2nd are mounted. For example, the position of the three terminals (e.g., 4l, 51, 61) of the respective Hall sensors in Figure 3 is also not a representation of their positions on the carrier 1.The actual positions thereof are in accordance with Figure 1.All respective terminals 4l ... 48 receive the same Hall voltage VHALLSW, while all terminals 51 ... 58 are grounded. Terminals 6l ... 68 provide the respective output signals of the Hall sensors HS1 ... HS8. All 8 output signals are applied to an input A ... H of a parallel series converter, respectively. The terminals 61 ... 68 are also connected to the positive supply voltage VCC via a resistor R3 ... R10. For example, the resistors R3 ... R10 are 10 kΩ.
De positieve voedingsspanning VCC wordt ontkoppeld met behulp vaneen kapaciteit C2 van bijvoorbeeld 10 nF.The positive supply voltage VCC is decoupled using a capacitance C2 of, for example, 10 nF.
De parallel-serieomzetter 2. die van het type 4021 kan zijn, wordtbestuurd door een niet in de figuur weergegeven mikroprocessor. Daartoeis de parallel-serieomzetter 2 verbonden met deze mikrocomputer via eeningang P/S die een signaal PAR SER ontvangt, een kloksignaalingang CLKdie een kloksignaal van de mikrocomputer ontvangt, een ingang SER dieeen signaal DATA IN van de mikrocomputer ontvangt en een uitgang QH dieeen signaal DATA OUT vrijgeeft.The parallel series converter 2, which may be of type 4021, is controlled by a microprocessor not shown in the figure. For this purpose, the parallel series converter 2 is connected to this microcomputer via an input P / S which receives a signal PAR SER, a clock signal input CLK which receives a clock signal from the microcomputer, an input SER which receives a signal DATA IN from the microcomputer and an output QH which receives a signal DATA OUT.
Zolang het signaal PAR SER een logisch niveau "1" heeft worden de1 logische niveaus van de Hall-sensoren HS1...HS8 op de parallelingangenvan de parallel-serieomzetter 2 overgenomen en opgeslagen in de parel-lel-serieomzetter. Bij het naar een logisch niveau "0" brengen van PARSER blijven de laatst bekende standen van de logische niveaus van deHall-sensoren HS1...HS8 bewaard in de parallel-serieomzetter 2. Het1 signaal DATA IN moet in het gegeven schakelschema op een logisch niveau”1" worden gebracht. Het signaal DATA OUT is de seriële informatie-uit-gang van de parallel-serieomzetter 2. Na gebruik van PAR SER is op DATAOUT direct het hoogste bit van de parallel-serieomzetter 2 te lezen.Door op het CLOCK signaal zoveel pulsen te genereren als de parallel-I serieomzetter bits bevat minus een (in het gegeven schakelschema 7)* kan de informatie van de rest van de bits ten tijde van de voor de betref¬fende bit geldende puls (CLOCK heeft dan een logisch niveau "1") op DATAOUT gelezen worden.As long as the PAR SER signal has a logic level "1", the 1 logic levels of the Hall sensors HS1 ... HS8 at the parallel inputs of the parallel series converter 2 are adopted and stored in the pearl-series converter. When PARSER is brought to a logic level "0", the last known logic level values of the Hall sensors HS1 ... HS8 are retained in the parallel series converter 2. The 1 signal DATA IN must be set to a logic logic in the given circuit diagram. level "1". The signal DATA OUT is the serial information output of the parallel series converter 2. After using PAR SER, the highest bit of the parallel series converter 2 can be read directly on DATAOUT. CLOCK signal to generate as many pulses as the parallel-I series converter bits contains minus one (in the given circuit diagram 7) * the information of the rest of the bits can at the time of the pulse applicable to the relevant bit (CLOCK then has a logic level "1") on DATAOUT.
Het aan de mikrocomputer toegevoerde signaal DATA OUT wordt door demikroprocessor verwerkt, waarna deze de positie van de permanente mag¬neet berekent.The DATA OUT signal applied to the microcomputer is processed by the microprocessor, after which it calculates the position of the permanent magnet.
Met de opstelling van de Hall-sensoren volgens de uitvinding is hetmogelijk een resolutie met betrekking tot de positie van de permanentemagneet te bereiken tot een kwart van de lengte van de toegepaste Hall-sensoren. De magneet dient om een zo hoog mogelijke resolutie te behaleneen breedte en lengte te hebben gelijk aan die van een Hall-sensor. Inde onderhavige toepassing is voor een schijfvormige magneet gekozen meteen diameter van 4,0 mm en een magnetische veldsterkte Hs van bij bena¬dering 2.10? - 3.107 A/m, en bij voorkeur ongeveer 2,75*107 (35*000 0e).Bij deze veldsterkte wordt een goede werking verkregen bij een afstandvan de magneet tot de Hall-sensoren van 3 _ 5 mm. Het systeem kan metvoordeel worden toegepast bij het bepalen van de positie van een speen-beker tijdens het automatisch melken van koeien. In dat geval wordt dedoor de mikrocomputer berekende positie omgezet in een regelsignaal vooreen automatische speenbekerpositioneerinrichting.With the arrangement of the Hall sensors according to the invention it is possible to achieve a resolution with regard to the position of the permanent magnet up to a quarter of the length of the Hall sensors used. The magnet serves to achieve the highest possible resolution and to have a width and length equal to that of a Hall sensor. In the present application, a disc-shaped magnet with a diameter of 4.0 mm and a magnetic field strength Hs of approximately 2.10 is chosen. - 3,107 A / m, and preferably about 2.75 * 107 (35 * 000 0e). With this field strength, good operation is obtained at a distance of 3 _ 5 mm from the magnet to the Hall sensors. The system can be used to advantage in determining the position of a teat cup during automatic milking of cows. In that case, the position calculated by the microcomputer is converted into a control signal for an automatic teat cup positioning device.
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NL9201434A NL9201434A (en) | 1992-08-10 | 1992-08-10 | Teat cup position determination with the aid of a Hall switching system |
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