CN111964883A - Method for detecting position of moving part in swing structure - Google Patents
Method for detecting position of moving part in swing structure Download PDFInfo
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- CN111964883A CN111964883A CN202010726020.2A CN202010726020A CN111964883A CN 111964883 A CN111964883 A CN 111964883A CN 202010726020 A CN202010726020 A CN 202010726020A CN 111964883 A CN111964883 A CN 111964883A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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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
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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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
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
Abstract
The invention relates to a method for detecting the position of a moving part in a swinging structure, which is characterized by comprising the following steps: the detection device is suitable for detecting the position of the reciprocating part (1) and the angle of the swinging part (2) in a structure that the reciprocating part (1) controls the swinging part (2), and comprises the reciprocating part (1), the swinging part (2), a first magnet (3), a second magnet (4), a first magnetoelectric sensor (5), a second magnetoelectric sensor (6), a third magnetoelectric sensor (7), a processing unit (8) and mode selection hardware (9); the reciprocating part (1) controls the swinging part (2) to swing through a mechanism, and the first magnet (3) is fixedly arranged on the reciprocating part (1). The method for detecting the position of the moving part in the swing structure can verify data in the detection process, reduce the probability of wrong data output caused by system fault detection and reduce the occurrence probability of false alarm caused by the application of wrong detection data by a system.
Description
Technical Field
The invention belongs to a method for detecting the motion condition of a moving part in a mechanical structure, in particular to a method for detecting the position of the moving part in a swinging structure, which relates to a method for detecting the position of the reciprocating part and the motion angle of the swinging part in a structure that the reciprocating part drives the swinging part.
Background
The mechanical structure is provided with a device for controlling parts to swing by using linear reciprocating parts, when fault diagnosis and fault early warning of equipment or a mechanism are required to be realized, proper moving parts are often required to be selected and monitored for the movement condition, in order to reduce the influence on the moving device, a non-contact method is usually used for detecting the rotation angle or the position, at present, a Hall sensor or a magneto-resistance sensor is widely used for non-contact linear displacement or rotation angle detection, and the non-contact detection of the linear displacement or the rotation angle or the angle position can be realized.
In practical application, various factors may affect the reliability of detection, or the detection system outputs data that does not conform to the actual situation, which may affect the application experience of the user, and even cause the user to lose trust in the detection result.
When the system can not distinguish sensor faults, detection device position changes and mechanical structure changes, detection result abnormity caused by any reason can trigger the detection system to judge that the mechanical structure is abnormal to give an alarm, when the mechanical structure moves normally, the sensor faults or the detection device position changes and other reasons cause the detection result to be abnormal, the detection system generates alarm information, the condition obviously generates false alarm, normal equipment can be stopped, and when the occurrence frequency is obvious, the confidence of a user on the detection system can be lost.
Meanwhile, as the alarm information shows that the mechanical structure moves abnormally, a maintainer can firstly search whether the structure and the part are abnormal or not when processing faults, and even insist on searching faults in the detected structure, so that the fault processing time is prolonged, the faults cannot be eliminated even in the set time, and a serious result is generated.
In some types of switch machines, the contact system for indicating the internal state of the switch machine and the state of the corresponding switch position is that a linear reciprocating part and a spring control swinging part swing according to a preset rule, and the swinging part drives a movable contact to be connected or disconnected with a static contact, so that a switch indicating circuit is connected or disconnected. For various reasons, there is a failure in which the oscillating element cannot oscillate under the drive of the spring, which may have serious consequences if it is not handled in time. Since the fault is usually changed gradually, if the motion state of the swing part can be monitored, the fault can be found out early in the change process, maintenance and repair can be arranged in time, and the fault can be prevented from occurring, so that the motion detection of the part is necessary, the self fault of a detection system needs to be checked in the detection process, the self fault of the system is identified, the false alarm frequency is prevented from being too high, and the fault processing time is prevented from being prolonged due to the fault judgment and positioning errors of maintenance personnel.
