WO2016002437A1 - 運動検出装置 - Google Patents
運動検出装置 Download PDFInfo
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- WO2016002437A1 WO2016002437A1 PCT/JP2015/066379 JP2015066379W WO2016002437A1 WO 2016002437 A1 WO2016002437 A1 WO 2016002437A1 JP 2015066379 W JP2015066379 W JP 2015066379W WO 2016002437 A1 WO2016002437 A1 WO 2016002437A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24495—Error correction using previous values
Definitions
- the present invention relates to a motion detection device that detects the rotational motion or circular motion of an object using magnetism.
- FIG. 13 shows a rotation detection device having the same configuration as the rotation detection device described in FIG. 1 of Patent Document 1 below as an example of a conventional rotation detection device.
- the rotation detection device 300 is a device that can detect the rotation direction and the rotation amount of the rotation shaft 301 of the servo motor provided in the movable part of the industrial robot, for example.
- the rotation detection device 300 includes a movable unit 302 that is fixed to the rotation shaft 301 and rotates according to the rotation of the rotation shaft 301.
- the rotation direction and the rotation amount of the movable part 302 coincide with the rotation direction and the rotation amount of the rotation shaft 301.
- the movable part 302 is provided with four magnets 311, 312, 313 and 314.
- the magnets 311, 312, 313, and 314 are arranged in this order with an interval of 90 degrees leftward in the circumferential direction of the movable portion 302.
- the magnets 311 and 313 are arranged so that the front side is an N pole, and the magnets 312 and 314 are arranged so that the front side is an S pole.
- a magnetic field whose direction changes every 90 degrees is formed on the outer peripheral side of the movable portion 302.
- three magnetic sensors 321, 322, and 323 are provided in the vicinity of the movable portion 302.
- Each of the magnetic sensors 321, 322, and 323 is formed by winding a coil around a composite magnetic wire that is a magnetic element that produces a large Baruhausen effect.
- the magnetic sensors 321, 322, and 323 are arranged in this order in the right direction along the circular outer shape of the movable portion 302, and the interval between the adjacent magnetic sensors is 30 degrees.
- the magnets 311, 312, 313 and 314 are fixed to the movable part 302, and their positions change with the rotation of the movable part 302, whereas the magnetic sensors 321, 322 and 323 are fixed to a support part (not shown). It is immovable.
- a detection pulse (hereinafter referred to as “positive detection pulse”) is output.
- the magnet 313 approaches the magnetic sensor 321.
- the detection pulse in the positive direction from the magnetic sensor 321 is also detected in the negative direction. Is not output.
- the movable unit 302 rotates in the right direction, the magnet 311 approaches the magnetic sensor 321, the magnetization direction of the magnetic sensor 321 is reversed, and a positive detection pulse is output from the magnetic sensor 321, and then the movable unit Assume that 302 changes the rotation direction from the right direction to the left direction, and the magnet 311 approaches the magnetic sensor 321 again.
- the magnetization direction is not reversed in the magnetic sensor 321, so that neither a positive direction detection pulse nor a negative direction detection pulse is output from the magnetic sensor 321.
- the phenomenon that the magnetization direction of the magnetic sensor does not reverse when approaching for the second time or thereafter is described as “by applying the same direction magnetic field. "The magnetization direction does not reverse.”
- the rotation detection device 300 includes a rotation detection circuit 330 that detects the rotation direction and the rotation amount of the movable portion 302 based on the detection pulses output from the magnetic sensors 321, 322, and 323.
- the rotation detection circuit 330 receives positive detection pulses and negative detection pulses output from the magnetic sensors 321, 322, and 323, respectively.
- the rotation detection circuit 330 assigns numbers to the positive detection pulses and the negative detection pulses output from the magnetic sensors 321, 322, and 323, respectively. Specifically, “1” is assigned to the positive detection pulse output from the magnetic sensor 321, and “2” is assigned to the positive detection pulse output from the magnetic sensor 322, and output from the magnetic sensor 323. “3” is assigned to the detected pulse in the positive direction.
- “4” is assigned to the negative detection pulse output from the magnetic sensor 321
- “5” is assigned to the negative detection pulse output from the magnetic sensor 322
- the negative detection pulse output from the magnetic sensor 323 is assigned.
- “6” is assigned to the direction detection pulse. Then, the rotation detection circuit 330 performs arithmetic processing using the number assigned to each detection pulse, and determines the rotation direction and the rotation amount of the movable unit 302.
- the first normal process is a process for determining the amount of rotation of the movable part 302 when the movable part 302 rotates in the right direction.
- the first normal process is as follows. For example, the movable part 302 rotates about 180 degrees in the right direction. During this time, the magnet 311 sequentially approaches the magnetic sensors 321, 322, and 323, and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed. When 312 sequentially approaches the magnetic sensors 321, 322, and 323 and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed, the order of detection pulse numbers output from the magnetic sensors 321, 322, and 323 is “1”, “2”, “3”, “4”, “5”, “6”.
- the numbers of detection pulses to be output are “1”, “2”, “3”, “4”, “5”, and “6”.
- the rotation detection circuit 330 as the first normal processing, the number of the detection pulse output last from one of the magnetic sensors 321, 322, and 323 and the number of the magnetic sensors 321, 322, and 323 are as follows. If the difference from the number of the detection pulse output this time from any one is 1, and the rotation direction at the time when the detection pulse was output last time is the right direction, the rotation amount is increased by 1.
- the rotation detection circuit 330 determines the difference between the numbers when the detection pulse number output last time is “6” and the detection pulse number output this time is “1”. Calculated as 1. Note that the first normal processing is described in more detail in paragraphs 0127 to 0141 of FIG. 7 and in the upper part of FIG. 7 and FIG.
- the second normal process is a process of determining the amount of rotation of the movable part 302 when the movable part 302 rotates leftward.
- the second normal process is as follows. For example, the movable part 302 rotates about 180 degrees in the left direction, and during this time, the magnet 314 sequentially approaches the magnetic sensors 323, 322, and 321 and the magnetization directions of the magnetic sensors 323, 322, and 321 are sequentially reversed, and then the magnet When 313 sequentially approaches the magnetic sensors 323, 322, and 321 and the magnetization directions of the magnetic sensors 323, 322, and 321 are sequentially reversed, the order of detection pulse numbers output from the magnetic sensors 321, 322, and 323 is “6”, “5”, “4”, “3”, “2”, “1”.
- the rotation detection circuit 330 detects the number of the detection pulse last output from any one of the magnetic sensors 321, 322, and 323 and the magnetic sensors 321, 322, and 323. If the difference from the detection pulse number output this time from any one is 1, and the rotation direction at the time when the detection pulse was output last time is the left direction, the rotation amount is decreased by 1. Based on the regularity described above, the rotation detection circuit 330 calculates the difference between both numbers when the detection pulse number output last time is “1” and the detection pulse number output this time is “6”. Calculated as 1.
- the third normal process is a process for determining the rotation direction and the rotation amount of the movable unit 302 when the movable unit 302 changes the rotation direction from the right direction to the left direction.
- the third normal process is as follows. For example, it is assumed that the movable portion 302 rotates about 90 degrees in the right direction, and during this time, the magnet 311 sequentially approaches the magnetic sensors 321, 322, and 323, and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed. Thereafter, the movable portion 302 changes the rotation direction to the left and rotates about 180 degrees to the left. During this time, the magnet 311 sequentially approaches the magnetic sensors 323, 322, and 321.
- the magnetization direction is not reversed by applying the same direction magnetic field, and then the magnet 314 sequentially approaches the magnetic sensors 323, 322, and 321 and the magnetization directions of the magnetic sensors 323, 322, and 321 are sequentially reversed.
- the order of the detection pulse numbers output from the magnetic sensors 321, 322, and 323 is “1”, “2”, “3”, “6”, “5”, “4”.
- the point to be noted here is that the number of the detection pulse last output before the rotation direction of the movable portion 302 is changed is “3”, and the detection signal output first after the rotation direction of the movable portion 302 is changed.
- the pulse number is “6”, and the difference between these numbers is 3.
- the rotation detection circuit 330 performs the third normal process as the number of the detection pulse output last time from one of the magnetic sensors 321, 322, and 323 and the number of the magnetic sensors 321, 322, and 323. If the difference from the number of the detection pulse output this time from either is 3 and the rotation direction at the time when the detection pulse was output last time is the right direction, the rotation direction of the movable portion 302 is changed from the right direction to the left direction. It is determined that the direction has changed, and the rotation amount is decreased by 3. Note that the third normal process is described in more detail in paragraphs 0157 to 0168 of FIG. 7 and in the upper part of FIG.
- the fourth normal process is a process of determining the rotation direction and the rotation amount of the movable unit 302 when the movable unit 302 changes the rotation direction from the left direction to the right direction.
