DE202022102223U1 - sensor system - Google Patents

Abstract

System (1) with a sensor system (2) with at least one first sensor (3) in a first sensor housing (4) and at least one second sensor (5) in a second sensor housing (6), the sensors (3, 5) being over an interface (7) are connected to one another, characterized in that a common control and evaluation unit (8) for the first sensor (3) and the second sensor (5) is arranged in one of the sensor housings (4, 6), the Sensors (3, 5) are non-contact angle measuring sensors (9), the sensor housings (4, 6) being arranged at a distance from one another on a movable leg (10, 11).

Description

The present invention relates to a sensor system according to the preamble of claim 1.

Angle sensors are known which are based, for example, on the magnetic principle. For this purpose, a magnet is mounted on a swivel joint between two legs at the pivot point, which rotates relative to the angle sensor during a movement and is detected by the angle sensor. The angle sensor detects the rotation of the magnet and emits an output signal that is proportional to the angle of rotation.

In principle, assembly must always be carried out on the swivel joint. A mechanical adaptation is therefore required. Not only must the angle sensor be located directly on the swivel joint, but also the encoder magnet. The distance between the magnet and the angle sensor is specified and can usually only be a few millimeters. The alignment between sensor and magnet only allows small mechanical tolerances.

Angle measurement with position-based sensors is also known and is used, for example, on excavator arms to record an exact position of an excavator bucket in relation to the ground surface. A position sensor is used on each individual movable arm of the excavator, which is then evaluated in a central control system.

The disadvantage here is that a central control unit is necessary. The control unit is usually offered as a complete system and is therefore expensive and inflexible for the end customer.

If the user only wants to measure the angle of two legs, the solution is very complex.

One object of the invention is to make it easier to detect the angle between two mutually rotatable legs.

The object is achieved according to claim 1 by a system with a sensor system with at least a first sensor in a first sensor housing and at least a second sensor in a second sensor housing, the sensors being connected to one another via an interface, with a common control in one of the sensor housings - and evaluation unit for the first sensor and the second sensors is arranged, the sensors being non-contact angle measuring sensors, the sensor housings being arranged at a distance from one another on a movable leg.

The angle measurement is therefore carried out indirectly and does not have to be done directly on the swivel joint. The sensor housing or the sensors can each be arranged at a distance from a swivel joint of the two legs. The sensors or sensor units can be mounted in virtually any position on the two mutually movable legs.

The information from the first sensor and the second sensor is evaluated in the control and evaluation unit. The deviation from one position in the first sensor to the other position in the second sensor results in the angle at which the sensors or sensor housing and thus the legs are relative to one another. The angle is independent of the overall position of the two sensors or sensor units, since only the relative position of one sensor unit to the other is evaluated.

Optionally, more than two sensors or sensor units, i.e. a large number of sensors, each with sensor housings, can be lined up and connected to one another, so that all sensors are connected to a single common control and evaluation unit in order to determine the angular position of other joints and output it directly .

For example, in addition to the angle of rotation, the sensors also provide the position of the entire system in relation to the earth's axis. This could, for example, be used to determine whether an absolute positional deviation of the individual legs or of an entire system has occurred. This provides additional information about the location and thus the condition of the system.

The present invention allows for easy assembly because the measurement and arrangement of the sensors do not have to be done directly on the swivel joint. Furthermore, no tight mechanical tolerances have to be maintained. Rather, the sensors can be arranged on the legs in almost any arrangement or position. The mounting position on the legs can be chosen almost arbitrarily.

The invention allows easy commissioning without the need for knowledge when calculating the angle based on position information. The angle of the two legs to one another is already output by the control and evaluation unit.

The system is robust against contamination because the angle measurement is encapsulated in the sensor housings.

In a further development of the invention, the angle measuring sensor has at least three acceleration sensors, the acceleration sensors being provided for three mutually orthogonal axes and/or three gyrometers being arranged for three mutually orthogonal axes. This allows the position of the sensor housings in space to be clearly determined. An accelerometer is a sensor that measures your acceleration. This is done, for example, by determining the inertial force acting on a test mass. This makes it possible to determine whether an increase or decrease in speed is taking place.