The swing part driving the contact point in the switch machine swings back and forth within a certain angle range, except the swing limit position, the characteristic angle is difficult to find for checking the detection result, the swing limit position has the possibility of change, and the reliability cannot meet the requirement, so the problem that whether the detection data is reliable or not is difficult to judge when the swing angle of the swing part is detected independently exists. To solve this problem, the detection data needs to be periodically checked to eliminate data abnormality caused by a fault other than the detected structure, and to distinguish a detection system fault from a detected structure fault.
Disclosure of Invention
The invention aims to provide a method for detecting the position of a moving part in a swing structure, so that data can be checked in the detection process, the probability of wrong data output caused by system fault detection is reduced, and the occurrence probability of false alarm caused by the application of wrong detection data by a system is reduced.
In order to solve the problems, the technical scheme of the invention is as follows: relates to a method for detecting the position of a moving part in a swinging structure, which is characterized by comprising the following steps: the detection device is suitable for detecting the position of the reciprocating part and the angle of the swinging part in a structure of controlling the swinging part by the reciprocating part and comprises the reciprocating part, the swinging part, a first magnet, a second magnet, a first magnetoelectric sensor, a second magnetoelectric sensor, a third magnetoelectric sensor, a processing unit and mode selection hardware; the reciprocating part controls the swinging part to swing through the mechanism, the first magnet is fixedly arranged on the reciprocating part, the second magnet is fixedly arranged on the swinging part, the first magnetoelectric sensor and the second magnetoelectric sensor are used for detecting the movement of the first magnet along with the reciprocating part, and the third magnetoelectric sensor is used for detecting the rotation of the second magnet along with the swinging part;
the processing unit receives and processes the output data of the first magnetoelectric sensor and the second magnetoelectric sensor, and calculates the position or the displacement corresponding to the first magnet; and the processing unit receives and processes the data output by the third magnetoelectric sensor, calculates the angle or corner corresponding to the second magnet, and gives a position or displacement or angle or corner value as the data output of the measured part after checking and determining that the data is credible.
The processing unit comprises a calibration mode and a detection mode, and information is output to the processing unit through mode selection hardware, so that the processing unit enters the calibration mode or the detection mode to work. The mode selection hardware and the processing unit are in data transmission in a wireless communication or wire connection mode, and the processing unit records the characteristic value according to the calibration mode; the processing unit detects the position of the reciprocating part and the angle of the swinging part in a detection mode.
In the process that the first magnet moves along with the reciprocating motion part and at any position, the distance between at least one of the first magnetoelectric sensor and the second magnetoelectric sensor and the first magnet meets the detection requirement of the magnetic field intensity, in the process of moving, the distance between at least one magnetoelectric sensor and the first magnet enables the magnetoelectric sensor to detect the magnetic field information of the first magnet, and the state change refers to the change of the magnetic field intensity around the magnetoelectric sensor caused by the change of the distance between the magnetoelectric sensor and the magnet, and changes from being greater than the detection limit value to being less than the detection limit value or from being less than the detection limit value to being greater than the detection limit value; the first and second magnetoelectric sensors are named oppositely.
And the processing unit records the characteristic value according to the calibration mode, the detection mode can normally work, and otherwise, the program is suspended after alarm information is output.
The calibration mode of the processing unit records the characteristic value, and the working steps are as follows:
firstly, operating mode selection hardware to enable a system to enter a calibration mode to operate, reading a specified value of a reciprocating part, wherein the specified value is a position value corresponding to one position in the swinging process of a selected reciprocating part driving swinging part according to the motion relation of the reciprocating part and the swinging part, and then starting to enable the reciprocating part to move from one terminal position to another terminal position;
step two, in the motion process of the reciprocating motion part, the first magnetoelectric sensor and the second magnetoelectric sensor detect the position of the first magnet according to a set time interval, when the state of the detection of the first magnet by the second magnetoelectric sensor is changed, the detection value of the first magnet detected by the first magnetoelectric sensor is recorded as a verification value, and the credibility mark of the detection information of the reciprocating motion part is set as credible;
calculating position data of the reciprocating part from the detection information of the first magnetoelectric sensor and the second magnetoelectric sensor according to a predetermined calculation method, and calculating angle data of the swinging part from the detection information of the third magnetoelectric sensor;
step four, checking whether the position data of the reciprocating part is the same as a specified value, if so, recording the angle data of the swinging part at the moment as a reference value, setting a detection information credibility mark of the swinging part as credible, and if not, returning to the step two;
and step five, operating the mode selection hardware and exiting the calibration mode.