- the fourth normal process is, for example, a process performed when the movable unit 302 rotates about 90 degrees in the left direction, then changes the rotation direction to the right direction, and rotates about 180 degrees in the right direction. That is, the third normal process is a process performed when the movable unit 302 changes the rotation direction from the right direction to the left direction, but the fourth normal process is a process in which the movable unit 302 sets the rotation direction to the left direction. This process is performed when the direction is changed from right to left.
- the rotation detection circuit 330 detects the detection pulse number output last time from any one of the magnetic sensors 321, 322, and 323 and the current detection output from any one of the magnetic sensors 321, 322, and 323. If the difference from the pulse number is 3, and the rotation direction at the time when the detection pulse was last output is the left direction, it is determined that the rotation direction of the movable unit 302 has changed from the left direction to the right direction, Increase the amount of rotation by 3.
- the rotation direction of the movable unit 302 is output from the magnetic sensor 321 from the number of detection pulses output from the magnetic sensor 322, for example, when the movable unit 302 is rotated for the first time after the rotation detection device 300 starts operation. Judgment is made on the basis of the sign of the value obtained by subtracting the number of the detected pulse, and the result is stored as rotation direction information in a storage element provided in the rotation detection circuit 330. Thereafter, each time a change in the rotation direction of the movable portion 302 is recognized by the above-described processing, the rotation direction information stored in the storage element is updated.
- the rotation detection circuit 330 can know the rotation direction at the time when the detection pulse was output last time by reading the rotation direction information from the storage element.
- the above four normal processes in the rotation detection circuit 330 are based on the premise that when the magnetization direction of each magnetic sensor 321, 322, 323 is reversed, a detection pulse is always output from the magnetic sensor whose magnetization direction is reversed. Process. However, in each of the magnetic sensors 321, 322, and 323, there is a case where a detection pulse is not output even though the magnetization direction is reversed, that is, a detection pulse is lost. When the detection pulse is lost, the normal process described above cannot correctly determine the rotation direction or the rotation amount of the movable portion 302.
- the first operation example is as follows.
- the movable part 302 rotates about 150 degrees in the right direction.
- the magnet 311 sequentially approaches the magnetic sensors 321, 322, and 323, and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed.
- 312 sequentially approaches the magnetic sensors 321 and 322 and the magnetization directions of the magnetic sensors 321 and 322 are sequentially reversed.
- the order of the numbers of the detection pulses output from the magnetic sensors 321, 322, and 323 is “1”, “2”, “3”, “4”, “5”.
- the negative detection pulse (number “4”) that should be output from the magnetic sensor 321 is missing.
- the order of the detection pulse numbers is “1”, “2”, “3”, “5”.
- the second operation example is as follows. For example, it is assumed that the movable portion 302 rotates about 90 degrees in the right direction, and during this time, the magnet 311 sequentially approaches the magnetic sensors 321, 322, and 323, and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed. Subsequently, the movable unit 302 changes the rotation direction to the left and rotates about 150 degrees to the left. During this time, the magnet 311 sequentially approaches the magnetic sensors 323, 322, and 321. It is assumed that the magnetization directions of the magnetic sensors 323 and 323 are not reversed, and the magnets 314 sequentially approach the magnetic sensors 323 and 322 so that the magnetization directions of the magnetic sensors 323 and 322 are sequentially reversed.
- the order of the numbers of detection pulses output from the magnetic sensors 321, 322, and 323 is “1”, “2”, “3”, “6”, “5”.
- the negative detection pulse (number “6”) that should be output from the magnetic sensor 323 is missing.
- the order of the detection pulse numbers is “1”, “2”, “3”, “5”.
- the rotation detection circuit 330 has a function of complementing such missing detection pulses and performing a process of correctly determining the rotation direction and rotation amount of the movable portion 302 (hereinafter referred to as “missing complement process”). Yes.
- the missing complement process will be described with three examples.
- a first example of missing complement processing is an example of missing complement processing when the movable unit 302 does not change the rotation direction.
- a first example of missing complement processing is as follows. For example, the movable part 302 rotates about 180 degrees in the right direction. During this time, the magnet 311 sequentially approaches the magnetic sensors 321, 322, and 323, and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed. Assume that 312 sequentially approaches the magnetic sensors 321, 322, and 323, and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed.
- the order of the numbers of the detection pulses output from the magnetic sensors 321, 322, and 323 is “1”, “2”, “3”, “4”, “5”, “6”.
- the detection pulse (number “4”) in the negative direction that should be output from the magnetic sensor 321 is missing, the order of the detection pulse numbers is “1”, “2”, “3”, “ 5 ”and“ 6 ”.
- the rotation detection circuit 330 performs the first normal processing described above from the time when the detection pulse with the number “1” is output until the time when the detection pulse with the number “3” is output. Each time it is output, the rotation amount of the movable part 302 is increased by one. Subsequently, the rotation detection circuit 330 outputs the detection pulse number “5” and the detection pulse number “3” output immediately before the detection pulse when the detection pulse number “5” is output. Since the difference is 2 and the difference is neither 1 nor 3, the detection pulse is missing after the detection pulse with the number “3” is output until the detection pulse with the number “5” is output. Recognize what happened.
- the rotation detection circuit 330 does not change the rotation amount of the movable portion 302.
- the rotation detection circuit 330 obtains the detection pulse number “5” output immediately before the detection pulse from the detection pulse number “6”. Since the value obtained by this is 1, it is determined that the rotation direction of the movable unit 302 is the right direction when the detection pulse of the number “6” is output.
- the rotation detection circuit 330 when the detection pulse of the number “6” is output, from the detection pulse number “6”, the detection pulse output two times before the detection pulse The number “3” of the detection pulse) is subtracted, and the amount of rotation of the movable unit 302 is changed based on the value obtained thereby and the rotation direction of the movable unit 302 when the detection pulse of the number “6” is output.
- the rotation direction of the movable unit 302 is the right direction.
- the value obtained by subtracting the number of the detection pulse output twice before the detection pulse from the detection pulse output at the time of executing the determination of the rotation amount is g (positive value)
- the rotation amount of the movable portion 302 is increased by g.
- the rotation direction of the movable unit 302 is the right direction, and the detection pulse output at the time when the determination of the rotation direction and the rotation amount is performed If the value obtained by subtracting the number of the detection pulse output twice before the detection pulse is -h (negative value), the rotation amount of the movable part 302 is increased by (6-h). (6 used here is the number of types of detection pulses). In this example, when the determination of the rotation direction and the rotation amount is executed, that is, when the detection pulse number “6” is output, the rotation direction of the movable portion 302 is the right direction, and the detection of the number “6” is performed.
- the rotation detection circuit 330 Since the value obtained by subtracting the number of the detection pulse output twice before the detection pulse from the detection pulse output at the time when the pulse is output is 3, the rotation detection circuit 330 is movable.
- the rotation amount of the unit 302 is increased by 3.
- the detection pulse order is “1”, “2”, “3”, “4”, “5”, “6”. Since the amount of rotation of the movable part 302 rotated to the right increases by 3 from the time when the detection pulse with the number “3” is output until the time when the detection pulse with the number “6” is output. It can be seen that the determination to increase the rotation amount of the movable part 302 by 3 obtained by the complementing process is correct. Note that the first example of the missing complement processing is described in more detail in paragraphs 0142 to 0156, FIG. 7, and FIG.
- the second example of the missing complement process is an example of the missing complement process when the movable unit 302 changes the rotation direction once.
- a second example of missing complement processing is as follows. For example, it is assumed that the movable portion 302 rotates about 90 degrees in the right direction, and during this time, the magnet 311 sequentially approaches the magnetic sensors 321, 322, and 323, and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed. Subsequently, the movable portion 302 changes the rotation direction to the left and rotates about 180 degrees to the left. During this time, the magnet 311 sequentially approaches the magnetic sensors 323, 322, and 321.
- the magnetization directions of the magnetic sensors 323, 323 are not reversed, and the magnets 314 sequentially approach the magnetic sensors 323, 322, 321 and the magnetization directions of the magnetic sensors 323, 322, 321 are sequentially reversed.
- the order of the numbers of the detection pulses output from the magnetic sensors 321, 322 and 323 is “1”, “2”, “3”, “6”, “5”, “4”.
- the negative detection pulse (number “6”) that should be output from the magnetic sensor 323 is missing, the order of the detection pulse numbers is “1”, “2”, “3”, “ 5 "and” 4 ".
- the rotation detection circuit 330 performs the first normal processing described above from the time when the detection pulse with the number “1” is output until the time when the detection pulse with the number “3” is output. Each time it is output, the rotation amount of the movable part 302 is increased by one. Subsequently, the rotation detection circuit 330 outputs the detection pulse number “5” and the detection pulse number “3” output immediately before the detection pulse when the detection pulse number “5” is output. Since the difference is 2 and the difference is neither 1 nor 3, the detection pulse is missing after the detection pulse with the number “3” is output until the detection pulse with the number “5” is output. Recognize what happened.