In recent years, miniaturized acceleration sensors have become increasingly important. These are micro-electro-mechanical systems (MEMS) and are usually made of silicon. These sensors are spring-mass systems in which the “springs” are silicon bars that are only a few µm wide and the mass is also made of silicon. Due to the deflection during acceleration, a change in the electrical capacity can be measured between the spring-suspended part and a fixed reference electrode.

In a further development of the invention, the sensor system has at least one magnetometer.

A magnetometer, also known colloquially as a teslameter or gaussmeter, is a sensory device for measuring magnetic flux densities. Magnetic flux densities are measured in the unit Tesla (T), and common measuring ranges of magnetometers are in the range of approximately 10 Tesla to 15 Tesla. Because of the large range of values, different measuring methods are used under the term “magnetometer”. For example, Hall sensors are preferred magnetometers. The magnetometer can be used to determine the position of the earth's magnetic field.

In a further development of the invention, the interface is a wired or wireless interface. A wired interface consists, for example, of a line or cable between the sensor housings. Furthermore, for example, a wired interface is provided from the sensor housing to the control and evaluation unit for forwarding the output signal. The wireless interface can be a radio interface, for example a Bluetooth interface or something similar. For example, a radio interface is provided from the sensor housing to the control and evaluation unit for forwarding the output signal.

In a further development of the invention, the sensor system has a digital and/or analog output. The digital output can be, for example, a digital switching output. However, a digital interface can also be provided to output the measured values. For example, the digital interface is an I/O-Link interface. Furthermore, the digital output can be formed by a common bus system. The analog output can be, for example, an interface with, for example, a current output of 4 to 20 mA.

In a further development of the invention, the sensor system has vibration sensors. The vibration sensors can be formed, for example, by the acceleration sensors. The vibration sensors can detect mechanical vibration/shock loads and, for example, display and output impermissible mechanical loads.

In a further development of the invention, the sensor system has temperature sensors. The temperature sensors can be used to make measurement corrections based on the recorded temperature. The recorded temperature values can also be output at the output.

In a further development of the invention, the sensor system has at least one memory, at least means for teaching angle values and at least one comparison unit in order to compare the measured angles with the stored angles and to output signals at the output depending on the comparison.

This means that the sensors can be learned or taught. For example, an output value can be set for a basic position. For example, a zero point can be set.

• 1 bis 4 jeweils ein Sensorsystem.

The invention is explained below with regard to further advantages and features with reference to the accompanying drawing using exemplary embodiments. The figures in the drawing show in:

• 1 until 4 one sensor system each.

In the following figures, identical parts are provided with identical reference numbers.

1 shows a system 1 with a sensor system 2 with at least a first sensor 3 in a first sensor housing 4 and at least a second sensor 5 in a second sensor housing 6, the sensors 3, 5 being connected to one another via an interface 7, in one of the sensor housings 6 a common control and evaluation unit 8 for the first sensor 3 and the second sensor 5 is arranged, the sensors 3, 5 are non-contact angle measuring sensors 9, the sensor housings 4, 6 being arranged at a distance from one another on a movable leg 10, 11.

The legs 10, 11 are connected to one another via a swivel joint 13, for example. The sensor housings 4, 6 and the sensors 3, 5 are each arranged at a distance from the swivel joint 13 of the two legs 10, 11. The sensors 3, 5 or sensor units can be mounted in virtually any position on the two mutually movable legs 10, 11.

The information from the first sensor 3 and the second sensor 5 is evaluated in the control and evaluation unit 8. The deviation from one position in the first sensor 3 to the other position in the second sensor 5 results in the angle at which the sensors 3, 5 or sensor housings 4, 6 and thus the legs 10, 11 are to one another. The angle is independent of the overall position of the two sensors 3, 5 or sensor units, since only the relative position of one sensor to the other sensor is evaluated.

