CN210051288U

CN210051288U - Magnetic scale apparatus and position measuring apparatus

Info

Publication number: CN210051288U
Application number: CN201920640035.XU
Authority: CN
Inventors: 丁兆洋; 费利克斯.格里姆
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-07
Filing date: 2019-05-07
Publication date: 2020-02-11
Anticipated expiration: 2029-05-07

Abstract

The present disclosure relates to a magnetic scale device, a position measuring device, and a position measuring method. The magnetic scale apparatus may include: the grating ruler body is made of ferromagnetic materials and provided with a preset coding pattern; the magnetizing device comprises a magnet, the magnet forms a transition magnetic field with balanced structure, and the grating ruler body can change the transition magnetic field; and the magnetic field detector is positioned in the transition magnetic field and is used for detecting the magnetic field formed by the magnetizing device under the action of the grating ruler body. In the position measuring apparatus, accurate and reliable position measurement can be performed using magnetic field data detected by a magnetic scale apparatus.

Description

Magnetic scale apparatus and position measuring apparatus

Technical Field

The present invention relates to a magnetic scale device, a position measuring device, and a position measuring method, and more particularly to a magnetic scale device, a position measuring device, and a position measuring method for calibrating a position by detecting a change of a magnetic material to a magnetic field.

Background

In the field of control such as elevator control and machine tool control, accurate position measurement is generally required to achieve accurate control. In elevator control technology, for detecting the position of a car, a grating ruler with absolute position codes is usually arranged in an elevator shaft, and a grating ruler code reading device is arranged on the car. When the cage moves in the shaft, the grid ruler code reading device obtains the current position of the elevator by reading the position codes on the grid ruler. In machine tool control technology, control is performed by detecting the position of a component related to a machine tool.

As a way of measuring the position, different two-dimensional code identifiers can be pasted on the metal strip to position different position codes. The position measurement mode has the disadvantages that the position measurement mode has low tolerance to poor use environments in an elevator shaft, factors such as water, high humidity, dust, oil stains and the like in the shaft can cause distortion of code reading, and smoke can also affect a photoelectric sensor of the two-dimensional code reading device to a certain extent, so that the practicability is poor.

Accordingly, it is desirable to provide a technique that enables more reliable position measurement.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a magnetic scale apparatus, a position measuring apparatus and a position measuring method, which design a reliable magnetic scale structure less subject to environmental interference and perform position measurement by measuring a change of a magnetic field using the magnetic scale structure, thereby improving reliable and accurate position measurement.

According to a first aspect of the present disclosure, a magnetic scale apparatus is provided. The magnetic scale apparatus may include: the grating ruler body is made of ferromagnetic materials and provided with a preset coding pattern; the magnetizing device comprises a magnet, the magnet forms a transition magnetic field with balanced structure, and the grating ruler body can change the transition magnetic field; and the magnetic field detector is positioned in the transition magnetic field and is used for detecting the magnetic field formed by the magnetizing device under the action of the grating ruler body.

With reference to the first aspect, in one implementation manner of the first aspect, the scale body may be continuously arranged in a space to be measured, and the magnetic property of the ferromagnetic material may disappear when the distance from the magnet exceeds a predetermined distance value.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in another implementation manner of the first aspect, the predetermined coding pattern of the scale body may divide the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction.

With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the predetermined coding pattern of the scale body may make the ferromagnetic material discontinuous in the length direction, and change the balance structure of the transition magnetic field when approaching the magnet, so as to form a position code for position measurement by using the transition magnetic field that the balance structure has changed.

With reference to the first aspect and the foregoing implementations of the first aspect, in another implementation of the first aspect, the magnetic material may be a ferromagnetic material that may include at least one of a ferritic stainless steel and a conventional ferromagnetic material that is plated.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in another implementation manner of the first aspect, the magnet may be a first magnet and a second magnet which are oppositely arranged, and a first polarity direction of the first magnet and a second polarity direction of the second magnet are opposite.

With reference to the first aspect and the foregoing implementations of the first aspect, in another implementation of the first aspect, the magnet is a single magnet having an opposing structure.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in another implementation manner of the first aspect, a center of a transition magnetic field of the magnet may form a balance point, the magnetic field detector may be located at the center of the transition magnetic field, and may detect a magnetic field of the transition magnetic field after being changed by the grid ruler body.

With reference to the first aspect and the foregoing implementation manner of the first aspect, in another implementation manner of the first aspect, a center of the transition magnetic field of the magnet may form a balance point, a center of the scale body in the width may be located at the center of the transition magnetic field, and a surface of the scale body may be parallel to a detection plane of the magnetic field detector.

With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, a detection surface of the magnetic field detector faces the scale body, and the magnetization device is located on a back surface of the magnetic field detector opposite to the detection surface and is farther from the scale body than the magnetic field detector.

With reference to the first aspect and the foregoing implementation manner, in another implementation manner of the first aspect, the predetermined coding pattern on the grating ruler body may include position coding information, and the predetermined coding pattern is capable of changing the structurally balanced transition magnetic field into a step-like abrupt change magnetic field corresponding to the position coding information; the magnetic field detector may comprise a plurality of magneto-inductive elements for detecting approximately sinusoidally periodically alternating magnetic field data in the step-wise abrupt magnetic field for position measurement.

According to a second aspect of the present disclosure, a position measurement device is provided. The position measurement device may include: the grating ruler body is made of ferromagnetic materials and provided with a preset coding pattern; the magnetizing device comprises a magnet, the magnet forms a transition magnetic field with balanced structure, and the grating ruler body can change the transition magnetic field; the magnetic field detector is positioned in the transition magnetic field and used for detecting a magnetic field formed by the magnetizing device under the action of the grating ruler body; and the position processor is used for measuring the position of the magnetic field detector relative to the grating ruler body according to the magnetic field detected by the magnetic field detector when the magnetizing device moves relative to the grating ruler body.

With regard to the implementation of one or more of the scale body, the magnetizing means and the magnetic field detector in the position measuring device, reference may be made to the above respective implementations in the first aspect.

According to a third aspect of the present disclosure, there is provided a position measurement method for a position measurement apparatus. The position measuring apparatus may include a scale body made of a ferromagnetic material, a magnetizing device including a magnet, a magnetic field detector, and a position processor. The grating ruler body is provided with a preset coding pattern. The magnets form a structurally balanced transition magnetic field. The position measurement method may include: placing the magnetic field detector in the transition magnetic field; when the magnetizing device moves relative to the grating ruler body, detecting the magnetic field value of the transition magnetic field changed under the action of the grating ruler body by using the magnetic field detector; communicating the magnetic field values to the position processor; the position processor calculates the position of the magnetic field detector relative to the grating ruler body according to the magnetic field value detected by the magnetic field detector.