The processing unit detects the position of the reciprocating part and the angle of the swinging part in a detection mode, and the steps are as follows:
reading a 'reciprocating part detection information credibility mark' and a 'swinging part detection information credibility mark', if the marks are 'credible', continuing the next step, if one mark is 'unreliable' or both marks are 'unreliable', outputting fault alarm information, and pausing the program;
reading the verification value, the specified value and the reference value, outputting fault alarm information if the verification value, the specified value and the reference value do not exist or are reserved values, and pausing the program; if the data are normal, the information of the first magnet and the information of the second magnet which are respectively detected by the first magnetoelectric sensor, the second magnetoelectric sensor and the third magnetoelectric sensor are input into the processing unit for processing;
and step three, checking whether the state change of the detection of the second magnetoelectric sensor to the first magnet occurs, if not, carrying out the next step, if so, judging whether the detection data of the first magnetoelectric sensor is the same as the verification value, if so, considering that the position detection of the reciprocating part is normal and the data is credible, setting a reciprocating part detection credibility mark as credible, if not, considering that the detection system is in fault or the part is in fault, outputting fault alarm information, setting the reciprocating part detection credibility mark as credible, and pausing the program.
Step four, according to a predetermined calculation method, calculating the position data of the reciprocating part from the detection information of the first magnetoelectric sensor and the second magnetoelectric sensor, and calculating the angle data of the swinging part from the detection information of the third magnetoelectric sensor;
step five, checking whether the position data of the reciprocating part is the same as a specified value, if the position data of the reciprocating part is different from the specified value, entering the next step, if the position data of the reciprocating part is the same as the specified value, checking whether the angle value of the swinging part is the same as a reference value, if the angle value of the swinging part is the same as the reference value, entering the next step, if the angle value of the swinging part is different from the reference value, outputting fault alarm information, setting a mark of credibility of the detection information;
and step six, outputting the position data of the reciprocating part and the angle data of the swinging part, and returning to the step one.
The detection data and the verification value of the magnetoelectric sensor, the position data of the reciprocating part are the same as the specified value, and the angle value of the swinging part is the same as the reference value, which means that the same or the deviation is in the specified range under a certain algorithm.
The "credible" and "untrustworthy" marking information should be absolutely the same when compared and judged.
The invention has the advantages that:
the reliability is improved by integrally detecting the reciprocating part and the swinging part, the self fault of the detection system can be found in the detection process, corresponding alarm information is output, and the probability of outputting error information is reduced. The position detection of reciprocating motion part uses two magnetoelectric sensors to carry out data verification at the specific position in each motion process, after the verification is passed, the position information of reciprocating motion part is taken as the benchmark, the angle information of the swing part is verified at the preselected position point, compared with the motion of each part, the detection is carried out by using two sensors to realize the verification, and the using amount of one magnetoelectric sensor can be reduced.
Drawings
FIG. 1 is a schematic diagram of the system architecture of the present invention;
FIG. 2 is a flow chart of the calibration mode operation of the present invention;
fig. 3 is a flow chart of the detection mode operation of the present invention.
In the figure: 1. a reciprocating part; 2. a swinging part; 3. a first magnet; 4. a second magnet; 5. a first magnetoelectric sensor; 6. a second magnetoelectric sensor; 7. a third magnetoelectric sensor; 8. a processing unit; 9. mode selection hardware.