It can be according to 2 Optionally, more than two sensors 15 or sensor units, i.e. a large number of sensors 15, each with sensor housings 14, can be lined up and connected to one another, so that all sensors 14 are connected to a single common control and evaluation unit 8 in order to adjust the angular position of additional swivel joints 13 determine and output directly.

For example, in addition to the angle of rotation, the sensors 15 also provide the position of the entire system in relation to the earth's axis. This could be used, for example, to determine whether an absolute positional deviation of the individual legs 16 or of an entire system has occurred. This provides additional information about the location and thus the condition of the system.

The sensors 15 can be arranged on the legs 16 in almost any arrangement or position. The mounting position on the legs 16 can be chosen almost arbitrarily.

The angle measuring sensor 9 optionally has at least three acceleration sensors, the acceleration sensors being provided for three mutually orthogonal axes and/or three gyrometers being arranged for three mutually orthogonal axes. This allows the position of the sensor housings in space to be clearly determined.

According to 3 the sensor system 2 has at least one magnetometer 12.

According to 3 the interface 7 is a wired interface 7. A wired interface 7 consists, for example, of a line or a cable between the sensor housings. Furthermore, for example, a wired interface is provided from the sensor housing 6 to the control and evaluation unit 8 for forwarding the output signal.

According to 4 a wireless interface 7 is provided. The wireless interface 7 can be a radio interface, for example a Bluetooth interface or something similar. For example, a radio interface is provided from the sensor housing 6 to the control and evaluation unit 8 for forwarding the output signal.

For example, the sensor system 2 has a digital and/or analog output. The digital output can be, for example, a digital switching output. However, a digital interface can also be provided to output the measured values. For example, the digital interface is an I/O-Link interface. Furthermore, the digital output can be formed by a common bus system. The analog output can be, for example, an interface with, for example, a current output of 4 to 20 mA.

For example, the sensor system has 2 vibration sensors. The vibration sensors can be formed, for example, by the acceleration sensors. The vibration sensors can detect mechanical vibration/shock loads and, for example, display and output impermissible mechanical loads.

For example, the sensor system has 2 temperature sensors. The temperature sensors can be used to make measurement corrections based on the recorded temperature. The recorded temperature values can also be output at the output.

For example, the sensor system 2 has at least one memory, at least means for teaching angle values and at least one comparison unit in order to compare the measured angles with the stored angles and to output signals at the output depending on the comparison.

Reference symbol:

1

system

2

Sensor system

3

first sensor

4

first sensor housing

5

second sensor

6

second sensor housing

7

interface

8th

Control and evaluation unit

9

Angle measuring sensors

10

leg

11

leg

12

Magnetometer

13

Swivel joint

14

Sensor housing

15

sensor

16

leg

Claims (8)

System (1) with a sensor system (2) with at least one first sensor (3) in a first sensor housing (4) and at least one second sensor (5) in a second sensor housing (6), the sensors (3, 5) being over an interface (7) are connected to one another, characterized in that a common control and evaluation unit (8) for the first sensor (3) and the second sensor (5) is arranged in one of the sensor housings (4, 6), the Sensors (3, 5) are non-contact angle measuring sensors (9), the sensor housings (4, 6) being arranged at a distance from one another on a movable leg (10, 11). System (1) after Claim 1 , characterized in that the angle measuring sensor (9) has at least three acceleration sensors, the acceleration sensors being provided for three mutually orthogonal axes and/or three gyrometers being arranged for three mutually orthogonal axes. System (1) according to one of the preceding claims, characterized in that the sensor system (2) has at least one magnetometer. System (1) according to one of the preceding claims, characterized in that the interface (7) is a wired or wireless interface. System (1) according to one of the preceding claims, characterized in that the sensor system (2) has a digital and/or analog output. System (1) according to one of the preceding claims, characterized in that the sensor system (2) has vibration sensors. System (1) according to one of the preceding claims, characterized in that the sensor system (2) has temperature sensors. System (1) according to one of the preceding claims, characterized in that the sensor system (2) has at least one memory, has at least means for learning angle values, and has at least one comparison unit in order to compare the measured angles with the stored angles and depending from the comparison to output signals on the output.

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