CN113324464A - Magnetic scale and calibration method thereof - Google Patents
Magnetic scale and calibration method thereof Download PDFInfo
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- CN113324464A CN113324464A CN202110382845.1A CN202110382845A CN113324464A CN 113324464 A CN113324464 A CN 113324464A CN 202110382845 A CN202110382845 A CN 202110382845A CN 113324464 A CN113324464 A CN 113324464A
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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
- G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
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Abstract
The application discloses a magnetic scale and a calibration method of the magnetic scale; the magnetic scale calibration method is applied to a magnetic scale formed by a plurality of sectional sections arranged in the length direction of the magnetic scale, and comprises the following steps: moving and scanning the reading part along the length direction of the magnetic scale, and encoding the moving path of the reading part during the period to obtain scanning data and path encoding data; according to the scanning data and the path coding data, eliminating coding sections without scanning signals in the path coding data to form logic position information used for representing a real position; rewriting the magnetic scale according to the logic position information; the calibration precision of the magnetic scale arranged in sections is high by the method, and the logic position information corresponds to the corresponding sections, so that the magnetic scale sections can be conveniently rewritten in the follow-up process; meanwhile, the movement path of the reading part is coded, so that the method can calibrate the magnetic scale formed by splicing a plurality of existing magnetic scales and has wide application range.
Description
Technical Field
The application relates to the field of industrial control equipment, in particular to a magnetic scale and a calibration method of the magnetic scale.
Background
A magnetic grid encoder is a commonly used industrial control component that is commonly used to measure the relative position of components of an industrial device. The conventional magnetic grating encoder is generally composed of an unsegmented magnetic scale and a reading part, and the unsegmented magnetic scale limits the application of the magnetic grating encoder, such as: if the preset position of the magnetic scale has an obstacle, the design needs to be changed to adapt to the magnetic scale, and the installation and the use are not flexible enough. The structural form of the existing magnetic grating encoder causes limitation to the use of production designers, so how to make the use of the magnetic grating encoder more flexible is a technical problem that needs to be solved urgently by technical personnel in the field.
Content of application
The present application is directed to solving at least one of the problems in the prior art. Therefore, the magnetic scale calibration method can adapt to various installation environments and is flexible and convenient to use.
The embodiment of the first aspect of the application provides a calibration method of a magnetic scale.
The embodiment of the second aspect of the application provides a position estimation method.
In a third aspect, embodiments of the present application provide a magnetic scale.
An embodiment of a fourth aspect of the present application provides a magnetic grid encoder.
An embodiment of a first aspect of the present application provides a magnetic scale calibration method, where the magnetic scale calibration method is applied to a magnetic scale formed by a plurality of segments arranged in a length direction of the magnetic scale, and the calibration method includes the following steps:
moving and scanning the reading part along the length direction of the magnetic scale, and encoding the moving path of the reading part during the period to obtain scanning data and path encoding data;
according to the scanning data and the path coding data, eliminating coding sections without scanning signals in the path coding data to form logic position information used for representing a real position;
and rewriting the magnetic scale according to the logic position information.
According to the embodiment of the first aspect of the present application, a calibration method of a magnetic scale is provided, which has at least the following technical effects: the method has the advantages that the motion path of the reading part is coded in real time in the process of scanning the magnetic scale by the reading part, and then the coding section without scanning signals is removed after the scanning is finished to form logic position information, wherein the logic position information is used for representing the real position and corresponds to the magnetic scale sections; meanwhile, the path coding data for rewriting is formed by coding the movement path of the reading part, so that the method can calibrate the magnetic scale formed by splicing various existing magnetic scales and has wide application range.
According to some embodiments of the present application, the magnetic scale records position encoding information before rewriting, and the position encoding information between any two adjacent segments is continuous;
the encoding of the movement path of the reading part includes:
acquiring a splicing difference value used for representing the relative distance between two adjacent segments;
and according to the splicing difference value, performing compensation operation on the position coding information to obtain path coding data.