Detailed Description
To further explain the technical means and methods adopted by the present invention to achieve the intended purpose, the following detailed description of the embodiments, structural features and methods thereof will be provided in conjunction with the accompanying drawings and examples.
Example 1
As shown in fig. 1, the present invention relates to a method for detecting the position of a moving part in a swing structure, which is characterized in that: the detection device is suitable for detecting the position of a reciprocating part and the angle of the oscillating part in a structure of controlling the oscillating part by the reciprocating part, and comprises the reciprocating part 1, the oscillating part 2, a first magnet 3, a second magnet 4, a first magnetoelectric sensor 5, a second magnetoelectric sensor 6, a third magnetoelectric sensor 7, a processing unit 8 and mode selection hardware 9; the reciprocating part 1 controls the swinging part 2 to swing through a mechanism, the first magnet 3 is fixedly arranged on the reciprocating part 1, the second magnet 4 is fixedly arranged on the swinging part 2, the first magnetoelectric sensor 5 and the second magnetoelectric sensor 6 are used for detecting the movement of the first magnet 3 along with the reciprocating part 1, and the third magnetoelectric sensor 7 is used for detecting the rotation of the second magnet 4 along with the swinging part 2;
the processing unit 8 receives and processes the output data of the first magnetoelectric sensor 5 and the second magnetoelectric sensor 6, and calculates the position or displacement corresponding to the first magnet 3; the processing unit 8 receives and processes the data output by the third magnetoelectric sensor 7, calculates the angle or the corner corresponding to the second magnet 4, and gives a position or displacement or angle or corner value as the data output of the measured part after checking and considering to be credible.
The processing unit 8 selects a calibration mode and a detection mode, and outputs information to the processing unit 8 through the mode selection hardware 9 to enable the processing unit 8 to enter the calibration mode or the detection mode to work, data transmission is carried out between the mode selection hardware 9 and the processing unit 8 in a wireless communication mode, and the processing unit 8 records characteristic values according to the calibration mode; the processing unit 8 detects the position of the reciprocating part 1 and the angle of the swinging part 2 in the detection mode.
In the process that the first magnet 3 moves along with the reciprocating motion part 1, when the first magnet is at any position, the distance between the first magnetoelectric sensor 5 and the first magnet 3 meets the detection requirement of the magnetic field intensity, and in the process of movement, the distance between the second magnetoelectric sensor 5 and the first magnet 3 changes so that the magnetic field intensity around the magnetoelectric sensor changes from being larger than the detection limit value to being smaller than the detection limit value, or changes from being smaller than the detection limit value to being larger than the detection limit value.
The processing unit 8 records the characteristic value according to the calibration mode, the detection mode can work normally, otherwise, the program is suspended after the alarm information is output.
The calibration mode of the processing unit 8 records the characteristic values and the working steps are as follows:
firstly, operating a mode selection hardware 9 to enable a system to enter a calibration mode to operate, reading a specified value of a reciprocating part 1, wherein the specified value is a position value corresponding to a position in the swinging process of a selected reciprocating part 1 driving a swinging part 2 according to the motion relation of the reciprocating part 1 and the swinging part 2, and then starting to enable the reciprocating part 1 to move from one terminal position to another terminal position;
step two, in the motion process of the reciprocating motion part 1, the first magnetoelectric sensor 5 and the second magnetoelectric sensor 6 detect the position of the first magnet 3 according to a set time interval, when the state of the detection of the first magnet 3 by the magnetoelectric sensors changes, the detection value of the first magnet 3 detected by the first magnetoelectric sensor 5 is recorded as a verification value, and the credibility mark of the detection information of the reciprocating motion part is set as credibility;
step three, according to a predetermined calculation method, calculating the position data of the reciprocating part 1 from the detection information of the first magnetoelectric sensor 5 and the second magnetoelectric sensor 6, and calculating the angle data of the swinging part 2 from the detection information of the third magnetoelectric sensor 7;
step four, checking whether the position data of the reciprocating part 1 is the same as a specified value, if so, recording the angle data of the swinging part 2 at the moment as a reference value, setting a detection information credibility mark of the swinging part as credible, and if not, returning to the step two;
and step five, operating the mode selection hardware 9 and exiting the calibration mode.
