KR102532619B1 - Method and apparatus for detecting rotation information of rotating body - Google Patents

Abstract

The present invention relates to an apparatus and method for detecting rotation information of a rotating body. The device includes a rotating body rotating about a rotation axis; a plurality of shafts having one side connected to the rotating body to have an eccentric structure; a plurality of guide members each connected to the other side of the plurality of shafts and guiding the plurality of shafts to be translated in accordance with the rotation of the rotating body; and a measurement module configured to detect motions of each shaft moving in translation along the plurality of guide members and to calculate rotation information of the rotating body by combining the detected motions, wherein the plurality of shafts have different initial positions. It may be connected to a guide member to do so. The present invention can accurately measure rotational information (eg, rotational speed, rotational number, rotational direction, and rotational position) of a rotating body. That is, an embodiment of the present invention can improve measurement accuracy.

Description

Apparatus and method for detecting rotation information of a rotating body {METHOD AND APPARATUS FOR DETECTING ROTATION INFORMATION OF ROTATING BODY}

The present invention relates to an apparatus and method for detecting rotation information of a rotating body.

A rotating body (eg, a motor) rotating about a rotational axis is used in various devices (eg, electric vehicles, washing machines, dryers, electric fans, circulators, etc.). The above various devices include a detection device for detecting rotation information of the rotating body. A rotary encoder is mainly used as a detection device for detecting the rotational direction and/or rotational speed of the rotating body.

The rotary encoder identifies the left and right sides of the rotating motor, transmits electrical signals (e.g., pulses) to the left and right sides, and counts the number of revolutions of the motor according to the pulses reflected from the left side or the guess, thereby rotating. Orientation and/or rotational speed can be calculated. To this end, the rotary encoder includes a sensor that generates pulses and a counter that can read the number of revolutions of the motor.

However, the rotary encoder has a problem in that measurement errors may occur due to the time it takes for pulses to be sent from the sensor and reach the rotating motor and tolerances considered in manufacturing the motor.

An object of the present invention is to solve the above problems, and to provide a device and method for detecting rotation information of a rotating body capable of accurately measuring rotation information of the rotating body.

In order to achieve the above object, an apparatus for detecting rotation information of a rotating body according to an embodiment of the present invention includes a rotating body rotating about a rotating shaft; a plurality of shafts having one side connected to the rotating body to have an eccentric structure; a plurality of guide members each connected to the other side of the plurality of shafts and guiding the plurality of shafts to be translated in accordance with the rotation of the rotating body; and a measurement module configured to detect motions of each shaft moving in translation along the plurality of guide members and to calculate rotation information of the rotating body by combining the detected motions, wherein the plurality of shafts have different initial positions. It may be connected to a guide member to do so.

The rotation information may include rotation speed, rotation direction, and rotation position.

The plurality of shafts may be connected together at one point of the rotating body, and the plurality of guide members may be arranged to have angles within a specified range so that the initial positions of the respective shafts are different.

The plurality of shafts may be connected to different positions of the rotating body, and the plurality of guide members may be arranged to have angles within a specified range so that the initial positions of the respective shafts are different.

Each of the plurality of shafts and the plurality of guide members may be two.

Meanwhile, in a method for detecting rotation information of a rotating body according to an embodiment of the present invention, one side is connected to have an eccentric structure with a rotating body rotating about a rotating shaft through a measurement module, and a plurality of initial positions are different. detecting motions of a plurality of shafts having the other side connected to each of the guide members and moving in translation along each guide member in response to the rotation of the rotating body; and calculating rotation information of the rotating body by combining the detected motions of the plurality of shafts.

Calculating the rotation information may include calculating a rotational position of the rotating body based on a combination of positional values of the plurality of shafts on the guide member.

The calculating of the rotation information may include extracting the number of repetitions of a specified pattern from the position value of at least one of the plurality of shafts during a specified unit of time, and counting the number of rotations of the rotating body based on the extracted number of repetitions; and calculating the rotational speed of the rotating body by dividing the counted number of rotations by the unit time.