As regards the implementation of the position measurement device to which the position measurement method is applicable, reference may be made to the respective implementations according to the first and second aspects above.

In various embodiments according to the present disclosure, by making the scale body of a ferromagnetic material, the magnetic field formed by the magnet is changed in different ways at different positions of the scale body using a predetermined coding pattern of the scale body, so that position measurement can be performed by detecting the changed magnetic field. This position measurement is reliable and accurate.

In various embodiments according to the present disclosure, the grating ruler body is made of a ferromagnetic material, which is a substance that is not originally magnetic, and is magnetic, i.e., magnetized, when subjected to a magnetic field, and the ferromagnetic material can be magnetized only by a small magnetic field. Compared with other magnetic substances which are originally magnetic, the ferromagnetic material has extremely strong defense against adverse factors such as metal or nonmetal scraps, high temperature, oil stain, high humidity and the like in a use environment, and has high wear-resisting property, so that the magnetic grid ruler device disclosed by the invention has high reliability.

The magnetizing device which moves relative to the grating ruler body can be smaller in volume, can be in a relatively closed environment, and the working characteristics of the magnetizing device are less influenced by the environment. Therefore, in the magnetic grid ruler device in the disclosure, a ferromagnetic material is selected to form the grid ruler body, the grid ruler body and the magnet are properly matched, and different positions on the grid ruler body are identified by utilizing the preset coding pattern of the grid ruler body, so that adverse effects of environmental factors on the magnetic grid ruler device can be avoided, reliable magnetic field data can be provided, and accurate and reliable position measurement can be performed according to the reliable magnetic field data. Furthermore, corresponding advantages will be subsequently stated in connection with the various embodiments of the disclosure.

Drawings

To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive efforts.

FIG. 1 is an exploded schematic view illustrating a magnetic grid ruler device according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating a magnetic field detector and a magnetizing apparatus in the magnetic scale device of FIG. 1;

FIG. 3 schematically illustrates a diagram of a transition magnetic field with a balanced structure formed by magnets in the magnetizing apparatus shown in FIG. 2;

FIG. 4 schematically illustrates the magnetic field distribution after placement of the grid ruler body in the transition magnetic field of FIG. 3;

FIG. 5 is a side view schematically illustrating a first embodiment of the magnetic scale device of FIG. 1;

FIG. 6 is a side view schematically illustrating a second embodiment of the magnetic scale device of FIG. 1;

fig. 7 schematically illustrates a first encoding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure;

FIG. 8 schematically illustrates a second encoding pattern of a scale body in a magnetic scale device according to an embodiment of the disclosure;

fig. 9 schematically illustrates a third encoding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure;

fig. 10 schematically illustrates a fourth encoding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure;

fig. 11 is a schematic structural view illustrating a position measuring apparatus for an elevator according to an embodiment of the present disclosure;

fig. 12 is a flow chart schematically illustrating a position measurement method according to an embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be intervening components between the specific component and the first component or the second component; when it is described that a specific component is connected to other components, the specific component may be directly connected to the other components without having an intervening component or may be directly connected to the other components without having an intervening component.

Fig. 1 is an exploded schematic diagram illustrating a magnetic scale apparatus 100 according to an embodiment of the present disclosure. As shown in fig. 1, the magnetic scale apparatus 100 includes: a scale body 10 made of a ferromagnetic material, the scale body 10 having a predetermined code pattern; a magnetizer 20 including a magnet forming a structurally balanced transition magnetic field, the grating scale body being capable of changing the transition magnetic field; and the magnetic field detector 30 is positioned in the transition magnetic field and is used for detecting the magnetic field formed by the magnetizing device under the action of the grating ruler body.

As shown in the lateral direction of fig. 1, the grid ruler body 10 is continuously arranged in the space to be measured. As an example, the space to be measured may be a hoistway of an elevator, or may be a control floor line of a machine tool system.

The scale body 10 is made of a ferromagnetic material. A ferromagnetic material is a substance that is not originally magnetic, and is magnetic, i.e., magnetized, when subjected to a magnetic field. Ferromagnetic materials can be magnetized by a very small magnetic field. The magnetic properties of the ferromagnetic material disappear when the distance from the magnet exceeds a predetermined distance value. Therefore, the grating ruler body 10 does not adsorb other metal debris.

As an example, the grating ruler body 10 can be made of stainless steel, for example, machined from a stainless steel sheet with the reference number 430, and punched on the stainless steel sheet. The grating ruler body 10 is formed by punching stainless steel with the mark number of 430, so that the grating ruler body has excellent characteristics in the aspect of environmental tolerance, can not generate general corrosion and rust, can resist conventional mechanical collision and friction, and is not easily influenced by severe environmental factors such as high temperature, high humidity and the like. Stainless steel, reference number 430, has a high magnetic permeability characteristic and therefore works well in changing the magnetic field formed by the magnetizing apparatus 20. Under the condition that the grating ruler body 10 is made of ferromagnetic materials, even if the grating ruler body is stained with materials such as water, dust and the like, the influence on a magnetic field is avoided, interference factors such as smoke and the like are not feared, and therefore the working performance is more reliable. In addition, the grating body 10 may also be other ferromagnetic materials, such as conventional ferromagnetic materials. In practice, the choice may be made according to the specific operating environment, performance requirements, and the like. The particular type of ferromagnetic material does not constitute a limitation on embodiments of the present disclosure.

The following disadvantages are specified if the grid rule body 10 is made of a magnetic substance having magnetic properties. First, the grid body requires a magnetic material having a relatively large overall magnet area, and these magnetic materials, which are inherently magnetic, are liable to stick other small metal objects, such as metal scraps and screws, in a lengthy well. Second, magnetic materials that are inherently magnetic are susceptible to high temperatures and strong magnetic fields, which can lose their magnetic properties, i.e., data loss. Thirdly, the magnetic material with original magnetism is easy to be damaged and even to cause the failure of the magnetic grid ruler through repeated collision and friction. Finally, the magnetic grid ruler has certain difficulties in material composition and production process difficulty, so the cost is high.

Therefore, in the embodiments of the present disclosure, compared to other magnetic substances which are originally magnetic, the ferromagnetic material has an extremely strong protection against adverse factors such as metal or nonmetal scraps, high temperature, oil stain, and high humidity in the use environment, and has a high wear resistance, so that the magnetic scale device of the present disclosure has a high reliability.