- the rotation detection circuit 330 does not change the rotation amount of the movable portion 302.
- the rotation detection circuit 330 obtains the detection pulse number “5” output immediately before the detection pulse from the detection pulse number “4”. Since the value obtained by this is ⁇ 1, it is determined that the rotation direction of the movable part 302 is the left direction when the detection pulse of the number “4” is output.
- the rotation detection circuit 330 outputs the detection pulse number “4” two times before the detection pulse from the detection pulse number “4” when the detection pulse with the number “4” is output. 3 ”is subtracted, and the amount of rotation of the movable portion 302 is changed based on the value obtained by this and the rotation direction of the movable portion 302 at the time when the detection pulse with the number“ 4 ”is output.
- the rotation direction of the movable unit 302 is the left direction, and the rotation direction
- the value obtained by subtracting the number of the detection pulse output two times before the detection pulse from the detection pulse output at the time of executing the determination of the rotation amount is ⁇ i (negative value).
- the amount of rotation of the movable part 302 is decreased by i.
- the rotation direction of the movable portion 302 is the left direction, and from the detection pulse output at the time of executing the determination of the rotation direction and the rotation amount, When the value obtained by subtracting the number of the detection pulse output twice before the detection pulse is j (positive value), the rotation amount of the movable unit 302 is decreased by (6-j). (6 used here is the number of types of detection pulses). In this example, when the determination of the rotation direction and the rotation amount is executed, that is, when the detection pulse with the number “4” is output, the rotation direction of the movable portion 302 is the left direction, and the detection of the number “4” is performed.
- the rotation detection circuit 330 Since the value obtained by subtracting the number of the detection pulse output twice before the detection pulse from the detection pulse output at the time when the pulse is output is 1, the rotation detection circuit 330 is movable. The rotation amount of the unit 302 is decreased by 5. As described above, if there is no missing detection pulse in the negative direction in the magnetic sensor 323, the detection pulse order is “1”, “2”, “3”, “6”, “5”, “4”. Since the amount of rotation of the movable part 302 rotated to the left is decreased by 5 between the time when the detection pulse with the number “3” is output and the time when the detection pulse with the number “4” is output. It can be seen that the determination to reduce the rotation amount of the movable part 302 by 5 obtained by the complementing process is correct. Note that the second example of the missing complement processing is described in more detail in paragraphs 0169 to 0184, FIG. 7 and FIG.
- the third example of the missing complement process is an example of the missing complement process when the movable unit 302 changes the rotation direction twice.
- a third example of missing complement processing is as follows. For example, it is assumed that the movable portion 302 rotates about 90 degrees in the right direction, and during this time, the magnet 311 sequentially approaches the magnetic sensors 321, 322, and 323, and the magnetization directions of the magnetic sensors 321, 322, and 323 are sequentially reversed. Subsequently, the movable unit 302 changes the rotation direction to the left and rotates about 120 degrees to the left. During this time, the magnet 311 sequentially approaches the magnetic sensors 323, 322, and 321.
- the magnet 314 approaches the magnetic sensor 323 and the magnetization direction of the magnetic sensor 323 is reversed.
- the movable portion 302 changes the rotation direction to the right and rotates about 150 degrees to the right.
- the magnet 314 approaches the magnetic sensor 323, but the magnetization direction of the magnetic sensor 323 is reversed by applying the same direction magnetic field.
- the magnet 311 sequentially approaches the magnetic sensors 321 and 322, the magnetization direction of the magnetic sensors 321 and 322 is not reversed by applying the same direction magnetic field, and further, the magnet 311 approaches the magnetic sensor 323 and is magnetized.
- the order of the detection pulse numbers output from the magnetic sensors 321, 322, and 323 is “1”, “2”, “3”, “6”, “3”, “4”.
- the detection pulse (number “3”) in the positive direction that should be output from the magnetic sensor 323 for the first time is missing, the order of the detection pulse numbers is “1”, “2”, “6”. ”,“ 3 ”, and“ 4 ”.
- the rotation detection circuit 330 performs the first normal processing described above from the time when the detection pulse with the number “1” is output until the time when the detection pulse with the number “2” is output. Each time it is output, the rotation amount of the movable part 302 is increased by one. Subsequently, the rotation detection circuit 330 outputs the detection pulse number “6” and the detection pulse number “2” output immediately before the detection pulse when the detection pulse number “6” is output. Since the difference is 4 and the difference is neither 1 nor 3, the detection pulse is missing after the detection pulse with the number “2” is output until the detection pulse with the number “6” is output. Recognize what happened.
- the rotation detection circuit 330 does not change the rotation amount of the movable portion 302.
- the rotation detection circuit 330 obtains the detection pulse number “6” output immediately before the detection pulse from the detection pulse number “3” when the detection pulse number “3” is output. Then, since the value obtained thereby is neither 1 nor ⁇ 1, the rotation detection circuit 330 subsequently starts from the detection pulse number “3” when the detection pulse number “3” is output.
- the detection pulse number “2” output two times before the detection pulse is subtracted, and the value obtained by this is 1, so that the movable at the time when the detection pulse number “3” is output.
- the rotation detection circuit 330 outputs, from the detection pulse number “3”, the detection pulse number “3” output two times before the detection pulse when the detection pulse number “3” is output. 2 ”is subtracted, and the amount of rotation of the movable portion 302 is changed based on the value obtained by this and the rotation direction of the movable portion 302 at the time when the detection pulse number“ 3 ”is output.
- the rotation direction of the movable portion 302 is the right direction when the detection pulse with the number “3” is output, and the detection pulse is detected from the detection pulse output when the detection pulse with the number “3” is output. Since the value obtained by subtracting the number of the detection pulse output two times before is 1, the rotation detection circuit 330 increases the rotation amount of the movable unit 302 by 1. As described above, if there is no missing detection pulse in the positive direction in the magnetic sensor 323, the detection pulse order is “1”, “2”, “3”, “6”, “3”, “4”.
- the rotation detection circuit 330 of the rotation detection device 300 described above includes a storage element, and a part of the storage area of the storage element is included in the movable unit 302. It is used for storing information necessary for performing processing for determining the rotation direction and the rotation amount.
- the first to fourth normal processes and the missing complement process described above are processes for determining the rotation direction and the rotation amount of the movable portion 302.
- the rotation detection circuit 330 stores these three pieces of information in a storage element.
- processing is performed using the number of detection pulses output last time and information on the presence / absence of missing detection pulses.
- the rotation detection circuit 330 further stores these two pieces of information in the storage element.
- the information that is a candidate for exclusion is the remaining two pieces of information used only for the missing complement process, that is, the number of detection pulses output the last time and the information on the presence / absence of missing detection pulses.
- these two pieces of information cannot be excluded unless the above-described missing complement processing method is changed, and it is not easy to come up with another missing complement processing method.
- the present invention has been made in view of, for example, the above-described problems, and a first problem of the present invention is to provide a motion detection device that can reduce information used for processing to compensate for missing detection pulses of a magnetic field detection unit. It is to provide.
- a second problem of the present invention is to provide a motion detection device that can compensate for the lack of detection pulses of the magnetic field detection unit without using the detection pulses output the last time.
- a first motion detection device of the present invention is a motion detection device that detects a rotational motion or a circular motion of a detected object, and according to the rotational motion or the circular motion of the detected object.
- a movable part that rotates or circulates; at least a pair of magnetic field generating parts that are arranged in one of the movable part and the vicinity of the movable part and that generate different magnetic fields; and the movable part and the movable part
- the magnetization direction changes when one of the pair of magnetic field generators approaches, and the positive direction detection pulse is output in response to the change.
- Magnetization direction changes when the other magnetic field generation unit approaches, and n (n is an integer of 3 or more) magnetic field detection units that output detection pulses in the negative direction according to the change.
- memory A motion having an arithmetic processing unit and an update processing unit, receiving a detection pulse output from each magnetic field detection unit, and detecting a rotational motion or a circular motion state of the detected object based on the received detection pulse A detection circuit, wherein the at least one pair of magnets and the n number of magnetic field detection units are arranged in a positive direction and a negative direction from each of the n number of magnetic field detection units while the movable unit rotates in one direction.
- One detection pulse in one direction is continuously output at different timings (the positive and negative directions of n detection pulses output during this time are not necessarily the same), and then the movable pulse is further moved. While the unit rotates in one direction, the other one detection pulse in the positive direction and the negative direction continues from each of the n magnetic field detection units at different timings. (The positive and negative directions of the n detection pulses output during this period are not necessarily the same), so that the combination of the output source and the positive and negative directions is different and consists of a total of 2n detection pulses. , 2n detection pulses forming the output pattern are sequentially numbered 1, 2,..., N, n + 1, n + 2,.