Calculating the rotation information may include calculating a rotation direction of the rotation body based on changes in position values of the plurality of shafts.

An embodiment of the present invention can accurately measure rotational information (eg, rotational speed, rotational number, rotational direction, and rotational position) of a rotating body. That is, an embodiment of the present invention can improve measurement accuracy.

1A is a diagram illustrating an apparatus for detecting rotation information of a rotating body according to an embodiment of the present invention.
Figure 1b is a graph showing the change in the position of a plurality of shafts according to the rotation of the rotating body according to an embodiment of the present invention.
2A is a diagram illustrating an apparatus for detecting rotation information of a rotating body according to another embodiment of the present invention.
Figure 2b is a graph showing a change in the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention.
3A is a diagram illustrating an apparatus for detecting rotation information of a rotating body according to another embodiment of the present invention.
Figure 3b is a graph showing a change in the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention.
4A is a diagram illustrating an apparatus for detecting rotation information of a rotating body according to another embodiment of the present invention.
Figure 4b is a graph showing a change in the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention.
5A is a diagram illustrating an apparatus for detecting rotation information of a rotating body according to another embodiment of the present invention.
Figure 5b is a graph showing the change in the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention.
6A is a diagram illustrating an apparatus for detecting rotation information of a rotating body according to another embodiment of the present invention.
Figure 6b is a graph showing the change in the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods of achieving them, will become clear with reference to the detailed description of the following embodiments taken in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, only these embodiments make the disclosure of the present invention complete, and common knowledge in the art to which the present invention belongs. It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. In the following, like reference numerals designate like components.

Although first, second, etc. are used to describe various elements, components and/or sections, it is needless to say that these elements, components and/or sections are not limited by these terms. These terms are only used to distinguish one element, component or section from another element, component or section. Accordingly, it goes without saying that the first element, first element, or first section referred to below may also be a second element, second element, or second section within the spirit of the present invention.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used in the specification, a referenced component, step, operation and/or element to "comprises" and/or "made of" refers to one or more other components, steps, operations and/or elements. Existence or additions are not excluded.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

1A is a diagram illustrating a device for detecting rotation information of a rotating body according to an embodiment of the present invention, and FIG. It is a graph that represents

Referring to FIGS. 1A and 1B , a device for detecting rotation information of a rotating body (hereinafter, a detecting device) 100 according to an embodiment of the present invention includes a rotating body 110, a plurality of shafts 120, a plurality of Of the guide member 130, and may include a measurement module (140). The detection device 100 may be a rotary encoder.

Rotator 110 may rotate around a rotation axis (not shown). For example, the rotating body 110 may rotate clockwise or counterclockwise around a rotational axis (not shown). The rotating body 110 may be a motor.

One side of the plurality of shafts 120 may be connected to the rotating body 110 . The plurality of shafts 120 may be connected to an outer portion of the rotating body 110 to have an eccentric structure with the rotating body 110 . The plurality of shafts 120 may be connected together to a point 111 on the outside of the rotating body 110 . The plurality of shafts 120 may be rotatably connected to one point 111 of the rotating body 110 through various known structures. For example, a plurality of shafts 120 may have holes formed on one side, and a protrusion inserted into the holes of the plurality of shafts 120 may be formed at one point 111 of the rotation body 110 . The plurality of shafts 120 may further include various structures (eg, bearings) to reduce frictional force and improve durability.

Meanwhile, in FIG. 1A , the plurality of shafts 120 are illustrated as including a first shaft 121 and a second shaft 122 . However, it is not limited thereto, and the plurality of shafts 120 may include three or more shafts.