As shown in fig. 1, the scale body 10 has a longitudinal direction in the lateral direction and a width direction in the direction perpendicular to the longitudinal direction, and the predetermined code pattern of the scale body 10 divides the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction. In the width direction of the scale body 10 of fig. 1, encoding patterns of a zigzag shape and an inverted zigzag shape are used, which makes non-central symmetry in the width direction, so that it is possible to extend or shorten the structurally balanced transition magnetic field formed by the magnetizing means 20, making it unbalanced, thereby enabling to mark a specific position of the encoding pattern. The opening length or width in the longitudinal direction of the grating scale body 10 may be different for each of the zigzag-shaped or inverted zigzag-shaped openings, or the opening length in the width direction of the grating scale body 10 may be different, thereby forming diversified opening sizes. Alternatively, each opening of the scale body 10 may not be located at the center of the width direction of the scale body 10, thereby dividing the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction.

Further, the predetermined coding pattern at the scale body 10 makes the ferromagnetic material discontinuous in the length direction. As shown in fig. 1, a plurality of discontinuous zigzag or inverted zigzag openings are formed in the length direction of the scale body 10, adjacent two openings are discontinuous, and each different opening extends or shortens the structurally balanced transition magnetic field formed by the magnetizing device 20 differently, thereby calibrating the position of the magnetizing device with respect to the scale body.

The magnetizing means 20 in fig. 1 may comprise a magnet. The magnet is a substance or material capable of generating a magnetic field, such as a permanent magnet capable of maintaining its magnetism for a long period of time. The permanent magnet is a hard magnet and is not easy to lose magnetism. In other words, a magnet is a substance or material that is itself magnetic. In embodiments of the present disclosure, the magnets may form a structurally balanced transition magnetic field. The magnets may be arranged in different ways. As an example, the magnet may be a pair of magnets arranged oppositely; alternatively, the magnet may be a single magnet having an opposing configuration, such as a U-shaped magnet. The magnetizing apparatus may include other devices besides the magnet, such as a device for supporting or fixing the magnet.

Fig. 2 is a schematic diagram illustrating a magnetic field detector and a magnetizing apparatus in the magnetic scale device of fig. 1. In fig. 2, the magnets are a first magnet and a second magnet arranged in parallel with each other in opposition (as indicated by the hatched portion in fig. 2), and the first polarity direction of the first magnet and the second polarity direction of the second magnet are opposite. As an example, the first polarity direction of the first magnet is up-south-down-north, and the second polarity direction of the second magnet is up-north-down-south; alternatively, the first polarity direction of the first magnet is north-up and south-down, and the second polarity direction of the second magnet is north-south-up and north-down. The magnetic field detector 30 is located between the first magnet and the second magnet. For example, the first magnet and the second magnet are symmetrically disposed, and the magnetic field detector 30 may be located at a central position between the first magnet and the second magnet.

In fig. 2, the magnetic field detector 30 is shown as 6 magneto-inductive elements. As an example, the magneto-inductive element may be a hall element or any other element capable of detecting a magnetic field. Each of the 6 magnetic induction elements can detect the value of the magnetic field at the position, for example, the direction and the magnitude of the magnetic field at the position. The position of the sensor can be calculated by using the 6 magnetic field values sensed by the 6 magnetic induction elements. The number of magnetically inductive elements 6 described above is merely an example, and in particular practice it may be more or less, e.g., 1, 3, 4, 8, etc., and the particular number of magnetically inductive elements does not constitute a limitation on embodiments of the present disclosure. In the case of 6 magnetic field values sensed by 6 magneto-inductive elements, the accuracy of the calculated position of the sensor can be as high as one sixteenth of a millimeter, which is merely exemplary, and the specific accuracy differs depending on the specific algorithm.

In fig. 2, in addition to the magnetizing means 20 and the magnetic field detector 30, a Printed Circuit Board (PCB)31 is shown, which PCB 31 is used to carry the magnetic field detector 30. In addition, the PCB 31 may also carry other devices in the specific application environment of the magnetic scale 100, may also be used for transmitting signals between the carried devices, may also have a ground wire arranged thereon, and the like.

The first magnet and the second magnet in fig. 2 are symmetrically arranged to form a transition magnetic field with balanced structure. In other words, in the case where the bar body 10 is not added to the transition magnetic field formed by the first and second magnets, the magnetic field detected by the magnetic field sensor located at the center of the transition magnetic field is neutral, i.e., has no significant north-south pole characteristics. Under the condition that the grid ruler body 10 is added into the transition magnetic field formed by the first magnet and the second magnet, the grid ruler body 10 is magnetized under the action of the first magnet and the second magnet, so that the transition magnetic field is changed, and the structure of the grid ruler body is not balanced any more. Accordingly, the scale body 10 changes the balance structure of the transition magnetic field when approaching the magnet, so that a position code for position measurement can be formed using the transition magnetic field whose balance structure has changed.

Fig. 3 is a schematic diagram of a transition magnetic field having a balanced structure formed by the magnets in the magnetizing apparatus shown in fig. 2. As shown in the circular arc of fig. 3, the first magnet 21 and the second magnet 22 in the magnetizing apparatus form magnetic fields, respectively, and since the first polarity direction of the first magnet 21 is opposite to the second polarity direction of the second magnet 22, the magnetic field at the intersection of the magnetic field of the first magnet 21 and the magnetic field of the second magnet 22 is neutral, i.e., there is no significant north-south polarity characteristic. The symmetrical structure of the first magnet 21 and the second magnet 22 forms a balanced structure of the transition magnetic field. In fig. 3, the magnetic field detector 30 is located at the center between the first magnet 21 and the second magnet 22, and the magnetic field intensity detected by the magnetic field detector 30 is close to 0 in the case where the magnetizing means is away from the scale body without interaction of the magnetic field with the scale body. In fig. 3, the magnetic field detector 30 is located at a central position between the first magnet 21 and the second magnet 22, which is merely an example, and it may also be located at other positions between the first magnet 21 and the second magnet 22, even outside one of the first magnet 21 and the second magnet 22. When the position of the magnetic field detector 30 relative to the first magnet 21 and the second magnet 22 changes, the intensity of the magnetic field measured by the magnetic field detector 30 also changes. Accordingly, the method of calculating the position based on the magnetic field strength measured by the magnetic field detector 30 also varies.

Fig. 4 schematically illustrates the magnetic field distribution after the grid ruler body 10 is placed in the transition magnetic field of fig. 3. When the magnetic field formed by the magnet is put into the grid ruler body 10, the ferromagnetic material is divided by the opening in the grid ruler body 10. This is because the permeability of the air around the opening differs from the permeability of the ferromagnetic material in the grid body 10, and the permeability of the air is such that the permeability of the ferromagnetic material is not continuous, so that the magnetic field in the vicinity of the grid body 10 is extended or cut off. In the position of the grid ruler body 10 shown in fig. 4 where there is no opening, the magnetic field formed by the magnetizing means 20 is extended; in the position of the open hole of the scale body 10 shown in fig. 4, the magnetic field formed by the magnetizing means 20 is cut off. Accordingly, the scale body 10 changes the equilibrium structure of the transition magnetic field when approaching the magnetizing apparatus 20. In addition, since the opening pattern of the scale body 10 is varied and discontinuous in the length direction thereof, the balance structure of the transition magnetic field is changed in different ways at different positions in the length direction of the scale body 10, thereby forming different magnetic fields to indicate positions. Accordingly, the transition magnetic field, which has been changed by the balancing structure, can be used to form a position code for position measurement.