The processing unit 8 detects the position of the reciprocating part 1 and the angle of the swinging part 2 in the detection mode, and dynamically refreshes a detection information credibility mark of the swinging part 2 and a detection information credibility mark of the reciprocating part 1, and the steps are as follows:
reading a detection information credibility mark of a reciprocating part 1 and a detection information credibility mark of a swinging part 2, if the detection information credibility marks are credible, continuing the next step, if one detection information credible mark is not credible or both detection information credible marks are not credible, outputting fault alarm information, and pausing the program;
reading the verification value, the specified value and the reference value, outputting fault alarm information if the verification value, the specified value and the reference value do not exist or are reserved values (out-of-range values and the like), and pausing the program; if the data is normal, the information of the first magnet 3 and the information of the second magnet 4 respectively detected by the first magnetoelectric sensor 5, the second magnetoelectric sensor 6 and the third magnetoelectric sensor 7 are input into a processing unit 8 for processing;
and step three, checking whether the state change of the detection of the second magnetoelectric sensor 6 on the first magnet 3 occurs, if not, carrying out the next step, if so, judging whether the detection data of the first magnetoelectric sensor 5 is the same as the verification value, if so, considering that the position detection on the reciprocating part 1 is normal and the data is credible, setting the detection credibility mark of the reciprocating part 1 as credible, if not, considering that the detection system or the part has a fault, the detection result is not credible, outputting fault alarm information, setting the detection credibility mark of the reciprocating part 1 as incredible, and pausing the program.
And step four, according to a predetermined calculation method, calculating the position data of the reciprocating part 1 from the detection information of the first magnetoelectric sensor 5 and the second magnetoelectric sensor 6, and calculating the angle data of the swinging part 2 from the detection information of the third magnetoelectric sensor 7.
And step five, checking whether the position data of the reciprocating part 1 is the same as a specified value, if the position data is different from the specified value, entering the next step, if the position data is the same as the specified value, checking whether the angle value of the swinging part 2 is the same as a reference value, if the angle value is the same as the reference value, entering the next step, if the angle value is different from the reference value, outputting fault alarm information, setting a detection information credibility mark of the swinging part 2 as 'unreliable', and pausing the program.
And step six, outputting position data of the reciprocating part 1 and angle data of the swinging part 2, and returning to the step one.
The processing unit 8 circularly operates the detection mode, so that the reciprocating part 1 and the swinging part 2 can be continuously detected, the position or angle data of the two parts can be continuously output, when fault alarm information is generated, a calibration mode is operated after faults are eliminated, the recording of a verification value and a reference value corresponding to a specified value is completed, the detection information credibility mark of the reciprocating part 1 and the detection information credibility mark of the swinging part 2 are set as credible, and then the detection mode can be normally operated.
Example 2
As described in embodiment 1, the data transmission is performed by wire connection between the mode selection hardware 9 and the processing unit 8, and the details are not described, except that the data transmission is performed by wire connection as in embodiment 1.
Example 3
As shown in fig. 1, the structure is substantially the same as that of embodiment 1, and the difference is that, during the movement of the first magnet 3 along with the reciprocating part 1, the state of the first magnet 3 detected by the first magnetoelectric sensor 5 and the state of the second magnetoelectric sensor 6 change.
Accordingly, there is a corresponding change in both modes of operation of the processing unit 8. The verification value described in the second step in the calibration mode includes two kinds of data, the first data is that when the first magnetoelectric sensor 5 detects a state change, the corresponding detection value of the second magnetoelectric sensor 6 is recorded as a second verification value, the other kind of data is that when the second magnetoelectric sensor 6 detects a state change, the corresponding detection value of the first magnetoelectric sensor 5 is recorded as a first verification value, and the first verification value and the second verification value need to be recorded when the first magnetoelectric sensor 5 and the second magnetoelectric sensor 6 change states. And after the first verification value and the second verification value are recorded, setting the credibility mark of the detection information of the reciprocating part 1 as credible.