According to some embodiments of the present application, the reading portion is provided in plurality and is movable together, and the obtaining of the stitching difference value representing the relative distance between two adjacent segments includes:
when one of the reading spans moves, recording the duration of the lost signal;
and measuring the displacement of other reading parts in the duration time to obtain a splicing difference value.
In a second aspect of the present application, there is provided a position estimation method applied to a magnetic encoder, the magnetic encoder including a plurality of reading units movable together and a magnetic scale formed by a plurality of segments arranged in a longitudinal direction of the magnetic scale, the magnetic scale recording logical position information indicating a real position, the position estimation method including:
setting one of the reading parts as a main reading part and the other reading parts as auxiliary reading parts;
if the main reading unit can read the logical position information, the position information of the main reading unit is output.
The position estimation method according to the embodiment of the second aspect of the present application has at least the following technical effects: one reading part is selected as a main reading part and used as a positioning reference, and the auxiliary reading part is used for correction, so that the positioning precision can be effectively improved; in addition, if the magnetic scale is arranged at intervals in a segmented manner, the region without the segments can be defined as a special region, the logic position information is discontinuous in the length direction of the magnetic scale, and the reading part can read the position information discontinuously, so that whether the reading part is positioned in the special region can be judged, the application range of the application is widened, and the magnetic scale has the advantage of high application potential.
According to the embodiment of the application, the position measuring and calculating method further comprises the following steps:
a mounting difference indicating the relative position of the main reading unit and the sub reading unit is measured.
When the main reading part can not read the position code information, the correction information obtained by compensating the position information of the auxiliary reading part according to the installation difference value is output.
According to the embodiment of the application, the measuring and calculating of the installation difference value for indicating the relative position of the main reading part and the auxiliary reading part comprises the following steps:
the main reading part and the auxiliary reading part can both read the logic position information, and the position difference value of the main reading part and the auxiliary reading part is calculated to obtain the installation difference value.
In a third aspect of the present application, a magnetic scale is provided, in which logical position information for representing a real position is recorded, and the logical position information includes segments arranged in a length direction of the magnetic scale, and the logical position information is written by a magnetic scale calibration method.
According to the magnetic scale of the embodiment of the third aspect of the application, at least the following technical effects are achieved: the magnetic scale arranged in segments can flexibly arrange the position of the magnetic scale according to the use requirement, and the recorded logic position information can be conveniently read by a reading part.
An embodiment of a fourth aspect of the present application provides a magnetic grating encoder, including:
the magnetic scale is recorded with logic position information for representing a real position, and comprises a plurality of sections which are arranged along the length direction of the magnetic scale;
and a plurality of reading parts which are arranged and can move together along the length direction of the magnetic scale.
According to the fourth aspect of the present application, there is provided a magnetic grating encoder, which has at least the following technical effects: the magnetic scale that sets up in segmentation for the adaptable multiple in service behavior of magnetic scale, for example: the distance between two adjacent segments can be adjusted according to the requirement, and the application is flexible; have a plurality of reading portions, can adopt different position measurement and calculation methods as required, expansibility is good, the design of reading portions simultaneously for this application embodiment has the advantage that the redundancy is high, promotes system's interference immunity.
According to the embodiment of the application, the distance between two adjacent segments is smaller than the distance between two reading parts with the largest distance in the length direction of the magnetic scale, and the length of each segment is larger than the distance between two reading parts with the smallest distance in the length direction of the magnetic scale.
According to the embodiment of the application, two magnetic scales are arranged in parallel along the length direction of the magnetic scales, and the two magnetic scales are arranged in a staggered mode between the subsections.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
Fig. 1 is a schematic flow chart of a magnetic scale calibration method according to an embodiment of the first aspect of the present application;
FIG. 2 is a schematic flow chart of a specific method for encoding a moving path of a reading portion in the magnetic scale calibration method shown in FIG. 1;
fig. 3 is a flowchart illustrating a specific method for obtaining a splice difference in the method for encoding a motion path of a reading unit shown in fig. 2.
Fig. 4 is a schematic illustration of the method of fig. 3, with the panels ABCD in four different states.