As can be seen from the above description, in the present disclosure, the magnetic field detector 30 can read the corresponding magnetic field direction and magnitude under a specific coding pattern by using the grating ruler body 10 having a predetermined coding pattern for influencing the balance characteristic of the magnetic field of the magnetizing device 20 when the grating ruler body 10 approaches the magnetizing device 20. In the present disclosure, the predetermined coding pattern on the scale body 10 contains position-coding information, and the predetermined coding pattern is capable of changing the structurally balanced transition magnetic field into a stepwise abrupt change magnetic field corresponding to the position-coding information. As described below, the step-like, abrupt magnetic field may represent magnetic field state information such as "1" and "0" so that position-encoded information can be obtained.

As shown in fig. 4, when the bar body 10 is located in the region above the transition magnetic field of the magnetization device 20, the original symmetric transition magnetic field is distorted by the bar body 10 with the new ferromagnetic material in the magnetic field, the left magnetic field is extended by the ferromagnetic material of the bar body 10, and the right magnetic field is compressed by the ferromagnetic material of the bar body 10. Let the left magnetic field value be defined as a positive number, the right magnetic field value be defined as a negative number, and let the positive number be a binary "1" and the negative number be a binary "0". The magnetic field value to the left is detected by the central magnetically sensitive element (hall sensor). This magnetic field vector magnitude may represent the proximity of ferromagnetic materials and the pattern code is "1". Conversely, if the magnetic field on the right side of fig. 4 is compressed and reduced by the ferromagnetic material of the scale body 10, and the magnetic field on the right side is extended by the ferromagnetic material of the scale body 10, the magnetic inductive element in the center will detect the magnetic field value on the right side, which may represent the proximity of the ferromagnetic materials, and the pattern is encoded as "0". The grating ruler body 10 of the present disclosure may contain only position-encoded information, and not other graphic information. When the distance between the grating ruler body 10 and the magnetizing device is less than a predetermined distance, for example, a magnetic field with alternating magnetization polarity transition, i.e., a step-type abrupt magnetic field, may occur in the central line region of the grating ruler body 10. The step-like, abrupt magnetic field may be different from other magnetic fields, such as a sinusoidal periodic alternating magnetic field.

For the position code corresponding to the predetermined code pattern of the scale body 10, the predetermined code pattern of the scale body 10 changes the transition magnetic field of the magnet to the step-like abrupt change magnetic field, in addition to the above-described detection of positive and negative values ("0" or "1") by the magnetic field detector 30; the magnetic field detector 30 may include a plurality of magnetic induction elements for detecting a plurality of magnetic field values of the step-like jump magnetic field, so that accurate position information may be obtained. The magnetic field detector 30 can detect the magnetic field data of the approximately sinusoidal periodic alternation in the step-like abrupt magnetic field when the magnetic field detector 30 is less than a predetermined distance from the scale body 10. The approximately sinusoidal periodically alternating magnetic field data may further pinpoint the location of magnetic field detector 30. It is to be noted that, since the magnetic field data of the approximately sinusoidal periodic alternation is the magnetic field data at a specific position in the spatial magnetic field formed by the scale body 10 and the magnetizing device 20 having a specific positional relationship, it is not the information of the scale body 10, that is, the magnetic field information of the approximately sinusoidal periodic alternation is not solidified on the scale body 10. The approximate sine cycle alternation herein is not a mathematical sine relationship, but a plurality of magnetic field data form a shape characteristic approximate to a sine wave, regardless of the phase of the sine wave.

As an example, the magnetic field detector 30 may include 16 magnetic sensing elements that sense the absolute position encoding of a consecutive 16-bit binary number, i.e., the encoding "1" or "0" mentioned above, with the 16-bit "1" or "0" combination being used to indicate position, the number of which may affect the overall length of the absolute position encoding ruler. On the other hand, 6 magnetic induction elements of the 16 magnetic induction elements can be arranged in series. The magnetic induction elements arranged in series can be used for sensing magnetic field vector values including the direction and the numerical value of a magnetic field. The absolute position of the magnetic field sensor 30 is calculated from the vector values of the magnetic field sensed by 6 successive magnetic sensing elements, with an accuracy of up to about one sixteenth of a millimeter.

In the present disclosure, the magnetizing apparatus 20 and the magnetic field detector 30 have small sizes and can be placed in a relatively closed space, which has less influence on an external metal material, so that the reliability of the magnetic scale apparatus 100 can be improved.

In the magnetic scale device 100 according to the present disclosure as described above, by making the scale body 10 of a ferromagnetic material, the magnetic field formed by the magnet is changed in different ways at different positions of the scale body by using a predetermined code pattern of the scale body 10, so that position measurement can be performed by detecting the changed magnetic field. This position measurement is reliable and accurate.

The scale body 10 of the magnetic scale device 100 is made of a ferromagnetic material, which is a substance that is not originally magnetic and can be magnetized under the action of a magnetic field, and the ferromagnetic material can be magnetized under the action of a small magnetic field. Compared with other magnetic substances which are originally magnetic, the ferromagnetic material has extremely strong defense against adverse factors such as metal or nonmetal scraps, high temperature, oil stain, high humidity and the like in a use environment, and has high wear-resisting property, so that the magnetic grid ruler device disclosed by the invention has high reliability. Further, the scale body 10 having a ferromagnetic material loses its magnetism immediately after leaving the magnetizing device 20, and thus does not have a characteristic of adsorbing metal dust. The grating ruler body 10 is only formed by carving and punching ferromagnetic materials to form a preset coding pattern, and flexible magnetic materials or two-dimensional code marks do not need to be pasted on the grating ruler body 10, so that the manufacturing process is simple, the material composition is simple, and failure factors can be greatly reduced in the using process.

The magnetizing apparatus 20 and the magnetic field detector 30, which are relatively moved with respect to the scale body 10, have a small volume and can be in a relatively closed environment, and their operating characteristics are less affected by the environment. Therefore, the magnetic scale device in the present disclosure selects a specific ferromagnetic material to form the scale body, appropriately matches between the scale body and the magnet, and utilizes the predetermined encoding pattern of the scale body to different positions of the scale body, thereby avoiding adverse effects of environmental factors on the magnetic scale device, providing reliable magnetic field data, and being capable of performing accurate and reliable position measurement according to the reliable magnetic field data.