The third step in the detection mode comprises the following steps:
and 3-1, checking whether the state change of the detection of the second magnetoelectric sensor 6 on the first magnet 3 occurs, if not, carrying out the next step, if so, judging whether the detection data of the first magnetoelectric sensor 5 is the same as a first verification value, if so, considering that the detection data of the first magnetoelectric sensor 5 on the position of the reciprocating part 1 is normal and the data is credible, setting a detection credibility mark of the first magnetoelectric sensor 5 as credible, and if not, setting a detection credibility mark of the first magnetoelectric sensor 5 as incredible.
And 3-2, checking whether the state change of the detection of the first magnetic body 3 by the first magnetoelectric sensor 5 occurs, if not, carrying out the next step, if so, judging whether the detection data of the second magnetoelectric sensor 6 is the same as a second verification value, if so, considering that the detection data of the second magnetoelectric sensor 6 on the position of the reciprocating part 1 is normal and the data is credible, setting a detection credibility mark of the second magnetoelectric sensor 6 as credible, and if not, setting a detection credibility mark of the second magnetoelectric sensor 6 as untrustworthy.
And 3-3, judging whether the 'first magnetoelectric sensor 5 detection credibility mark' and the 'second magnetoelectric sensor 6 detection credibility mark' are 'credible', if so, executing the next step, if not, judging that the magnetoelectric sensors have faults or part faults, and the detection result is not credible, outputting fault alarm information and the 'unreliable' magnetoelectric sensor serial number, setting the 'detection credibility mark of the reciprocating part 1' as 'unreliable', and suspending the program.
Step four describes "calculating the position data of the reciprocating part 1 from the detection information of the first magnetoelectric sensor 5 and the second magnetoelectric sensor 6 according to a predetermined calculation method," in the calculation method, when the state change occurs that the magnetic field intensity is smaller than the detection limit value when the first magnetoelectric sensor 5 detects the first magnet 3, the position of the first magnet is detected by the second magnetoelectric sensor 6, and vice versa, the two magnetoelectric sensors are combined to complete the position detection of the first magnet 3.
The rest is the same as in example 1 and will not be described in detail.
Example 4
As described in embodiment 3, the data transmission is performed by wire connection between the mode selection hardware 9 and the processing unit 8, and the details are not described, except that the data transmission is performed by wire connection as in embodiment 3.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (9)
1. A detection method for the position of a moving part in a swing structure is characterized by comprising the following steps: the detection device is suitable for detecting the position of the reciprocating part (1) and the angle of the swinging part (2) in a structure that the reciprocating part (1) controls the swinging part (2), and comprises the reciprocating part (1), the swinging part (2), a first magnet (3), a second magnet (4), a first magnetoelectric sensor (5), a second magnetoelectric sensor (6), a third magnetoelectric sensor (7), a processing unit (8) and mode selection hardware (9); the reciprocating part (1) is controlled by a mechanism to swing the swinging part (2), the first magnet (3) is fixedly arranged on the reciprocating part (1), the second magnet (4) is fixedly arranged on the swinging part (2), the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6) are used for detecting the movement of the first magnet (3) along with the reciprocating part (1), and the third magnetoelectric sensor (7) is used for detecting the rotation of the second magnet (4) along with the swinging part (2);
the processing unit (8) receives and processes the output data of the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6), and calculates the position or displacement corresponding to the first magnet (3); and the processing unit (8) receives and processes the data output by the third magnetoelectric sensor (7), calculates the angle or corner corresponding to the second magnet (4), and gives a position or displacement or angle or corner value as the data output of the measured part after checking and considering to be credible.