- the storage unit is assigned with the number of the detection pulse last output from any one of the n magnetic field detection units, and the movable unit at the time when the previous detection pulse is output.
- Movement direction information indicating whether the movement direction is one direction, the other direction, unknown, or reversed in an unknown state (hereinafter referred to as “unknown reversal”) and the time when the previous detection pulse was output
- a momentum detection value indicating the momentum of the movable portion is stored, and the arithmetic processing unit stores the number of the detection pulse output this time from any one of the n magnetic field detection units and the storage Based on the difference between the previous detection pulse number stored in the unit and the motion direction information and the momentum detection value stored in the storage unit, the movable unit at the time when the current detection pulse is output.
- the previous detection pulse number stored in the storage unit is updated based on the current detection pulse number, and the movable at the time when the current detection pulse is output, which is performed by the arithmetic processing unit.
- the movement direction information stored in the storage unit is updated based on the determination of the movement direction, and the amount of movement of the movable unit at the time when the current detection pulse is output performed by the arithmetic processing unit is determined or set. And updating the detected momentum value stored in the storage unit.
- the second motion detection device of the present invention is obtained by subtracting the number of the previous detection pulse from the number of the current detection pulse in the first motion detection device of the present invention described above.
- the obtained value (a value obtained by adding 2n to the value when the value is negative) is calculated as a pulse comparison value, the pulse comparison value is 1, and the motion direction information indicates one direction. If the current detection pulse is output, it is determined that the movement direction of the movable part is one direction, and the change amount of the movement amount of the movable part when the current detection pulse is output is +1.
- the motion direction of the movable part at the time when the current detection pulse is output is Judged to be in another direction
- the pulse comparison value is n
- the movement direction information indicates one direction Is determined that the movement direction of the movable part at the time when the current detection pulse is output is the other direction, and the amount of change in the momentum of the movable part at the time when the current detection pulse is output is ⁇ n. If the pulse comparison value is n and the movement direction information indicates another direction, the movement direction of the movable part at the time when the current detection pulse is output is one direction.
- the pulse comparison value is 2
- the movement direction information indicates one direction. If Then, it is determined that the moving direction of the movable portion at the time when the current detection pulse is output is unknown, and the amount of change in the momentum of the movable portion at the time when the current detection pulse is output is ⁇ (n ⁇ 1)
- the pulse comparison value is n ⁇ 1 and the movement direction information indicates one direction
- the movement direction of the movable part at the time when the current detection pulse is output is It is determined that it is unknown, and the amount of change in the momentum of the movable part at the time when the current detection pulse is output is set to ⁇ (n ⁇ 1) / 2
- the movement direction information indicates another direction, it is determined that the movement direction of the movable part at the time when the current detection pulse is output is unknown, and the time at which the current detection pulse is output Change in momentum of moving parts
- the movement direction information indicates unknown, it is determined that the movement direction of the movable part is one direction at the time when the current detection pulse is output, and the time when the current detection pulse is output. Is set to (n + 5) / 2, the pulse comparison value is 2n-1, and the motion direction information indicates unknown, the current detection pulse is The movable at the time of output Direction of movement is determined to be the other direction, current detection pulse the amount of change in the momentum of the movable part at the time the output - and setting the (n + 5) / 2.
- the third motion detection device of the present invention is the above-described second motion detection device of the present invention, wherein the arithmetic processing unit indicates that the pulse comparison value is n and the motion direction information is unknown. If the current detection pulse is output, it is determined that the moving direction of the movable part is unknown reversal, and the change amount of the movable part at the time when the current detection pulse is output is calculated. When set to 0, the pulse comparison value is 1, and the motion direction information indicates unknown reversal, the motion direction of the movable part at the time when the current detection pulse is output is one direction.
- the amount of change in the amount of movement of the movable part at the time when the current detection pulse is output is set to (n ⁇ 1) / 2, the pulse comparison value is 2n ⁇ 1, and the direction of movement Information indicates unknown reversal If the current detection pulse is output, it is determined that the movement direction of the movable part is the other direction, and the amount of change in the movement amount of the movable part at the time when the current detection pulse is output is calculated.
- the movable part at the time when the current detection pulse is output It is determined that the direction of motion of the movable portion is unknown, and the amount of change in the amount of motion of the movable portion at the time when the current detection pulse is output is set to 0.
- the arithmetic processing unit is configured such that the pulse comparison value is 2 and the motion direction information is inversion unknown.
- the pulse comparison value is n-1 and the motion direction information indicates unknown reversal
- the motion direction of the movable part at the time when the current detection pulse is output is set to -1.
- the amount of change in the amount of movement of the movable part at the time when the detection pulse of this time is output is set to ⁇ 1, the pulse comparison value is 2n ⁇ 2, and the direction of movement information is unknown Shows inversion In this case, it is determined that the moving direction of the movable part at the time when the current detection pulse is output is unknown, and the amount of change in the amount of movement of the movable part at the time when the current detection pulse is output is set to 1. If the pulse comparison value is n + 1 and the motion direction information indicates unknown reversal, it is determined that the motion direction of the movable part at the time when the current detection pulse is output is unknown. The amount of change in the momentum of the movable part at the time when the current detection pulse is output is set to 1.
- a fifth motion detection device of the present invention is the above-described fourth motion detection device of the present invention, wherein the arithmetic processing unit is configured such that the pulse comparison value is n ⁇ 1 and the motion direction information is other. In the case of indicating the direction, it is determined that the movement direction of the movable part at the time when the current detection pulse is output is one direction, and the momentum of the movable part at the time when the current detection pulse is output.
- the pulse comparison value is n + 1, and the motion direction information indicates one direction, the movable part at the time when the current detection pulse is output Is determined to be the other direction, the amount of change in the amount of movement of the movable part at the time when the current detection pulse is output is determined to be ⁇ (n ⁇ 1), and the pulse comparison value is n ⁇ . 1 and the direction of motion
- the information indicates unknown, it is determined that the moving direction of the movable part at the time when the current detection pulse is output is the other direction, and the movable part at the time when the current detection pulse is output is determined.
- a sixth motion detection device of the present invention is the above-described fifth motion detection device of the present invention, wherein the arithmetic processing unit is configured such that the pulse comparison value is 0 and the motion direction information is one direction.
- the arithmetic processing unit is configured such that the pulse comparison value is 0 and the motion direction information is one direction.
- the pulse comparison value is 0, and the motion direction information indicates another direction, the motion direction of the movable part at the time when the current detection pulse is output is It is determined that the direction is the other direction, the amount of change in the amount of movement of the movable part at the time when the current detection pulse is output is determined to be 0, the pulse comparison value is 0, and the direction of movement information is unknown Indicates Determines that the moving direction of the movable part at the time when the current detection pulse is output is unknown, sets the amount of change in the amount of movement of the movable part at the time when the current detection pulse is output to 0, When the pulse comparison value is 0 and the motion direction information indicates unknown reversal, it is determined that the motion direction of the movable part at the time when the current detection pulse is output is unknown reversal, The amount of change in the momentum of the movable part at the time when the current detection pulse is output is set to zero.
- each of the magnetic field detection units includes a magnetic element that produces a large Barkhausen effect, and the magnetic element. And a wound coil.
- the present invention it is possible to complement the missing detection pulse of the magnetic field detection unit without using the detection pulse output the last time, and to reduce the information used for the process of complementing the missing detection pulse of the magnetic field detection unit. Can do.
- FIG. 2 is a cross-sectional view showing the rotation detection device viewed from the direction of arrows II-II in FIG.
- It is a circuit diagram which shows the rotation detection circuit which the rotation detection apparatus by embodiment of this invention has.
- It is a flowchart which shows the rotation detection process in the rotation detection apparatus by embodiment of this invention. It is a flowchart following FIG. It is a flowchart following FIG.
- the rotation detection apparatus In the rotation detection apparatus according to the embodiment of the present invention, it is an explanatory diagram showing the correspondence between the operation of the movable part and the information used in the rotation detection process. In the rotation detection apparatus according to the embodiment of the present invention, it is an explanatory diagram showing the correspondence between the operation of the movable part and the information used in the rotation detection process. It is explanatory drawing which shows the rotation detection apparatus by other embodiment of this invention. It is explanatory drawing which shows the rotation detection apparatus by further another embodiment of this invention. It is explanatory drawing which shows the circular motion detection apparatus by embodiment of this invention. It is explanatory drawing which shows another rotation detection apparatus.
- FIG. 1 shows a rotation detection device according to an embodiment of the present invention
- FIG. 2 shows a cross section of the rotation detection device viewed from the direction of arrows II-II in FIG.
- a rotation detection device 31 that is an embodiment of the motion detection device of the present invention is a device that detects the rotation motion of a detected object, specifically, the rotation direction and the rotation amount.