Fig. 5 is a side view schematically illustrating a first embodiment of the magnetic scale device 100 of fig. 1. In fig. 5, the magnetizing apparatus 20 is located between the scale body 10 and the magnetic field detector 30, and the magnetic field detector 30 is disposed on the PCB 31. The magnetizing means 20, the magnetic field detector 30 and the PCB 31 form a code reading means. The code reading means is for reading a magnetic field that varies depending on the code pattern of the scale body 10, so that the position of the magnetic field detector 30 can be identified from the variation of the magnetic field.

As shown in fig. 5, the magnetizing device 20 is composed of a pair of magnets with opposite polarity directions, and is disposed on two sides of the width direction of the bar body 10, respectively, and the bar body 10 is engraved with a predetermined special pattern in the width direction to divide the width of the bar body 10 in the left-right direction. Therefore, the extension of the magnetic field of the magnetizing apparatus 20 in the width direction of the scale body 10 can be generated, that is, the north-south pole magnetic field of the magnetizing apparatus 20 having the balanced structure is caused to generate a specific regular extension or reduction of the magnetic field under the action of the scale body 10. The centers of the transition magnetic fields of the two magnets in the magnetizing apparatus 20 in fig. 5 form a balance point, the magnetic field detector 30 is located at the center of the transition magnetic field, and detects the magnetic field of the transition magnetic field changed by the grating scale body 10. The magnetic field detector 30 includes a detection surface facing a magnetic field to be detected, and a back surface opposite to the detection surface. The center of the scale body 10 in width of fig. 5 is located at the center of the transition magnetic field, and the surface of the scale body 10 is opposite to and parallel to the detection surface of the magnetic field detector 30. The magnetizing device 20 is close to any section of the grid ruler body 10 during operation, and is used for magnetizing the grid ruler body 10 and forming a magnetic field with a preset structure with the grid ruler body 10.

In the embodiment of the magnetic scale device 100 shown in fig. 5, since the magnetic field detector 30 and the scale body 10 are located at the center of the transition magnetic field, the arrangement thereof is relatively simple and the amount of calculation for identifying the position by encoding later is reduced to some extent. However, depending on the specific requirements and application scenario, the magnetic field detector 30 may not be located at the center of the transition magnetic field, and the grating ruler body 10 may not be located at the center of the transition magnetic field.

Fig. 6 is a side view schematically illustrating a second embodiment of the magnetic scale device 100 of fig. 1. The second embodiment of fig. 6 differs from the first embodiment of fig. 5 in that the position of the magnetizing means 20 and the magnetic field detector 30 is changed. In fig. 6, the magnetizing means 20, the magnetic field detector 30 and the PCB 31 form a code reading means. The code reading means is for reading a magnetic field that varies depending on the code pattern of the scale body 10, so that the position of the magnetic field detector 30 can be recognized according to the variation of the magnetic field.

In fig. 6, the magnetic field detector 30 is located between the magnetizing means 20 and the grid body 10, the magnetizing means 20 is located at the back side of the magnetic field detector 30, and the magnetic field detector 30 is disposed on the PCB 31. In other words, the detection surface of the magnetic field detector 30 faces the scale body 10, and the magnetizing apparatus 20 is located on the back surface of the magnetic field detector 30 opposite to the detection surface and is further away from the scale body 10 than the magnetic field detector. The magnetizing device 20 is close to any section of the grid ruler body 10 during operation, has the function of magnetizing the grid ruler body 10, and forms a magnetic field with a specific structure together with the grid ruler body 10. The magnetic field detector 30 may be composed of a plurality of hall elements, for example, and is located in the magnetic field formed by the magnetizing device 20 and the scale body 10.

In the embodiment of fig. 6, the magnetizing means 20 is located at the back of the magnetic field sensor 30 and is further away from the scale body 10, which reduces the influence of the magnetizing means 20 on the external metal material to be smaller, further improving the reliability of the magnetic scale apparatus 100. Details of the various components of fig. 6 can be found in the description above in connection with fig. 1-5.

As described above, the scale body 10 of the present disclosure may be formed in a predetermined coding pattern by coding or punching a ferromagnetic material. The magnetic permeability of the encoded regions is different from the magnetic permeability of the non-encoded regions, so that after the ferromagnetic material is magnetized, the regions with different patterns can interact with the magnetizing means in different ways to form the code for measuring the position. In the following, a schematic example of an apertured coding pattern formed in a punched manner is given to help better understand the design of the coding pattern.

Fig. 7 schematically illustrates a first encoding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure. In the first coding pattern of fig. 7, a plurality of zigzag and inverted zigzag open hole coding patterns are used. In fig. 7, the zigzag-shaped opening code pattern may have different sizes in the length direction of the grid body 10 and may also have different sizes in the width direction of the grid body 10, i.e., zigzag-shaped openings having different sizes are formed; the open hole coding patterns of the inverse zigzag shape may have different sizes in the width in the length direction of the grid body 10 and may also have different sizes in the width direction of the grid body 10, i.e., the open holes of the inverse zigzag shape having different sizes are formed. The permeability of the air in the open pore region is different from that of the ferromagnetic material in the grid ruler body 10, and the zigzag or inverted zigzag open pores with different sizes will form a magnetic field with a different structure with the magnetizing device when the magnetizing device is close to the grid ruler body 10. In fig. 7, the respective zigzag or reverse zigzag openings are shown to have substantially the same size in the width direction of the grid body 10, which is merely an example. The zigzag or reverse zigzag opening may have different sizes in the width direction of the grid rule body 10 as needed.

Fig. 8 schematically illustrates a second encoding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure. In the second coding pattern of fig. 8, a 2-line in-line open-hole coding pattern is used. The number of rows of the aperture coding pattern is not limited to 2 rows, and may be 1 row, 3 rows, etc., as necessary. In fig. 8, each in-line opening may have different dimensions, such as different lengths and widths, and the distance from each in-line opening to the center line of the grid body in the width direction may be different. The permeability of the air in the open pore area is different from that of the ferromagnetic material in the grid ruler body 10, and the linear open pores with different sizes form magnetic fields with different structures with the magnetizer at the position where the magnetizer is close to the grid ruler body 10, and the structures of the magnetic fields correspond to the open pore coding patterns.