2. The method for detecting the position of a moving part in a swing structure as claimed in claim 1, wherein: the processing unit (8) selects a calibration mode and a detection mode, the processing unit (8) enters the calibration mode or the detection mode to work according to the output information of the mode selection hardware (9), data transmission is carried out between the mode selection hardware (9) and the processing unit (8) in a wireless or wired communication mode, and the processing unit (8) records the characteristic value in the calibration mode; the processing unit (8) detects the position of the reciprocating part (1) and the angle of the swinging part (2) in a detection mode, and the processing unit (8) outputs information to the mode selection hardware (9) for man-machine interaction.
3. The method for detecting the position of a moving part in a swing structure as claimed in claim 1, wherein: in the process that the first magnet (3) moves along with the reciprocating motion part (1), at least one of the first magnetoelectric sensor (5) or the second magnetoelectric sensor (6) changes state, the magnetic field intensity generated by the magnet around the magnetoelectric sensor changes from being larger than a detection limit value to being smaller than the detection limit value, or changes from being smaller than the detection limit value to being larger than the detection limit value, and when the surrounding magnetic field intensity is smaller than the detection limit value, the magnetoelectric sensor cannot output correct magnet position information.
4. The method for detecting the position of a moving part in a swing structure as claimed in claim 2, wherein: the processing unit (8) records the characteristic value according to the calibration mode, the detection mode can work normally, otherwise, the program is suspended after alarm information is output.
5. The method for detecting the position of a moving part in a swing structure as claimed in claim 2, wherein: the characteristic values are recorded in a calibration mode of the processing unit (8), and when the state of only the second magnetoelectric sensor (6) is changed, the working steps are as follows:
firstly, operating a mode selection hardware (9), enabling a system to enter a calibration mode to operate, reading a specified value of a reciprocating part (1), wherein the specified value is a position value corresponding to one position in the swinging process of a swinging part (2) driven by the selected reciprocating part (1) according to the motion relation of the reciprocating part (1) and the swinging part (2), and then starting to enable the reciprocating part (1) to move from one terminal position to another terminal position;
secondly, in the moving process of the reciprocating part (1), the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6) detect the position of the first magnet (3) according to a set time interval, when the detection of the first magnet (3) by the magnetoelectric sensor (6) changes state, the detection value of the first magnet (3) by the first magnetoelectric sensor (5) is recorded as a verification value, and a detection information credibility mark of the reciprocating part (1) is set as credible;
thirdly, according to a predetermined calculation method, calculating the position data of the reciprocating part (1) from the detection information of the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6), and calculating the angle data of the swinging part (2) from the detection information of the third magnetoelectric sensor (7);
step four, checking whether the position data of the reciprocating part (1) is the same as a specified value, if so, recording the angle data of the swinging part (2) at the moment as a reference value, setting a detection information credibility mark of the swinging part (2) as credible, and if not, returning to the step two;
and step five, operating the mode selection hardware (9) and exiting the calibration mode.
6. The method for detecting the position of a moving part in a swing structure as claimed in claim 2, wherein: the processing unit (8) detects the position of the reciprocating part (1) and the angle of the swinging part (2) in a detection mode, and describes the state change according to the second magnetoelectric sensor (6), and the steps are as follows:
reading a detection information credibility mark of a reciprocating part (1) and a detection information credibility mark of a swinging part (2), if the detection information credibility marks are credible, continuing the next step, if one detection information credible mark is unreliable or both detection information credible marks are unreliable, outputting fault alarm information, and pausing the program;
reading the verification value, the specified value and the reference value, outputting fault alarm information if the verification value, the specified value and the reference value do not exist or are reserved values (out-of-range values), and pausing the program; if the data are normal, the information of the first magnet (3) and the information of the second magnet (4) which are respectively detected by the first magnetoelectric sensor (5), the second magnetoelectric sensor (6) and the third magnetoelectric sensor (7) are input into a processing unit (8) for processing;
step three, checking whether the state change of the detection of the second magnetoelectric sensor (6) to the first magnet (3) occurs, if not, carrying out the next step, if so, judging whether the detection data of the first magnetoelectric sensor (5) is the same as the verification value, if so, considering that the detection on the position of the reciprocating part (1) is normal and the data is credible, setting a detection credibility mark of the reciprocating part (1) as credible, if not, considering that the detection system is in fault or the part is in fault, outputting fault alarm information, setting the detection credibility mark of the reciprocating part as incredible, and pausing the program;
fourthly, according to a predetermined calculation method, calculating the position data of the reciprocating part (1) from the detection information of the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6), and calculating the angle data of the swinging part (2) from the detection information of the third magnetoelectric sensor (7);
step five, checking whether the position data of the reciprocating part (1) is the same as a specified value, if the position data is different from the specified value, entering the next step, if the position data is the same as the specified value, checking whether the angle value of the swinging part (2) is the same as a reference value, if the angle value is the same as the reference value, entering the next step, if the angle value is different from the reference value, outputting fault alarm information, setting a detection information credibility mark of the swinging part (2) as 'unreliable', and pausing the program;
and step six, outputting position data of the reciprocating part (1) and angle data of the swinging part (2), and returning to the step one.