FIG. 5 is a flowchart illustrating a position estimation method of a magnetic grid encoder according to an embodiment of the second aspect of the present application.
Reference numerals: a sub reading section 201 a; a main reading section 201 b; segment 100.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the present application. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless otherwise specified.
The application provides a magnetic scale calibration method, which is applied to a magnetic scale formed by a plurality of sectional sections arranged in the length direction of the magnetic scale, and comprises the following steps, referring to fig. 1:
s110, enabling the reading part to move along the length direction of the magnetic scale and scan, and coding the moving path of the reading part during the period to obtain scanning data and path coding data;
s120, according to the scanning data and the path coding data, eliminating coding sections without scanning signals in the path coding data to form logic position information for representing a real position;
s130, rewriting the magnetic scale according to the logic position information.
Specifically, the method comprises the following steps: the method has the advantages that the motion path of the reading part is coded in real time in the process of scanning the magnetic scale by the reading part, and then the coding section without scanning signals is removed after the scanning is finished to form logic position information, wherein the logic position information is used for representing the real position and corresponds to the magnetic scale sections; meanwhile, the path coding data for rewriting is formed by coding the movement path of the reading part, so that the method can calibrate the magnetic scale formed by splicing various existing magnetic scales and has wide application range.
In addition, the absolute magnetic scale is used as the magnetic scale in the embodiment, so that the logic position information is conveniently written.
In some embodiments of the present application, the magnetic scale records position encoding information before overwriting, and the position encoding information between any two adjacent segments is continuous;
the encoding of the movement path of the reading part includes:
s111, acquiring a splicing difference value used for representing the relative distance between two adjacent segments;
and S112, according to the splicing difference value, performing compensation operation on the position coding information to obtain path coding data. In some use scenes, the existing product can be modified to save cost, the existing magnetic grid encoder generally records position coding information, and furthermore, the existing product is sawn to obtain a plurality of segments with continuous position coding information, so that the rewriting method of the embodiment of the application has the advantage of wide application range.
Specifically, the magnetic scale is composed of a plurality of segments, and has an initial segment as a positioning reference, and any segment can be selected as the initial segment, and a segment located at the end is generally selected as the initial segment for convenience of calculation.
In this embodiment, the scanning data obtained by the scanning of the reading portion is the position encoding information of the magnetic scale, so in step S110, the corresponding relationship between the segment and the original encoding segment can be known in the process of scanning the magnetic scale by the reading portion; furthermore, in step S112, the number of segments separated from the initial segment is known, and the total concatenation value is formed by accumulating the concatenation difference between the segments, and then the compensation operation is performed on the position encoding information according to the total concatenation value, so as to obtain the path encoding data. The path coded data produced by the present method actually forms logical position information, and thus step S120 may not be required. Therefore, the method and the device have the advantages of being convenient and rapid to modify existing products and flexible to apply to different situations.
In some embodiments of the present application, the reading portion is provided in plurality and is movable together, and the obtaining of the stitching difference value representing the relative distance between two adjacent segments includes:
s1111, when one of the reading spans moves, recording the duration of the lost signal;
and S1111, measuring and calculating the displacement of other reading parts in the duration time to obtain a splicing difference value.
Any one reading part can be selected to record the duration of the lost signal, and if the reading part can continuously read the position information within the duration, the displacement value of the reading part is measured and calculated to be used as the splicing difference value. If no reading part can continuously acquire the position information, the displacement value of the magnetic head in the continuous time is measured and calculated as a splicing difference value through the mode of relay of a plurality of reading parts.