The plurality of guide members 130 are connected to the other side of the plurality of shafts 120, respectively, and may guide the plurality of shafts 120 to move in a translational manner according to the rotation of the rotating body 110. The plurality of guide members 130 may be connected to shafts through various known structures. For example, the plurality of guide members 130 may include grooves formed long in the longitudinal direction. At this time, the plurality of shafts 130 may include protrusions inserted into the grooves of the guide member. Alternatively, the plurality of guide members 130 may include protrusions formed long in the longitudinal direction. At this time, the plurality of shafts 120 may include grooves into which protrusions of the guide member are inserted. Alternatively, the plurality of guide members 130 may have a long bar shape. In this case, the plurality of shafts 120 may include holes into which guide members are inserted.

The plurality of guide members 130 may be connected to the plurality of shafts 120 to have different initial positions. For example, the first guide member 131 is connected to the first shaft 121 to have an initial position of “0”, and the second guide member 132 has a second guide member 132 to have an initial position of “5”. It may be connected to the shaft 122. To this end, the first guide member 131 and the second guide member 132, as shown in Figure 1a, may be disposed perpendicular to each other. However, it is not limited thereto, and the first guide member 131 and the second guide member 132 may be arranged to have an angle between 0 degrees and less than 180 degrees and between 180 degrees and less than 360 degrees. That is, the first guide member 131 and the second guide member 132 may be disposed at angles other than 0 (360) degrees and 180 degrees. A detailed description thereof will be described later with reference to FIGS. 2A and 2B.

The measurement module 140 is connected to the plurality of guide members 130, detects the movement of each shaft moving in translation along the plurality of guide members 130, and combines the detected movements of each shaft to rotate the body ( 110) rotation information (eg, rotation speed, rotation position, and rotation direction) may be calculated. For example, the measurement module 140 may calculate the rotational speed of the rotating body 110 by counting the number of rotations of the rotating body 110 per unit time (eg, 1 minute). In detail, the measurement module 140 extracts the number of repetitions of a designated pattern from the position values of the first guide member 131 and/or the second guide member 132 for a unit time, and based on the extracted number of repetitions, The rotational speed of the rotating body 110 may be calculated by counting the rotational number of the rotating body 110 and dividing the counted rotational number by the unit time. For example, the rotation speed is 1 (= 60/60) RPS (rotation per second) when the unit time is 1 minute and the number of counted rotations is 60.

Here, the designated pattern is a change pattern of the position value of the guide member 130 while the rotating body 110 rotates 360 degrees, and in the case of the first guide member 131, "0 (0 degree of the rotating body 110) Position value corresponding to rotation) -> 5 (position value corresponding to rotation of the rotating body 110 by 90 degrees) -> 10 (position value corresponding to rotation of the rotating body 110 by 180 degrees) -> 5 (times) The position value corresponding to the rotation of the whole 110 by 270 degrees) -> 0 (the position value corresponding to the rotation of the rotating body 110 by 360 degrees)", and in the case of the second guide member 132, "5 ( Position value corresponding to 0 degree rotation of the rotating body 110) -> 0 (position value corresponding to 90 degree rotation of the rotating body 110) -> 5 (position value corresponding to 180 degree rotation of the rotating body 110) position value) -> 10 (position value corresponding to 270-degree rotation of the rotating body 110) -> 5 (position value corresponding to 360-degree rotation of the rotating body 110)".

In addition, the measurement module 140 may calculate the rotational position (or rotational angle) of the rotating body 110 based on a combination of positional values of each guide member with respect to each shaft. In other words, the measurement module 140 is a position value (A output) of the first guide member 131 with respect to the first shaft 121 and a position value of the second guide member 132 with respect to the second shaft 122 The rotational position of the rotating body 110 can be calculated based on the combination of (B output). For example, the measurement module 140, as shown in FIG. 1B, when the combination of the A output and the B output is “0, 5”, the rotating body 110 moves to the “0 degree” position (initial position) ( 1A (see 101 in FIG. 1A), and when the combination of A output and B output is “5, 0”, the rotating body 110 is at the “90 degree” position (see 102 in FIG. 1A), and A output and When the combination of B outputs is “10, 5”, the rotating body 110 is at the “180 degree” position (see drawing 103 in FIG. 1A), and when the combination of A output and B output is “5, 10”, the rotation Whole 110 can be determined to be at the "270 degree" position (see diagram 104 in FIG. 1A). In addition, the measurement module 140 may determine that the rotating body 110 rotates "360 degrees" and returns to the initial position when the combination of the A output and the B output is "0, 5".