- the rotation detection device 31 can detect the rotational movements of various detected objects.
- a rotation shaft 32 of a servo motor provided at a movable part of an industrial robot is taken as an example of a detected object.
- the rotation detection device 31 includes a casing 41 formed in a covered cylindrical shape by, for example, resin.
- the casing 41 is formed with an insertion hole 42 through which the rotary shaft 32 is rotatably inserted.
- the casing 41 is attached and fixed to an industrial robot via an attachment member (not shown), for example.
- a movable part 43 is provided in the casing 41.
- the movable portion 43 is formed in a columnar shape, for example, and is fixed to the rotating shaft 32 so that the center thereof coincides with the axis of the rotating shaft 32. Since the movable part 43 rotates together with the rotation shaft 32, the rotation direction and the rotation amount of the movable part 43 coincide with the rotation direction and the rotation amount of the rotation shaft 32.
- magnets 51, 52, 53 and 54 are provided on the outer peripheral portion of the movable portion 43.
- the magnets 51, 52, 53 and 54 are arranged in this order in the left direction in the circumferential direction of the movable portion 43, and are arranged with an interval of 90 degrees around the rotation shaft 32.
- the magnets 51 and 53 are fixed inside the movable portion 43 so that the front side is an N pole and the back side is an S pole in FIG.
- the magnets 52 and 54 are fixed inside the movable portion 43 so that the front side is the S pole and the back side is the N pole in FIG.
- a magnetic field whose direction changes every 90 degrees is formed on the outer peripheral side of the movable portion 43.
- Magnets 51, 52, 53, and 54 are specific examples of the magnetic field generator.
- each of the magnetic sensors 61, 62, and 63 includes a composite magnetic wire 64 that is a magnetic element that generates a large Barkhausen effect, and a coil 65 wound around the composite magnetic wire 64.
- Each of the magnetic sensors 61, 62, and 63 is a specific example of a magnetic field detector.
- the composite magnetic wire 64 is a thin wire-shaped ferromagnetic material and has uniaxial anisotropy. That is, in the composite magnetic wire 64, the coercive force of the axial center part is larger than the coercive force of the outer peripheral part.
- the magnetization direction of the outer peripheral portion changes due to application of a relatively small external magnetic field. Then, by applying relatively small external magnetization to the composite magnetic wire 64, only the magnetization direction of the outer peripheral portion can be changed and the magnetization state can be maintained. Further, when the composite magnetic wire 64 changes so that the magnetization direction of the outer peripheral portion is aligned with the magnetization direction of the axial center portion, the magnetization direction is rapidly reversed by the large Barkhausen effect.
- the composite magnetic wire 64 changes so that the magnetization direction of the outer peripheral portion is opposite to the magnetization direction of the axial center portion, the magnetization direction is rapidly reversed.
- a pulse signal that rises in a positive direction or a negative direction according to the reversed magnetization direction is output from the coil 65 by the electromotive force generated when the magnetization direction of the outer peripheral portion is suddenly reversed.
- each of the magnetic sensors 61, 62, 63 has one end portion of the composite magnetic wire 64 supported by the substrate 66 and the other end portion supported by the wall portion of the casing 41. It is fixed.
- Each magnetic sensor 61, 62, 63 is provided such that the longitudinal direction of the composite magnetic wire 64 is parallel to the direction of the magnetic field emitted from each magnet 51, 52, 53, 54.
- the magnetic sensors 61, 62, and 63 are arranged in this order in the left direction along the circular outer shape of the movable portion 43, and at intervals of 120 degrees around the rotation shaft 32. It is arranged with.
- the magnets 51, 52, 53, and 54 approach the magnetic sensors 61, 62, and 63 at different timings, respectively.
- a detection pulse in the positive direction or the negative direction is output from each at different timings. That is, when the magnet 51 having the north pole on the front side approaches the magnetic sensor 61 and the magnetization direction of the magnetic sensor 61 is reversed by the magnetic field formed by the magnet 51, a positive detection pulse is output from the magnetic sensor 61. The same applies when the magnet 53 approaches the magnetic sensor 61.
- a substrate 66 is provided in the casing 41.
- the substrate 66 is fixed to the wall portion of the casing 41, for example. Further, the substrate 66 is formed in a disc shape as shown in FIG. 1, and a hole portion 67 through which the rotary shaft 32 is rotatably penetrated is formed at the center thereof as shown in FIG.
- a rotation detection circuit 68 and a connector 69 are provided on the substrate 66.
- the coil 65 of each magnetic sensor 61, 62, 63 is electrically connected to a rotation detection circuit 68 on the substrate 66.
- the rotation amount detection value stored in the storage unit 82 in the rotation detection circuit 68 can be output to the outside.
- FIG. 3 shows the internal structure of the rotation detection circuit 68.
- the rotation detection circuit 68 is a circuit that detects the rotation direction and the rotation amount of the movable portion 43.
- the rotation detection circuit 68 includes a determination unit 81, a storage unit 82, and a power supply voltage generation circuit 83.
- the rotation detection circuit 68 is a specific example of a motion detection circuit.
- the determination unit 81 determines the rotation direction and rotation amount of the movable unit 43 based on the previous pulse number, rotation direction information, and rotation amount detection value, which will be described later, and is stored in the storage unit 82 based on these determination results.
- the previous pulse number, rotation direction information, and rotation amount detection value are updated.
- the determination unit 81 is a specific example of an arithmetic processing unit and an update processing unit.
- the storage unit 82 is formed of a non-volatile storage element, and stores the previous pulse number, rotation direction information, and rotation amount detection value, which are information necessary for the determination process of the determination unit 81.
- the power supply voltage generation circuit 83 includes a rectifier circuit, a constant voltage circuit, and the like, generates a DC power supply voltage from detection pulses output from the magnetic sensors 61, 62, and 63, and determines the power supply voltage using the determination unit 81 and the storage unit 82. To supply.
- the determination unit 81 and the storage unit 82 operate with the power supply voltage supplied from the power supply voltage generation circuit 83. Thereby, the rotation detection apparatus 31 without a power supply is realizable.
- FIG. 7 to 9 show a correspondence relationship between the operation of the movable portion 43 and information used in the rotation detection process.
- the determination unit 81 assigns numbers to the positive detection pulses and the negative detection pulses output from the three magnetic sensors 61, 62, and 63, respectively. That is, as described above, the magnets 51, 52, 53, and 54 are arranged in this order at 90 degree intervals in the left direction so that the polarities on the front side are the N pole, the S pole, the N pole, and the S pole.
- the magnetic sensors 61, 62 and 63 are arranged in this order at intervals of 120 degrees in the right direction.
- each of the three magnetic sensors 61, 62 and 63 is in the meantime.
- One detection pulse in one of the positive and negative directions is continuously output at different timings (the positive and negative directions of the three detection pulses output during this period are the same) Not exclusively).
- the determination unit 81 sequentially assigns numbers “1”, “2”, “3”, “4”, “5”, and “6” to the six detection pulses forming the output pattern.
- the magnet 51 approaches the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 is reversed, and a positive detection pulse is output from the magnetic sensor 61.
- the magnet 54 approaches the magnetic sensor 62, the magnetization direction of the magnetic sensor 62 is reversed, and a negative detection pulse is output from the magnetic sensor 62.
- the magnet 53 approaches the magnetic sensor 63 and the magnetic sensor 63. Is reversed, and a positive detection pulse is output from the magnetic sensor 63.
- the magnet 52 approaches the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 is reversed, and a negative detection pulse is output from the magnetic sensor 61.
- the magnet 51 approaches the magnetic sensor 62, the magnetization direction of the magnetic sensor 62 is reversed, and a positive detection pulse is output from the magnetic sensor 62, and then the magnet 54 approaches the magnetic sensor 63 and the magnetization of the magnetic sensor 63. The direction is reversed, and a negative direction detection pulse is output from the magnetic sensor 63.
- An output pattern is formed which includes a negative direction detection pulse 61, a positive direction detection pulse whose output source is the magnetic sensor 62, and a negative direction detection pulse whose output source is the magnetic sensor 63.
- the determination unit 81 assigns “1” to the detection pulse in the positive direction whose output source is the magnetic sensor 61, and assigns “2” to the detection pulse in the negative direction whose output source is the magnetic sensor 62.
- “3” is assigned to the positive direction detection pulse whose source is the magnetic sensor 63
- “4” is assigned to the negative direction detection pulse whose output source is the magnetic sensor 61
- the positive source whose output source is the magnetic sensor 62 is assigned.
- “5” is assigned to the direction detection pulse
- “6” is assigned to the negative direction detection pulse whose output source is the magnetic sensor 63.
- the determination unit 81 identifies the input terminal of the rotation detection circuit 68 to which the magnetic sensors 61, 62, and 63 are connected, and detects the level of the detection pulse that is output from each of the magnetic sensors 61, 62, and 63.