Specifically, for conveniently and continuously measuring the splicing difference, the magnetic heads of two reading parts are used for measuring, and the distance between the two reading parts is adjusted at the same time, so that at least one reading part has a signal at any moment, and one reading part is selected to record the duration of a lost signal, when the reading part moves in a cross-section manner and one reading part loses the signal, the other reading part inevitably continuously obtains the model, the displacement value of the reading part is recorded as the splicing difference, so that the reading part moves together from one end of the magnetic scale to the other end along the length direction of the magnetic scale, namely the splicing difference between two adjacent segments can be continuously obtained, the measuring method is convenient and quick, and is specifically described in the following with reference to fig. 2:
referring to fig. 4, one of the reading portions is set as a main reading portion 201b, and the remaining reading portions are set as sub-reading portions 201a, and when the striding motion is performed, four different states are chronologically provided as shown in a partial graph A, B, C, D, the main reading portion 201b is selected to record the duration, and the sub-reading portion 201a is selected to measure the displacement amount. From a to C, the duration of the signal lost by the main reading unit 201b can be measured, and the sub-reading unit 201a can continuously obtain the signal in the period, so that the displacement of the sub-reading unit 201a can be measured, and the splicing difference between two adjacent segments can be measured.
The embodiment of the present application further provides a position measurement and calculation method, which is applied to a magnetic grating encoder, where the magnetic grating encoder, referring to fig. 4, as shown in fig. a, includes a plurality of reading units that can move together, and a magnetic scale that is formed by a plurality of segments arranged in a row along a length direction of the magnetic scale, where logical position information indicating a real position is recorded on the magnetic scale, and the position measurement and calculation method includes, referring to fig. 5:
setting one reading part as a main reading part 201b and the other reading parts as auxiliary reading parts 201 a;
s220, determining whether the main reading unit 201b can read the logical position information, and outputting the position information of the main reading unit 201 b.
Specifically, the arrangement in which the reading section is set as the main reading section 201b and the main reading section 201b is set as the positioning reference makes the positioning of the magnetic grid encoder to which the present position measuring and calculating method is applied more accurate.
One reading part is selected as the main reading part 201b and used as a positioning reference, and the auxiliary reading part 201a is used for correction, so that the positioning precision can be effectively improved; in addition, if the magnetic scale is arranged at intervals in a segmented manner, the region without the segment can be defined as a special region, the logic position information is discontinuous in the length direction of the magnetic scale, and the position information can be read discontinuously in the length direction of the magnetic scale, so that whether equipment applying the position measuring and calculating method of the embodiment is located in the special region can be judged, the use is flexible, the application range of the application is widened, and the invention has the advantage of great application potential.
In some embodiments of the present application, the position estimation method further comprises the following steps, with reference to fig. 5:
s210, a mounting difference indicating the relative positions of the main reading unit 201b and the sub reading unit 201a is measured.
S230, when the main reading unit 201b cannot read the position code information, outputting the correction information obtained by performing the compensation operation on the position information of the sub reading unit 201a based on the mounting difference.
Specifically, the measured mounting difference is used to perform a compensation operation on the position of the sub reading portion 201a, thereby correcting the position of the magnetic head.
After performing compensation operation on the logical position information of the sub reading unit, the logical position information of the main reading unit 201b can be calculated, and when the logical position information cannot be read by the main reading unit 201b, the logical position information can be output as the position information of the magnetic head; when the main reading part 201b and the sub reading part 201a can both read the logic position information, after the compensation operation is performed on the position information of the sub reading part 201a, the position information can be compared with the position information of the main reading part 201b for verification so as to judge whether the magnetic grid encoder starts to age.
Further, when a condition that a distance between two adjacent segments is smaller than a distance between two reading portions having the largest distance in the length direction of the magnetic scale and a length of each segment is larger than a distance between two reading portions having the smallest distance in the length direction of the magnetic scale is satisfied, at least one reading portion can obtain position information at any time.
Therefore, the position measuring and calculating method provided by the embodiment of the application has the advantages of good expandable potential, multiple measuring modes and wide application range.
In some embodiments of the present application, the measuring and calculating a mounting difference value indicating a relative position of the main reading unit and the sub reading unit includes:
the main reading unit 201b and the sub reading unit 201a are allowed to read logical position information, and a position difference between the main reading unit and the sub reading unit is calculated to obtain a mounting difference.
The installation difference is obtained by directly measuring and calculating the position difference, and the method is simple and convenient.
It is conceivable that the splicing difference can also be obtained by direct measurement, such as: direct measurement using a ruler, direct measurement using a laser rangefinder, and the like.