In addition, the measurement module 140 may calculate the direction of rotation of the rotating body 110 based on the changing aspect of the positional values of the plurality of shafts 120 . For example, the measurement module 140 determines that the combination of output A and output B is "(0, 5) -> (5, 0) -> (10, 5) -> (5, 10)". In the case of change, it is determined that the rotating body 110 rotates clockwise, and in an aspect such as "(5, 10) -> (10, 5) -> (5,0) -> (0, 5)" When changing, it can be determined that the rotating body 110 rotates counterclockwise.

The measurement module 140 receives various sensors (eg, a position sensor, a laser distance sensor, an infrared distance sensor, an ultrasonic distance sensor, etc.) capable of measuring the movement of each shaft moving along each guide member and the measured values of the sensors. It may include an arithmetic module (eg, a central processing unit (CPU), a micro control unit (MCU), a micro processor unit (MPU), etc.)

Figure 2a is a diagram showing a device for detecting rotation information of a rotating body according to another embodiment of the present invention, Figure 2b is a view showing a change in the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention It is a graph that represents

Referring to FIGS. 2A and 2B , a device (hereinafter referred to as a detection device) 200 for detecting rotation information of a rotating body 110 according to another embodiment of the present invention may be similar to the detection device 100 of FIG. 1A. can However, the disposition position of the second guide member 132 may be different. The second guide member 132 may be disposed at an angle of 45 degrees to the first guide member 131 . That is, the second guide member 132 may be disposed at a position of 225 degrees of the rotating body 110 . Because of this, the initial position of the second shaft 122 may be different from the initial position in the detection device 100 of FIG. 1A. Specifically, the initial position of the second shaft 122 of the detection device 100 of FIG. 1A is "5", whereas the initial position of the second shaft 122 of the detection device 200 of FIG. 2A is "2.5". "It can be

On the other hand, in the detection device 200 of FIG. 2A, as shown in FIG. 2B, when the combination of the A output and the B output is “0, 2.5”, the rotating body 110 is at the “0 degree” position (initial position). , and when the combination of A output and B output is "5, 2.5", the rotating body 110 is at the "90 degree" position, and when the combination of A output and B output is "10, 7.5", the rotating body ( 110) is at the "180 degree" position and the combination of the A output and the B output is "5, 7.5", it may be determined that the rotating body 110 is at the "270 degree" position.

In the above, the detection devices 100 and 200 having a structure in which a plurality of shafts 120 are connected to one point of the rotating body 110 have been described. Hereinafter, detection devices having a structure in which a plurality of shafts 120 are respectively connected to different points of the rotating body 110 will be described.

Figure 3a is a diagram showing a device for detecting rotation information of a rotating body according to another embodiment of the present invention, Figure 3b is a view showing the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention It is a graph showing change.

Referring to FIGS. 3A and 3B , a device (hereinafter referred to as a detection device) 300 for detecting rotation information of a rotating body 110 according to another embodiment of the present invention is similar to the detection device 100 of FIG. 1A can work However, the second shaft 122 of the detection device 300 is connected to the first point 111 of the rotating body 110, and the first shaft 121 is the second point 112 of the rotating body 110. can be connected to Here, the first point 111 and the second point 112 may be perpendicular to each other.

Meanwhile, the first guide member 131 and the second guide member 132 may be disposed in opposite directions. For example, but not limited thereto, the first guide member 131 may be disposed at a position of 180 degrees of the rotating body 110, and the second guide member 132 may be disposed at a position of 0 degrees.