- the six detection pulses having different combinations of the output source and the positive / negative direction are discriminated, and numbers are assigned to these detection pulses as described above.
- the present invention is applied to a rotation detection device having three magnetic sensors as an example.
- the present invention is based on n (n is an integer of 3 or more) magnetic sensors.
- the present invention can also be applied to a rotation detection device having When the present invention is applied to a rotation detection device having n magnetic sensors, the number of detection pulses having different combinations of output sources and positive and negative directions in the detection pulse output pattern is 2n. Numbers such as 1, 2, 3,..., N, n + 1, n + 2, n + 3,.
- the determination unit 81 performs rotation detection initial setting processing when the rotation detection device 31 is started.
- the determination unit 81 first determines an initial value of a rotation amount detection value described later (for example, 0 or an external input value indicating the rotation amount of the rotation shaft 32 immediately before the rotation detection device 31 is started).
- the determination unit 81 uses the detection pulse number output first from any one of the magnetic sensors 61, 62, and 63 as the previous pulse number to be described later when the movable unit 43 starts rotating.
- the determination unit 81 determines the previous pulse number stored in the storage unit 82 from the number of the detection pulse output the second time from any one of the magnetic sensors 61, 62, and 63 (output the first time). The number of the detection pulse) is subtracted to determine whether the value obtained thereby is positive or negative. Then, when the obtained value is positive, the determination unit 81 determines that the movable unit 43 has rotated in the right direction, and stores “right direction” in the storage unit 82 as rotation direction information to be described later. If the obtained value is negative, it is determined that the movable unit 43 has rotated leftward, and “leftward” is stored in the storage unit 82 as rotation direction information.
- the determination unit 81 updates the previous pulse number by storing the number of the second output detection pulse in the storage unit 82 as the previous pulse number. Further, the determination unit 81 increases the rotation amount detection value by 1 when the movable unit 43 rotates in the right direction, and decreases the rotation amount detection value by 1 when the movable unit 43 rotates in the left direction. The rotation amount detection value is updated.
- the rotation detection process is executed when a detection pulse is output from any of the magnetic sensors 61, 62, and 63 after the above-described initial setting is completed.
- the latest detection pulse output this time from any one of the magnetic sensors 61, 62 and 63 is referred to as “current detection pulse”, and the number assigned to the current detection pulse is referred to as “current pulse number”.
- the detection pulse output last time from any one of the magnetic sensors 61, 62 and 63 on the basis of the time point when the current detection pulse is output is referred to as the “previous detection pulse” and assigned to the previous detection pulse.
- This number is called the “previous pulse number”.
- the storage unit 82 When the current detection pulse is output, the storage unit 82 outputs the previous pulse number, rotation direction information indicating the rotation direction of the movable unit 43 when the previous detection pulse is output, and the previous detection pulse. A rotation amount detection value indicating the rotation amount of the movable portion 43 at the time of being stored is stored.
- the previous pulse number is a number assigned to each of six detection pulses having different combinations of output sources and positive and negative directions. Therefore, in the storage unit 82, the size of data necessary for storing the previous pulse number is 3 bits.
- the rotation direction information has four types of values: “right direction”, “left direction”, “unknown”, and “unknown inversion”. “Right direction” indicates that the movable portion 43 has rotated in the right direction, and “left direction” indicates that the movable portion 43 has rotated in the left direction. “Unknown” indicates a state in which it cannot be recognized whether the movable portion 43 has rotated in the right direction or the left direction (hereinafter referred to as “unknown state”). “Unknown reversal” indicates a state in which the movable portion 43 has changed (reversed) the rotation direction when the movable portion 43 is in an unknown state (hereinafter, referred to as “unknown reversal state”). Since the rotation direction information has four types of values as described above, the data size required to store the rotation direction information in the storage unit 82 is 2 bits.
- the rotation amount detection value is a value indicating the rotation amount of the movable portion 43.
- a change in the rotation amount of the movable portion 43 is basically detected in units of 30 degrees.
- the rotation amount is increased by 1 when the movable portion 43 is rotated 30 degrees in the right direction, and the rotation amount is decreased by 1 when the movable portion 43 is rotated 30 degrees in the left direction.
- the rotation detection device 31 can detect multiple rotations of the movable unit 43 when the movable unit 43 rotates more than one rotation.
- the data size required to store the rotation amount detection value in the storage unit 82 is determined by how much the upper limit of the rotation amount of the movable unit 43 that can be detected by the rotation detection device 31 is set.
- the determination unit 81 detects the output source of the detection pulse and the positive / negative of the direction of the pulse, and determines the current pulse number. .
- the determination unit 81 calculates a pulse comparison value by subtracting the previous pulse number stored in the storage unit 82 from the current pulse number.
- Pulse comparison value means a value obtained by subtracting the previous pulse number from the current pulse number.
- a value obtained by adding 6 (2n) to the value is set as the pulse comparison value.
- the determination unit 81 determines the rotation direction of the movable unit 43 at the time when the current detection pulse is output based on the pulse comparison value and the rotation direction information stored in the storage unit 82. It is determined whether it corresponds to “right direction”, “left direction”, “unknown”, or “unknown inversion”.
- the determination unit 81 is based on the pulse comparison value and the rotation direction information stored in the storage unit 82 between the time when the previous detection pulse is output and the time when the current detection pulse is output.
- a change amount of the rotation amount of the movable portion 43 is determined or set.
- the amount of change in the rotation amount of the movable portion 43 from the time when the previous detection pulse is output until the time when the current detection pulse is output is referred to as “rotation change amount”.
- determination reference information that defines the correspondence relationship between the pulse comparison value, the previous rotation direction information, the current rotation direction information, and the current rotation change amount is stored in the storage unit 82 in advance. Using the determination reference information, the rotation direction information and the rotation change amount at the time when the current detection pulse is output are determined from the pulse comparison value and the rotation direction information stored in the storage unit 82.
- the determination reference information includes, for example, a pulse comparison value in the case of three sensors, previous rotation direction information, current rotation direction information, and rotation change amount information in the case of three sensors, as shown in FIGS. Yes.
- the criterion information is a part of a computer program for executing the rotation detection process. For example, each value in the criterion information is defined as a constant in the computer program.
- the determination unit 81 updates the previous pulse number stored in the storage unit 82 by rewriting the previous pulse number stored in the storage unit 82 with the current pulse number. Further, the determination unit 81 updates the rotation amount detection value stored in the storage unit 82 by adding the rotation change amount to the rotation amount detection value stored in the storage unit 82. Furthermore, the determination unit 81 rewrites the rotation direction information stored in the storage unit 82 with information indicating the determination result of the rotation direction at the time when the current detection pulse is output, thereby rotating the rotation stored in the storage unit 82. Update direction information.
- the normal process is a process of determining the rotation direction and the rotation amount of the movable part 43 when no detection pulse is missing.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is positive, the determination unit 81 determines that the current pulse number is “1”. Subsequently, since the current pulse number is “1” and the previous pulse number is “6”, the determination unit 81 determines that the pulse comparison value is 1 by subtracting the previous pulse number from the current pulse number ( Subtracting “6” from “1” results in ⁇ 5. If the result of the subtraction is a negative value, a value obtained by adding 6 to the value is used as the pulse comparison value).
- step S1 NO, step S3: YES, step S4: YES, step S5: YES in FIG. 4
- the determination unit 81 it is determined that the rotation direction of the movable portion 43 at the time when the current detection pulse is output is “rightward” and the amount of change in rotation is 1 (step S6 in FIG. 4, processing in FIG. 7). Number P1).
- the determination unit 81 updates the previous pulse number to “1”, increases the rotation amount detection value by 1, and maintains the rotation direction information as “right”.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is positive, the determination unit 81 determines that the current pulse number is “1”. Subsequently, since the current pulse number is “1” and the previous pulse number is “2”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 5 ( If “2” is subtracted from “1”, the result is ⁇ 1. If the result of the subtraction is a negative value, a value obtained by adding 6 to the value is used as a pulse comparison value). Subsequently, when the pulse comparison value is 5 and the rotation direction information is “leftward” (step S1: NO in FIG.
- step S3 YES
- step S4 YES
- step S5 NO
- step S7 YES
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the current detection pulse is output is “left direction” and the rotation change amount is ⁇ 1 (step S6 in FIG. 4).
- Process number P2 in FIG. Subsequently, the determination unit 81 updates the previous pulse number to “5”, decreases the rotation amount detection value by 1, and maintains the rotation direction information as “left direction”.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is negative, the determination unit 81 determines that the current pulse number is “4”. Subsequently, since the current pulse number is “4” and the previous pulse number is “1”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 3. Subsequently, when the pulse comparison value is 3 and the rotation direction information is “rightward” (step S1: NO in FIG. 4, step S3: NO, step S12: YES, step S13: YES in FIG. 5).