Fig. 9 schematically illustrates a third encoding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure. In the third code pattern of fig. 9, a 2-line U-shaped open hole code pattern is used, and the opening of the U-shaped open hole faces the center line of the scale body 10. Alternatively, the opening of the U-shaped opening may also face the edge of the grating ruler body 10, and neither the opening direction of the U-shaped opening nor the number of rows of the U-shaped openings constitute a limitation on the embodiments of the present disclosure. Each of the U-shaped openings may have different dimensions, such as different lengths and widths, and the distance from each of the U-shaped openings to the center line of the grating scale body in the width direction may be different. The permeability of the air in the open pore area is different from that of the ferromagnetic material in the grid ruler body 10, and the linear open pores with different sizes form magnetic fields with different structures with the magnetizer at the position where the magnetizer is close to the grid ruler body 10, and the structures of the magnetic fields correspond to the open pore coding patterns.

Fig. 10 schematically illustrates a fourth encoding pattern of a scale body in a magnetic scale device according to an embodiment of the present disclosure. In the fourth coding pattern of fig. 10, an opening coding pattern of a combination of short lines is used, in which short line openings of different lengths are used as basic constituent units of the coding pattern, and are combined in the length and width directions of the grating ruler body to form a desired coding pattern. The permeability of the air in the open pore region is different from the permeability of the ferromagnetic material in the grid ruler body 10, and the open pores with different sized stubs will form a magnetic field with a different structure with the magnetizing device at the position where the magnetizing device is close to the grid ruler body 10, and the structure of the magnetic field corresponds to the open pore coding pattern.

In the open-hole coding pattern shown in any one of fig. 7 to 10, the predetermined coding pattern of the scale body 10 divides the ferromagnetic material in the width direction into non-centrosymmetric discontinuous shapes, such as an alternate arrangement of zigzag-shaped open holes and inverted zigzag-shaped open holes in fig. 7, a staggered arrangement of 2-row in-line open holes in fig. 8, a staggered arrangement of 2-row U-shaped open holes in fig. 9, and a staggered arrangement of short lines in the length direction in fig. 10. Further, the predetermined coding pattern of the scale body is such that the ferromagnetic material is discontinuous in the length direction, e.g. any of fig. 7-10 includes a plurality of discontinuous apertures in the length direction, and adjacent apertures have different arrangements. The balance structure of the transition magnetic field of the magnetizing apparatus is changed when a part of the opening code pattern of the grating ruler body 10 approaches the magnetizing apparatus, and the position code for position measurement is formed using the transition magnetic field which has been changed by the balance structure.

The magnetic scale apparatus described in connection with fig. 1-10 may be used for position measurement. As described above, the magnetic field detector 30 in the magnetic scale device can detect and obtain different magnetic field characteristics corresponding to the code pattern on the scale body. By calculating the detected magnetic field characteristics, the corresponding position of the scale body can be calculated, and the position of the magnetic field detector relative to the scale body 10 can be calculated, that is, the position measurement can be performed. In an elevator system, the measured position can be transmitted to an elevator control system for the purpose of implementing an operation and protective control of the elevator. In the machine tool system, the measured position can be transmitted to a machine tool control system to realize the operation and protection control of the machine tool.

Fig. 11 is a schematic structural view illustrating a position measuring apparatus 200 for an elevator according to an embodiment of the present disclosure. As shown in fig. 11, a position measuring apparatus 200 for an elevator according to an embodiment of the present disclosure may include: a scale body 10 made of ferromagnetic material, the scale body 10 having a predetermined code pattern; a magnetizer 20 including a magnet forming a structurally balanced transition magnetic field, the grating scale body being capable of changing the transition magnetic field; the magnetic field detector 30 is positioned in the transition magnetic field and is used for detecting the magnetic field formed by the magnetizing device under the action of the grating ruler body 10; and a position processor 40 for measuring the position of the magnetic field detector relative to the scale body according to the magnetic field detected by the magnetic field detector 30 when the magnetizing apparatus 20 moves relative to the scale body 10.

The specific implementation and operation of the scale body 10, the magnetizing means 20 and the magnetic field detector 30 in the position measuring apparatus 200 of fig. 11 can be seen in the scale body 10, the magnetizing means 20 and the magnetic field detector 30 described above in connection with fig. 1-10, respectively. The position processor 40 in the position measuring apparatus 200 is configured to measure the position of the magnetic field detector 30 relative to the scale body 10 based on the magnetic field detected by the magnetic field detector 30 when the magnetizing means 20 moves relative to the scale body 10.

The position processor 40 may be connected to the magnetic field detector 30 by wired communication to receive magnetic field data from the magnetic field detector 30. Alternatively, the position processor 40 may be connected to the magnetic field detector 30 by wireless communication. The wired communication method is, for example, an electric wire or a transmission line of a printed circuit board grid. Examples of the wireless communication method include infrared communication, bluetooth communication, and near field communication. The manner of communication between the position processor 40 and the magnetic field detector 30 does not constitute a limitation of the present disclosure.

The position processor 40 may be implemented using various processors, such as general purpose processors, special purpose processors, field programmable logic arrays, FPGAs, microprocessors, and the like. The position processor 40 cooperates with a memory for storing a control program. When the position processor 40 runs the control program in the memory, the generated control instructions cause the position processor 40 to measure the position of the magnetic field detector 30 relative to the ruler body 10 according to the magnetic field detected by the magnetic field detector 30.

As described above with reference to fig. 3 and 4, when the scale body 10 is located in the region above the transition magnetic field of the magnetizing apparatus 20, the original symmetric transition magnetic field is expanded or compressed by the additional ferromagnetic material of the scale body 10 in the magnetic field. The position processor 40 may represent binary "1" and "0" using the extended or compressed magnetic field, respectively, and identify the corresponding code pattern using the binary number and calculate the position of the magnetic field detector 30 relative to the scale body 10. For a specific location to be measured, the magnetic field can be measured using a plurality of magneto-inductive elements, such as 6 magneto-inductive elements placed in series in fig. 2, which 6 magneto-inductive elements sense magnetic field vector values, including the direction and magnitude of the magnetic field. The position processor 40 can calculate the absolute position of the magnetic field sensor 30 from the vector values of the magnetic field sensed by the successive 6-bit magnetic sensing elements.

In fig. 11, the position measuring device 200 is illustrated as being used in an elevator control system, and the position measuring device 200 is described in this disclosure as being used in an elevator control system as an example. However, the position measurement device 200 may also be used in other systems, such as a machine tool control system.

As shown vertically in fig. 11, the grating body 10 may be deployed in a hoistway (not shown) in which an elevator operates, for example, fixed vertically on a wall of the hoistway. Although the grating body 10 in fig. 11 is vertically full of openings, one or more sections of the grating body 10 in the vertical direction may be without openings and have, for example, only an opening coding pattern near an elevator stop.