The initial position of the first shaft 121 of the detection device 300 may be "5", and the initial position of the second shaft 122 may be "0". Therefore, the detection device 300, as shown in FIG. 3B, when the combination of the A output and the B output is “5, 0”, the rotating body 110 is at the “0 degree” position (initial position), When the combination of A output and B output is "10, 5", the rotating body 110 is at the "90 degree" position, and when the combination of A output and B output is "5, 10", the rotating body 110 is When it is at the "180 degree" position and the combination of the A output and the B output is "0, 5", it may be determined that the rotating body 110 is at the "270 degree" position.

Figure 4a is a diagram showing a device for detecting rotation information of a rotating body according to another embodiment of the present invention, Figure 4b is a view showing the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention It is a graph showing change.

Referring to FIGS. 4A and 4B, a device (hereinafter, a detection device) 400 for detecting rotation information of a rotating body 110 according to another embodiment of the present invention is similar to the detection device 300 of FIG. 3A. can do. However, the first guide member 131 and the second guide member 132 of the detection device 400 may be parallelly disposed at the same location. For example, but not limited thereto, the first guide member 131 and the second guide member 132 may be disposed parallel to the 180 degree position of the rotation body 110 .

The initial position of the first shaft 121 of the detection device 400 may be "5", and the initial position of the second shaft 122 may be "0". Therefore, the detection device 400, as shown in FIG. 4B, when the combination of the A output and the B output is “5, 0”, the rotating body 110 is at the “0 degree” position (initial position), When the combination of A output and B output is "10, 5", the rotating body 110 is at the "90 degree" position, and when the combination of A output and B output is "5, 10", the rotating body 110 is When it is at the "180 degree" position and the combination of the A output and the B output is "0, 5", it may be determined that the rotating body 110 is at the "270 degree" position.

5A is a diagram illustrating a device for detecting rotation information of a rotating body according to another embodiment of the present invention, and FIG. 5B is a position of a plurality of shafts according to rotation of a rotating body according to another embodiment of the present invention. It is a graph showing change.

Referring to FIGS. 5A and 5B , a device (hereinafter referred to as a detection device) 500 for detecting rotation information of a rotating body 110 according to another embodiment of the present invention is similar to the detection device 300 of FIG. 3A can do. However, the first shaft 121 and the second shaft 122 of the detection device 500 are disposed in opposite directions (eg, disposed at an angle of 180 degrees), and the first guide member 131 and the second guide member (132) can be placed vertically. For example, but not limited to this, the first guide member 131 is disposed at a position of 180 degrees (or 0 (= 360) degrees) of the rotation body 110, and the second guide member 132 is the rotation body It can be placed at 270 degrees (or 90 degrees) of (110).

The initial position of the first shaft 121 of the detection device 500 may be "10", and the initial position of the second shaft 122 may be "5". Therefore, the detection device 500, as shown in FIG. 5B, when the combination of the A output and the B output is “10, 5”, the rotating body 110 is at the “0 degree” position (initial position), When the combination of A output and B output is "5, 0", the rotating body 110 is at the "90 degree" position, and when the combination of A output and B output is "0, 5", the rotating body 110 is When it is at the "180 degree" position and the combination of the A output and the B output is "5, 10", it may be determined that the rotating body 110 is at the "270 degree" position.

Figure 6a is a diagram showing a device for detecting rotation information of a rotating body according to another embodiment of the present invention, Figure 6b is a view showing the position of a plurality of shafts according to the rotation of the rotating body according to another embodiment of the present invention It is a graph showing change.