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the current detection pulse is output is “left direction” and the rotation change amount is ⁇ 3 (step S14 in FIG. 5). Process number P3 in FIG. 7). Subsequently, the determination unit 81 updates the previous pulse number to “4”, decreases the rotation amount detection value by 3, and updates the rotation direction information to “left direction”.
- the present invention is applied to a rotation detection device having three magnetic sensors as an example.
- the present invention is based on n (n is an integer of 3 or more) magnetic sensors.
- the present invention can also be applied to a rotation detection device having When the present invention is applied to a rotation detection device having n magnetic sensors, the magnetization direction is not reversed by applying a unidirectional magnetic field if the movable part changes the rotation direction from the right direction to the left direction and continues to rotate in the left direction.
- the number of magnetic sensors becomes n, and as a result, the pulse comparison value becomes n and the rotation change amount becomes ⁇ n.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is negative, the determination unit 81 determines that the current pulse number is “4”. Subsequently, since the current pulse number is “4” and the previous pulse number is “1”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 3. Subsequently, when the pulse comparison value is 3 and the rotation direction information is “leftward” (step S1: NO in FIG. 4, step S3: NO, step S12: YES, step S13: YES in FIG. 5).
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the current detection pulse is output is “rightward” and the rotation change amount is 3 (step S14 in FIG. 5, FIG. Process number P4). Subsequently, the determination unit 81 updates the previous pulse number to “4”, increases the rotation amount detection value by 3, and updates the rotation direction information to “right”.
- n is an integer of 3 or more
- the movable unit changes the rotation direction from the left direction to the right direction and continues to rotate in the right direction
- the number of magnetic sensors whose magnetization directions are not reversed by applying the same direction magnetic field is n.
- the pulse comparison value is n
- the rotation change amount is n.
- the missing complement process is a process for determining the rotation direction and the rotation amount of the movable portion 43 when a detection pulse is missing.
- the magnet 54 approaches the magnetic sensor 62 and the magnetization direction of the magnetic sensor 62 is reversed, but the detection pulse that should be output from the magnetic sensor 62 is missing. did. Subsequently, the magnet 53 approaches the magnetic sensor 63, the magnetization direction of the magnetic sensor 63 is reversed, and a positive detection pulse is output from the magnetic sensor 63.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 63 and the pulse direction is positive, the determination unit 81 determines that the current pulse number is “3”. Subsequently, since the current pulse number is “3” and the previous pulse number is “1”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 2. Subsequently, when the pulse comparison value is 2 and the rotation direction information is “right direction” (step S1: NO in FIG. 4, step S3: NO, step S12: NO, step S18 in FIG. 6: YES).
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the detection pulse of this time is output is “unknown”, and sets the rotation change amount to the first. Is set to ⁇ 1 (step S22 in FIG. 6, process number P5 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “3”, decreases the rotation amount detection value by 1, and updates the rotation direction information to “unknown”.
- ⁇ 1 set as the rotation change amount is a first adjustment value for efficiently and properly performing the rotation detection process according to the present embodiment.
- the first adjustment value is ⁇ (n ⁇ 1) / 2.
- the magnets 53, 52, 51 sequentially approach the magnetic sensors 62, 63, 61, respectively.
- the magnetic sensors 62, 63, 61 The magnetization direction was not reversed.
- the magnet 54 approached the magnetic sensor 62, the magnetization direction of the magnetic sensor 62 was reversed, but the detection pulse that should have been output from the magnetic sensor 62 was missing.
- the magnet 53 approaches the magnetic sensor 63, the magnetization direction of the magnetic sensor 63 is reversed, and a positive detection pulse is output from the magnetic sensor 63.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 63 and the pulse direction is positive, the determination unit 81 determines that the current pulse number is “3”. Subsequently, since the current pulse number is “3” and the previous pulse number is “5”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 4 ( If “5” is subtracted from “3”, it is ⁇ 2. However, if the result of the subtraction is a negative value, a value obtained by adding 6 to that value is used as the pulse comparison value). Subsequently, when the pulse comparison value is 4 and the rotation direction information is “leftward” (step S1: NO in FIG.
- step S3 NO, step S12: NO, step S18 in FIG. 6: YES).
- step S19: NO, Step S21: NO) the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the detection pulse of this time is output is “unknown”, and sets the rotation change amount to the first. Is set as 1 (step S22 in FIG. 6, process number P8 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “3”, increases the rotation amount detection value by 1, and updates the rotation direction information to “unknown”.
- 1 set as the rotation change amount is a first adjustment value for performing the rotation detection process according to the present embodiment efficiently and appropriately.
- the first adjustment value is (n ⁇ 1) / 2.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is negative, the determination unit 81 determines that the current pulse number is “4”. Subsequently, since the current pulse number is “4” and the previous pulse number is “3”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 1. Subsequently, when the pulse comparison value is 1 and the rotation direction information is “unknown” (step S1: NO, step S3: YES, step S4: NO, step S9: NO in FIG.
- the determination unit 81 Determines that the rotation direction of the movable portion 43 at the time when the detection pulse of this time is output is “rightward”, and sets 4 as the second adjustment value for the rotation change amount (step in FIG. 4). S11, process number P9 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “4”, increases the rotation amount detection value by 4, and updates the rotation direction information to “right”.
- 4 set as the rotation change amount is a second adjustment value for efficiently and properly performing the rotation detection process according to the present embodiment.
- the second adjustment value is (n + 5) / 2.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 63 and the direction of the pulse is negative, the determination unit 81 determines that the current pulse number is “6”. Subsequently, since the current pulse number is “6” and the previous pulse number is “1”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 5. Subsequently, when the pulse comparison value is 5 and the rotation direction information is “unknown” (step S1: NO, step S3: YES, step S4: NO, step S9: NO in FIG.
- the determination unit 81 Determines that the rotation direction of the movable portion 43 at the time when the current detection pulse is output is “leftward”, and sets ⁇ 4 as the second adjustment value for the rotation change amount (in FIG. 4). Step S11, process number P10 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “6”, decreases the rotation amount detection value by 4, and updates the rotation direction information to “left direction”.
- -4 set as the rotation change amount is a second adjustment value for efficiently and properly performing the rotation detection process according to the present embodiment.
- the second adjustment value is ⁇ (n + 5) / 2.
- the adjustment of the rotation amount detection value of the movable portion 43 using the first adjustment value and the second adjustment value will be described. That is, when the detection pulse is output from any of the magnetic sensors 61, 62, and 63 after the detection pulse is lost, the rotational direction of the movable portion 43 is determined to be “unknown” and stored at that time.
- the first adjustment value ( ⁇ 1 or 1) is set to the rotation change amount according to whether the rotation direction information stored in the unit 82 is “right” or “left”. Subsequently, the rotation amount detection value is adjusted by adding the rotation change amount set with the first adjustment value to the rotation amount detection value.
- the above-described missing complement processing A or B is an example of this adjustment.
- the second adjustment value (4 or -4) is set for the rotation change amount in accordance with the determination of "" or "left direction”.
- the rotation amount detection value is adjusted by adding the rotation change amount set with the second adjustment value to the rotation amount detection value.
- the above-described missing complement processing C or D is an example of this adjustment.
- the rotation amount detection value after these two adjustments are performed is a value indicating the correct rotation amount of the movable portion 43, and the influence of missing detection pulses is eliminated.
- the magnets 51, 54, 53 sequentially approach the magnetic sensors 61, 62, 63, respectively.
- the magnetization direction was not reversed.
- the magnetization direction of the magnetic sensor 61 is reversed, and a negative detection pulse is output from the magnetic sensor 61.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is negative, the determination unit 81 determines that the current pulse number is “4”. Subsequently, since the current pulse number is “4” and the previous pulse number is “1”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 3. Subsequently, when the pulse comparison value is 3 and the rotation direction information is “unknown” (step S1: NO in FIG. 4, step S3: NO, step S12: YES, step S13: NO in FIG. 5).
- Step S15 NO
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the current detection pulse is output is “unknown reversal”, and sets the rotation change amount to 0 (in FIG. 5).
- Step S17 process number P12 in FIG. 8).
- the determination unit 81 updates the previous pulse number to “4”, updates the rotation direction information to “unknown reversal” without changing the rotation amount detection value.
- the rotation change amount is set to 0.
- the rotation change amount is set to 0.
- the movable unit 43 changed the rotation direction from the left direction to the right direction and rotated about 120 degrees in the right direction. While the movable portion 43 is rotated about 120 degrees in the right direction, first, the magnets 51, 54, 53 sequentially approach the magnetic sensors 61, 62, 63, respectively. The magnetization direction was not reversed. Subsequently, when the magnet 52 approaches the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 is reversed, and a negative detection pulse is output from the magnetic sensor 61.
- the previous pulse number is updated to “4”, and the rotation direction information is updated to “unknown reversal”.