7. The method for detecting the position of a moving part in a swing structure as claimed in claim 5, wherein: when the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6) both have state changes, the verification value described in the second step in the calibration mode comprises two kinds of data, the first kind of data is that when the first magnetoelectric sensor (5) has state changes, the corresponding detection value of the second magnetoelectric sensor (6) is recorded as a second verification value, the other kind of data is that when the second magnetoelectric sensor (6) has state changes, the corresponding detection value of the first magnetoelectric sensor (5) is recorded as a first verification value, and the first verification value and the second verification value need to be recorded respectively when the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6) have state changes; and after the first verification value and the second verification value are recorded, setting the detection information credibility mark of the reciprocating part (1) as credible.
8. The method for detecting the position of a moving part in a swing structure as claimed in claim 6, wherein: when the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6) both have state changes, the third step in the detection mode comprises the following steps:
3-1, checking whether the state change of the detection of the second magnetoelectric sensor (6) on the first magnet (3) occurs, if not, carrying out the next step, if so, judging whether the detection data of the first magnetoelectric sensor (5) is the same as a first verification value, if so, considering that the detection data of the first magnetoelectric sensor (5) on the position of the reciprocating part (1) is normal and the data is credible, setting a detection credibility mark of the first magnetoelectric sensor (5) as credible, and if not, setting a detection credibility mark of the first magnetoelectric sensor (5) as incredible;
3-2, checking whether the first magnetic body (3) is detected by the first magnetoelectric sensor (5) to be subjected to state change, if not, carrying out the next step, if so, judging whether the detection data of the second magnetoelectric sensor (6) is the same as a second verification value, if so, considering that the detection data of the second magnetoelectric sensor (6) on the position of the reciprocating part (1) is normal and the data is credible, setting a detection credibility mark of the second magnetoelectric sensor (6) as credible, and if not, setting a detection credibility mark of the second magnetoelectric sensor (6) as incredible;
and 3-3, judging whether the 'first magnetoelectric sensor (5) detection credibility mark' and the 'second magnetoelectric sensor (6) detection credibility mark' are 'credible', if so, executing the next step, if not, judging that the magnetoelectric sensor (5) has a fault or a part fault and the detection result is not credible, outputting fault alarm information and an 'unreliable' magnetoelectric sensor serial number, setting the 'reciprocating part (1) detection credibility mark' as 'unreliable', and pausing the program.
9. The method for detecting the position of a moving part in a swing structure as claimed in claim 6, wherein: when the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6) both have state changes, the four steps calculate the position data of the reciprocating motion part (1) according to the predetermined calculation method and the detection information of the first magnetoelectric sensor (5) and the second magnetoelectric sensor (6), in the calculation method, after the first magnetoelectric sensor (5) detects the first magnet (3) and has state changes, the second magnetoelectric sensor (6) detects the position of the first magnet, or vice versa, and the two magnetoelectric sensors are combined to complete the position detection of the first magnet (3).
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