The application also provides a magnetic scale, which records logic position information used for representing the real position, and comprises sections arranged along the length direction of the magnetic scale, and the logic position information is written in by a magnetic scale calibration method.
In particular, the magnetic scale arranged in segments can flexibly arrange the position according to the use requirement, and the recorded logic position information can be conveniently read by a reading part.
The present application further provides a magnetic grid encoder, comprising:
the magnetic scale is recorded with logic position information for representing a real position, and comprises a plurality of sections which are arranged along the length direction of the magnetic scale;
and a plurality of reading parts which are arranged and can move together along the length direction of the magnetic scale.
Specifically, the magnetic scale that sets up in segmentation for the magnetic scale can adapt to multiple in service behavior, for example: the distance between two adjacent segments can be adjusted according to the requirement, and the application is flexible; have a plurality of reading portions, can adopt different position measurement and calculation methods as required, expansibility is good, the design of reading portions simultaneously for this application embodiment has the advantage that the redundancy is high, promotes system's interference immunity.
One of the position measuring and calculating methods adopted by the magnetic grid encoder in the embodiment of the application refers to the position measuring and calculating method in the embodiment, and has all the beneficial technical effects of the position measuring and calculating method;
one of the magnetic scale calibration methods adopted by the magnetic grating encoder in the embodiment of the present application refers to the calibration method of the magnetic scale in the foregoing embodiment, and has all the beneficial technical effects of the calibration method of the magnetic scale in the foregoing embodiment.
In some embodiments of the present application, a distance between two adjacent segments is smaller than a distance between two reading portions having a largest distance in a length direction of the magnetic scale, and a length of each segment is larger than a distance between two reading portions having a smallest distance in the length direction of the magnetic scale.
In some cases, the magnetic grating encoder of the embodiment of the present application needs to output positioning information at any time, and thus by adjusting the distance between segments or the distance between reading portions, it is possible to obtain a signal at any time by the reading portions.
According to the embodiment of the application, two magnetic scales are arranged in parallel along the length direction of the magnetic scales, and the two magnetic scales are arranged in a staggered mode between the subsections.
In particular, the staggered arrangement of the segments may further improve the redundancy of the sub-grid encoder of the embodiments of the present application.
In some use cases, the segments are staggered so that there is uninterrupted logical position information along the length of the tape.
In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. The magnetic scale calibration method is characterized by being applied to a magnetic scale formed by a plurality of sections arranged in the length direction of the magnetic scale, and comprising the following steps of:
moving and scanning the reading part along the length direction of the magnetic scale, and encoding the moving path of the reading part during the period to obtain scanning data and path encoding data;
according to the scanning data and the path coding data, eliminating coding sections without scanning signals in the path coding data to form logic position information used for representing a real position;
and rewriting the magnetic scale according to the logic position information.
2. The method for calibrating the magnetic scale according to claim 1, wherein the magnetic scale records position coding information before rewriting, and the position coding information between any two adjacent segments is continuous;
the encoding of the movement path of the reading part includes:
acquiring a splicing difference value used for representing the relative distance between two adjacent segments;
and according to the splicing difference value, performing compensation operation on the position coding information to obtain path coding data.
3. The method for calibrating a magnetic scale according to claim 2, wherein the reading unit is provided in plurality and is movable together, and the obtaining of the splicing difference value representing the relative distance between two adjacent segments comprises:
when one of the reading spans moves, recording the duration of the lost signal;
and measuring the displacement of other reading parts in the duration time to obtain a splicing difference value.
4. A magnetic scale in which logical position information for indicating a true position is recorded, including segments arranged in a line along a length direction of the magnetic scale, the logical position information being written by a magnetic scale calibration method according to any one of claims 1 to 3.
5. A magnetic scale according to claim 4 wherein there are two sets of the magnetic scale and the segments of the two sets of the magnetic scale are staggered.
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| CN114812621A (en) * | 2022-05-17 | 2022-07-29 | 上海麦可洛自动化科技有限公司 | Linear encoder positioning structure and positioning method for splicing tracks |
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