Referring to FIGS. 6A and 6B , a device (hereinafter referred to as a detection device) 600 for detecting rotation information of a rotating body 110 according to another embodiment of the present invention includes a first guide member 131 and a second guide member 131. The guide member 132 may be vertically disposed. For example, but not limited to this, the first guide member 131 is disposed at a position of 180 degrees (or 0 (= 360) degrees) of the rotation body 110, and the second guide member 132 is the rotation body It can be placed at 270 degrees (or 90 degrees) of (110). Meanwhile, the first shaft 121 may be disposed at a position of 0 degrees of the rotating body 110 and the second shaft 122 may be disposed at a position of 225 degrees of the rotating body 110 .

The initial position of the first shaft 121 of the detection device 600 may be “0” and the initial position of the second shaft 122 may be “7.5”. Therefore, the detection device 600, as shown in FIG. 6B, when the combination of the A output and the B output is “0, 7.5”, the rotating body 110 is at the “0 degree” position (initial position), When the combination of A output and B output is "5, 7.5", the rotating body 110 is at the "90 degree" position, and when the combination of A output and B output is "10, 2.5", the rotating body 110 is When it is at the "180 degree" position and the combination of the A output and the B output is "5, 2.5", it may be determined that the rotating body 110 is at the "270 degree" position.

On the other hand, although not shown, the first guide member 131 and / or the second guide member 132, as shown in Figure 2a, diagonal direction (eg, 45 degrees, 135 degrees, 225 degrees, 315 degrees) may be placed as In addition, the first shaft 121, the second shaft 122, the first guide member 131 and the second guide member 132 are arranged in various ways by modifying the arrangement examples described above with reference to FIGS. 1A to 6B. can have a structure.

Although the above has been described with reference to the illustrated embodiments of the present invention, these are only examples, and those skilled in the art to which the present invention belongs can variously It will be apparent that other embodiments that are variations, modifications and equivalents are possible. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

100/200/300/400/500/600: detection device
110: rotating body 120: a plurality of shafts
121: first shaft 122: second shaft
130: a plurality of guide members 131: first guide member
132: second guide member 140: measurement module

Claims (9)

In the apparatus for detecting rotation information of a rotating body,
Rotating body rotating around the axis of rotation;
a plurality of shafts having one side connected to the rotating body to have an eccentric structure;
a plurality of guide members each connected to the other side of the plurality of shafts and guiding the plurality of shafts to be translated in accordance with the rotation of the rotating body; and
A measurement module for detecting motion of each shaft moving in translation along the plurality of guide members and calculating rotation information of the rotating body by combining the detected motions,
The plurality of shafts are connected to the guide member so that their initial positions are different.
According to claim 1,
The rotation information is
A device comprising rotational speed, rotational direction, and rotational position.
According to claim 1,
The plurality of shafts are connected together at one point of the rotating body, and the plurality of guide members are arranged to have an angle within a specified range so that the initial positions of each shaft are different.
According to claim 1,
The plurality of shafts are connected to different positions of the rotating body,
The plurality of guide members are arranged to have an angle within a designated range so that the initial position of each shaft is different.
According to claim 1,
The device, characterized in that the plurality of shafts and the plurality of guide members are two each.
In the method of detecting rotation information of a rotating body,
Through the measurement module, one side is connected to have an eccentric structure with a rotating body rotating around a rotating shaft, the other side is connected to each of a plurality of guide members so that their initial positions are different, and each guide corresponds to the rotation of the rotating body. detecting movement of a plurality of shafts translating along the member; and
and calculating rotation information of the rotating body by combining the detected motions of the plurality of shafts.
According to claim 6,
Calculating the rotation information
and calculating a rotational position of the rotating body based on a combination of positional values on the guide member for the plurality of shafts.
According to claim 6,
Calculating the rotation information
extracting the number of repetitions of a designated pattern from position values of at least one of the plurality of shafts during a designated unit time and counting the number of rotations of the rotating body based on the extracted number of repetitions; and
and calculating the rotational speed of the rotating body by dividing the counted number of rotations by the unit time.
According to claim 6,
Calculating the rotation information
and calculating a direction of rotation of the rotating body based on changes in position values of the plurality of shafts.

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