In fig. 11, the magnetizing apparatus 20, the magnetic field detector 30 and the position processor 40 may be located in the cage 210 of the elevator. The magnetizing means 20 and the magnetic field detector 30 have a small size, and when placed in such a relatively closed space of the car, they have a small influence on the external metal material, so that the reliability of the position measuring apparatus 200 can be improved. Alternatively, the magnetizing apparatus 20 and the magnetic field detector 30 may be located in the car, and the position processor 40 may be located in an elevator control system communicatively connected to the bridge of the elevator. Alternatively, the magnetizing apparatus 20 and the magnetic field detector 30 may be attached to the outer wall of the cage. The particular location of the magnetizing apparatus 20, the magnetic field detector 30, and the position processor 40 in the elevator system does not constitute a limitation of the embodiments of the present disclosure.

The grating body 10 is continuously arranged in a space to be measured, for example, in a hoistway. The ferromagnetic material of the grating ruler body 10 is a substance that is not originally magnetic, and is magnetic, that is, magnetized, when subjected to a magnetic field. The magnetic properties of the ferromagnetic material disappear when the distance from the magnet of the magnetizing apparatus 20 exceeds a predetermined distance value. The grating body 10 does not adsorb other metal debris in the hoistway.

The ferromagnetic material may be, for example, ferritic stainless steel or a conventional ferromagnetic material that is plated. The ferrite stainless steel or the conventional ferromagnetic material subjected to electroplating treatment can not generate general corrosion and rust, can resist conventional mechanical collision and friction, is not easily influenced by severe environment factors such as high temperature, high humidity and the like, and has excellent characteristics in the aspect of environmental tolerance. Under the condition that the grating ruler body 10 is made of ferromagnetic materials, even if materials such as water, dust and the like are stained on the grating ruler body in a well, the influence on a magnetic field is avoided, interference factors such as smoke and the like are not feared, and therefore the working performance is more reliable.

The scale body in the position measuring apparatus 200 has a predetermined code pattern. The predetermined encoding pattern divides the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction and makes the ferromagnetic material discontinuous in the length direction. As an example, the predetermined coding pattern may be any of the coding patterns of fig. 7-10, and reference may be made specifically to the description above in connection with fig. 7-10.

When the cage 210 moves in the hoistway, the magnetizing apparatus 20 and the magnetic field detector 30 also move relative to the grid rule body 10. The magnetizing means 20 form a transition magnetic field of a balanced structure. When the magnetizer 20 and the magnetic field detector 30 are close to the ruler body 10, the ruler body 10 is magnetized by the magnet in the magnetizer 20, and the balance structure of the transition magnetic field formed by the magnet is changed. The magnetic field detector 30 detects the transition magnetic field that the balance structure has changed and communicates the value of the detected magnetic field to the position processor 40. The position processor 40 measures the position of the magnetic field detector 30 relative to the scale body 10 based on the detected magnetic field values.

The magnets in the magnetizing apparatus 20 in fig. 11 are shown as a pair of magnets. The pair of magnets includes a first magnet and a second magnet shown by oblique lines in fig. 11, and a first polarity direction of the first magnet and a second polarity direction of the second magnet are opposite. The pair of magnets forms a structurally balanced transition magnetic field. In the case where the pair of magnets is far from the grid body 10, the magnetic field detected by the magnetic field sensor 30 at the center of the transition magnetic field is neutral, i.e., has no significant north-south polarity characteristics. In the case where the pair of magnets is close to the scale body 10, the scale body 10 is magnetized by the first and second magnets, thereby changing the transition magnetic field so that the structure thereof is not balanced any more, so that the position code for position measurement can be formed using the transition magnetic field whose balance structure has been changed. Alternatively, the magnet may be a single magnet having an opposing configuration, such as a U-shaped magnet.

The center of the transition field of the magnet shown in fig. 11 forms the equilibrium point. A magnetic field detector 30 may be located at the center of the transition magnetic field and detect the magnetic field of the transition magnetic field after it is changed by the grating scale body. Further, the center of the scale body 10 in the width may be located at the center of the transition magnetic field, and the surface of the scale body 10 is parallel to the detection plane of the magnetic field detector 30.

The magnetic field sensor 30 may include a plurality of magnetically sensitive elements, such as the 6 magnetically sensitive elements shown in FIG. 2. With regard to the relative position between the magnetizing means 20 and the magnetic field sensor 30, the embodiment of fig. 5 and the related description may be possible. Alternatively, the relative position between the magnetizing means 20 and the magnetic field sensor 30 may also be the embodiment of fig. 6 and the related description. That is, the detection surface of the magnetic field detector 30 faces the scale body 10, and the magnetizing apparatus 20 is located on the back surface of the magnetic field detector opposite to the detection surface and is further away from the scale body 10 than the magnetic field detector 30. In the case where the magnetizer 20 is located at the back of the magnetic field sensor 30, it is farther from the grid ruler body 10, which reduces the influence of the magnetizer 20 on the external metal material to be smaller, further improving the reliability of the position measuring apparatus 200. In the case where the magnetic material is a U-shaped magnet, a form other than the arrangement shown in fig. 5 and 6 may be adopted, and the relative positional relationship of the magnetizing apparatus 20 and the magnetic field sensor 30 does not constitute a limitation to the embodiment of the present disclosure.

Therefore, in the position measuring apparatus 200 of the present disclosure, a specific ferromagnetic material is selected for the scale body to properly fit between the scale body and the magnetizing device, and different positions of the scale body are determined using a predetermined encoding pattern of the scale body, so that adverse effects of environmental factors on the magnetic scale apparatus can be avoided, reliable magnetic field data can be provided, and accurate and reliable position measurement can be performed according to the reliable magnetic field value.

Fig. 12 is a flow chart schematically illustrating a position measurement method 300 according to an embodiment of the present disclosure. The position measurement method 300 may be used with a position measurement device as shown in FIG. 11 and may be seen in FIG. 11 and described in connection with FIG. 11. The position measuring apparatus may include a scale body made of a ferromagnetic material having a predetermined coding pattern, a magnetizing device including a magnet forming a structurally balanced transition magnetic field, a magnetic field detector, and a position processor.

The position measurement method 300 includes: placing the magnetic field detector in the transition magnetic field (310); detecting a magnetic field value of a transition magnetic field changed under the action of the bar ruler body by using the magnetic field detector when the magnetizing device moves relative to the bar ruler body (320); communicating the magnetic field values to the position processor (330); the position processor calculates a position of the magnetic field detector relative to the scale body based on the magnetic field values detected by the magnetic field detector (340).

In 310, the magnetic field detector is placed in a transition magnetic field of the structure equilibrium. The magnetic field detector may be located at the center of the structure-balanced transition magnetic field or may be located off-center from the center of the structure-balanced transition magnetic field. The detection surface of the magnetic field detector may face away from the magnetiser and towards the body of the scale as shown in figure 6. Alternatively, the detection surface of the magnetic field detector may also face both the magnetizing means and the grid body. Alternatively, the magnetic field detector may be in-line with the magnetising means. The specific position of the magnetic field detector may vary depending on the magnet in the magnetizing apparatus, and may also vary depending on the specific measurement environment, measurement requirements, and the like. With regard to the position of the magnetic field detector, reference may be made to the illustrations and the associated description above in connection with fig. 2, 5, 6 and 11.

At 320, the magnetic field detector is used to detect the magnetic field value of the transition magnetic field changed by the grating ruler body when the magnetizing device moves relative to the grating ruler body. In the example of an elevator system, the magnetic field detector is used to detect the magnetic field value of the transition magnetic field that changes under the influence of the scale body, for example when the car is moving relative to the scale body. The determined magnetic field values may be binary values, such as a coding pattern located to the left or right of the magnetic field detector to indicate a "0" or a "1", or may be magnetic field vector values including the magnitude and direction of the magnetic field. The magnetic field detector may comprise a plurality of magneto-inductive elements, thereby obtaining a plurality of magnetic field data or magnetic field vector values. The form and number of detected magnetic field values used for position measurement may vary depending on the accuracy of the position calculation, the manner of the position calculation, and the like.

At 330, the magnetic field values are communicated to the position processor. A magnetic field sensor is an element for converting a magnetic field signal into an electrical signal. Accordingly, the magnetic field data may be transmitted to the position processor for processing in a wired or wireless manner. The transmission mode can be set according to the requirement.

In 340, a position processor calculates a position of the magnetic field detector relative to the scale body based on the magnetic field values detected by the magnetic field detector. The position processor may represent binary "1" and "0" respectively using the extended or compressed magnetic field, identify the corresponding code pattern using the binary number, and calculate the position of the magnetic field detector relative to the grating scale body. In the case where magnetic field data is measured using a plurality of magnetic sensing elements at 330, the position processor may calculate the position of the magnetic field sensor from a plurality of successive magnetic field vector values if the magnetic sensing elements sense magnetic field vector values, including the direction and magnitude of the magnetic field. The encoding pattern of the grating ruler body is fixed, and the magnetic field data generated by the interaction of the grating ruler body and the magnet is predictable under the condition that the structure of the position measuring equipment is fixed. This allows the position processor to measure position from the generated magnetic field data.

In the position measuring method of the present disclosure, based on the predetermined code pattern on the scale body, the position corresponding to the predetermined code pattern is measured by measuring the change in the magnetic field of the magnet under the influence of the predetermined code pattern of the scale body, thereby performing the position measurement.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A magnetic scale apparatus, comprising:

the grating ruler body is made of ferromagnetic materials and provided with a preset coding pattern;

the magnetizing device comprises a magnet, the magnet forms a transition magnetic field with balanced structure, and the grating ruler body can change the transition magnetic field;

and the magnetic field detector is positioned in the transition magnetic field and is used for detecting the magnetic field formed by the magnetizing device under the action of the grating ruler body.

2. A magnetic scale device according to claim 1, wherein the scale body is continuously arranged in the space to be measured, and the magnetic property of the ferromagnetic material disappears when the distance from the magnet exceeds a predetermined distance value.

3. A magnetic scale device according to claim 1, wherein the predetermined coding pattern of the scale body divides the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction.

4. A magnetic scale device according to claim 1, wherein the predetermined coding pattern of the scale body is such that the ferromagnetic material is discontinuous in the length direction and the balance of the transition magnetic field is changed when approaching the magnet, thereby forming a position code for position measurement using the transition magnetic field the balance of which has been changed.

5. The magnetic scale apparatus of claim 1, wherein the ferromagnetic material comprises at least one of a ferritic stainless steel and a plated ferromagnetic material.

6. The magnetic scale device of claim 1,

the magnets are a first magnet and a second magnet which are oppositely arranged, and the first polarity direction of the first magnet and the second polarity direction of the second magnet are opposite; or

The magnet is a single magnet having an opposing structure.

7. The magnetic scale device of claim 1,

the center of the transition field of the magnet forms a balance point,

the magnetic field detector is positioned in the center of the transition magnetic field and detects the magnetic field of the transition magnetic field changed under the action of the grating ruler body.

8. The magnetic scale device of claim 1,

the center of the transition field of the magnet forms a balance point,

the center of the grating ruler body in width is positioned at the center of the transition magnetic field, and the surface of the grating ruler body is parallel to the detection surface of the magnetic field detector.

9. The magnetic scale device of claim 1,

the detection surface of the magnetic field detector faces the grating ruler body, and the magnetizing device is positioned on the back surface of the magnetic field detector opposite to the detection surface and is far away from the grating ruler body compared with the magnetic field detector.

10. The magnetic scale device of claim 1,

the preset coding pattern on the grating ruler body contains position coding information, and the preset coding pattern can change the transition magnetic field with the structure balance into a step abrupt change magnetic field corresponding to the position coding information;

the magnetic field detector comprises a plurality of magnetic induction elements and is used for detecting magnetic field data which approximately change in sine periods in the step-like abrupt change magnetic field for position measurement.

11. A position measurement device, comprising:

the magnetic field detector is positioned in the transition magnetic field and used for detecting a magnetic field formed by the magnetizing device under the action of the grating ruler body; and

and the position processor is used for measuring the position of the magnetic field detector relative to the grating ruler body according to the magnetic field detected by the magnetic field detector when the magnetizing device moves relative to the grating ruler body.

12. The position measuring apparatus according to claim 11, characterized in that the grid rule body is continuously arranged in the space to be measured, and the magnetic property of the ferromagnetic material disappears when the distance from the magnet exceeds a predetermined distance value.

13. The position measurement device according to claim 11, wherein the predetermined coding pattern of the scale body divides the ferromagnetic material into non-centrosymmetric discontinuous shapes in the width direction.

14. The position measuring apparatus according to claim 11, wherein the predetermined coding pattern of the scale body makes the ferromagnetic material discontinuous in a length direction and changes the balance structure of the transition magnetic field when approaching the magnet, thereby forming a position code for position measurement using the transition magnetic field whose balance structure has changed.

15. The position measurement device of claim 11, wherein the ferromagnetic material comprises at least one of a ferritic stainless steel and a plated ferromagnetic material.

16. Position measuring device according to claim 11,

The magnet is a single magnet having an opposing structure.

17. Position measuring device according to claim 11,

the center of the transition field of the magnet forms a balance point,

18. Position measuring device according to claim 11,

the center of the transition field of the magnet forms a balance point,

19. Position measuring device according to claim 11,

20. Position measuring device according to claim 11,

21. Position measuring device according to any of claims 11-20, characterized in that it is used in an elevator control system, that the grid body is deployed in the shaft in which the elevator is running, and that the magnetizing means, the magnetic field detector and the position processor are located on the car of the elevator.