- the movable part 43 rotates about 30 degrees in the right direction, the magnet 51 approaches the magnetic sensor 62, the magnetization direction of the magnetic sensor 62 is reversed, and a positive detection pulse is output from the magnetic sensor 62. .
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 62 and the direction of the pulse is positive, the determination unit 81 determines that the current pulse number is “5”. Subsequently, since the current pulse number is “5” and the previous pulse number is “4”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 1. Subsequently, when the pulse comparison value is 1 and the rotation direction information is “unknown reversal” (step S1: NO, step S3: YES, step S4: NO, step S9: YES in FIG.
- the determination unit 81 it is determined that the rotation direction of the movable portion 43 at the time when the current detection pulse is output is “rightward”, and 1 is set as the third adjustment value for the rotation change amount (step in FIG. 4). S10, process number P13 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “5”, increases the rotation amount detection value by 1, and updates the rotation direction information to “right”.
- 1 set as the rotation change amount is a third adjustment value for efficiently and properly performing the rotation detection process according to the present embodiment.
- the third adjustment value is (n ⁇ 1) / 2.
- the movable unit 43 changed the rotation direction from the right direction to the left direction and rotated about 120 degrees in the left direction. While the movable portion 43 is rotated about 120 degrees in the left direction, first, the magnets 51, 52, and 53 sequentially approach the magnetic sensors 62, 61, and 63, respectively. The magnetization direction was not reversed. Subsequently, when the magnet 54 approached the magnetic sensor 62, the magnetization direction of the magnetic sensor 62 was reversed, and a negative detection pulse was output from the magnetic sensor 62.
- the previous pulse number is updated to “2”, and the rotation direction information is updated to “unknown reversal”.
- the movable part 43 rotated about 30 degrees in the left direction.
- the magnet 51 approaches the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 is reversed, and a positive detection pulse is output from the magnetic sensor 61.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is positive, the determination unit 81 determines that the current pulse number is “1”. Subsequently, since the current pulse number is “1” and the previous pulse number is “2”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 5 ( If “2” is subtracted from “1”, the result is ⁇ 1. If the result of the subtraction is a negative value, a value obtained by adding 6 to the value is used as a pulse comparison value).
- step S1 NO, step S3: YES, step S4: NO, step S9: YES in FIG. 4
- the determination unit 81 it is determined that the rotation direction of the movable portion 43 at the time when the current detection pulse is output is “leftward”, and the rotation adjustment amount is set to ⁇ 1 as a third adjustment value (in FIG. 4).
- Step S10 process number P14 in FIG. 8).
- the determination unit 81 updates the previous pulse number to “1”, decreases the rotation amount detection value by 1, and updates the rotation direction information to “left direction”.
- 1 set as the rotation change amount is a third adjustment value for efficiently and properly performing the rotation detection process according to the present embodiment.
- the third adjustment value is-(n-1) / 2.
- the adjustment of the rotation amount detection value of the movable portion 43 using the third adjustment value will be described. That is, when the detection pulse is output from any of the magnetic sensors 61, 62, and 63 after the detection pulse is lost, the rotational direction of the movable portion 43 is determined to be “unknown” and stored at that time.
- the first adjustment value ( ⁇ 1 or 1) is set to the rotation change amount according to whether the rotation direction information stored in the unit 82 is “right” or “left”. Subsequently, the rotation amount detection value is adjusted by adding the rotation change amount set with the first adjustment value to the rotation amount detection value.
- the above-described missing complement processing A or B is an example of this adjustment.
- the rotation change amount is set to 0.
- the rotation amount detection value does not change.
- the rotation direction of the movable portion 43 is “right direction” or “left direction” when the detection pulse is output from any of the magnetic sensors 61, 62, and 63, this “right direction”.
- the third adjustment value (1 or ⁇ 1) is set for the rotation change amount according to the determination of “” or “left direction”.
- the rotation amount detection value is adjusted by adding the rotation change amount set with the third adjustment value to the rotation amount detection value.
- the above-described missing complement processing F or G is an example of this adjustment. After these two adjustments are made, the rotation amount detection value becomes a value indicating the correct rotation amount of the movable portion 43, and the influence of missing detection pulses is removed.
- the movable unit 43 changed the rotation direction from the left direction to the right direction and rotated about 120 degrees in the right direction. While the movable portion 43 is rotated about 120 degrees in the right direction, first, the magnets 51, 54, 53 sequentially approach the magnetic sensors 61, 62, 63, respectively. The magnetization direction was not reversed. Subsequently, when the magnet 52 approaches the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 is reversed, and a negative detection pulse is output from the magnetic sensor 61.
- the previous pulse number is updated to “4”, and the rotation direction information is updated to “unknown reversal”.
- the movable part 43 changed the rotation direction from the right direction to the left direction and rotated about 120 degrees in the left direction. While the movable portion 43 is rotated about 120 degrees in the left direction, first, the magnets 52, 53, and 54 sequentially approach the magnetic sensors 61, 63, and 62, respectively. The magnetization direction was not reversed. Subsequently, when the magnet 51 approaches the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 is reversed, and a positive detection pulse is output from the magnetic sensor 61.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is positive, the determination unit 81 determines that the current pulse number is “1”. Subsequently, since the current pulse number is “1” and the previous pulse number is “4”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 3 ( If “4” is subtracted from “1”, the result is ⁇ 3. If the result of the subtraction is a negative value, a value obtained by adding 6 to that value is used as the pulse comparison value). Subsequently, when the pulse comparison value is 3 and the rotation direction information is “unknown reversal” (step S1: NO in FIG.
- step S3 NO, step S12: YES, step S13: NO in FIG. 5).
- step S15 YES
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the current detection pulse is output is “unknown”, and sets the rotation change amount to 0 (FIG. 5).
- Step S16 in the middle, process number P15 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “1”, updates the rotation direction information to “unknown” without changing the rotation amount detection value.
- the rotation change amount is set to 0.
- the rotation change amount is set to 0.
- the magnets 52, 53, and 54 sequentially approach the magnetic sensors 63, 62, and 61, respectively.
- the magnetization direction of was not reversed.
- the magnet 51 approaches the magnetic sensor 63, the magnetization direction of the magnetic sensor 63 is reversed, and a positive detection pulse is output from the magnetic sensor 63.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 63 and the pulse direction is positive, the determination unit 81 determines that the current pulse number is “3”. Subsequently, since the current pulse number is “3” and the previous pulse number is “5”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 4 ( If “5” is subtracted from “3”, the result is ⁇ 2. However, if the result of the subtraction is a negative value, a value obtained by adding 6 to that value is used as the pulse comparison value). Subsequently, when the pulse comparison value is 4 and the rotation direction information is “rightward” (step S1: NO in FIG.
- step S3 NO, step S12: NO, step S18 in FIG. 6: YES).
- step S19 NO, Step S21: YES)
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the current detection pulse is output is “left direction” and the rotation change amount is ⁇ 2. Judgment is made (step S20 in FIG. 6, process number P18 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “3”, decreases the rotation amount detection value by 2, and updates the rotation direction information to “left direction”.
- the magnets 51, 52, and 53 sequentially approach the magnetic sensors 61, 63, and 62, respectively.
- the magnetization direction was not reversed.
- the magnet 54 approached the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 was reversed, but the detection pulse that should have been output from the magnetic sensor 61 was missing.
- the magnet 51 approaches the magnetic sensor 63, the magnetization direction of the magnetic sensor 63 is reversed, and a positive detection pulse is output from the magnetic sensor 63.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 63 and the pulse direction is positive, the determination unit 81 determines that the current pulse number is “3”. Subsequently, since the current pulse number is “3” and the previous pulse number is “1”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 2. Subsequently, when the pulse comparison value is 2 and the rotation direction information is “unknown” (step S1: NO in FIG. 4, step S3: NO, step S12: NO, step S18: NO in FIG. 6).
- Step S23 NO
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the current detection pulse is output is “leftward” and the rotation change amount is ⁇ 1 (in FIG. 6).
- Step S25 process number P19 in FIG. 9).
- the determination unit 81 updates the previous pulse number to “3”, decreases the rotation amount detection value by 1, and updates the rotation direction information to “left direction”.
- the movable unit 43 changed the rotation direction from the left direction to the right direction and rotated about 120 degrees in the right direction. While the movable portion 43 is rotated about 120 degrees in the right direction, first, the magnets 54, 53, and 52 sequentially approach the magnetic sensors 61, 62, and 63, respectively. The magnetization direction was not reversed. Subsequently, when the magnet 51 approaches the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 is reversed, and a positive detection pulse is output from the magnetic sensor 61.
- the previous pulse number is updated to “1”, and the rotation direction information is updated to “unknown reversal”.
- the movable portion 43 rotates about 60 degrees in the right direction.
- the magnet 54 approaches the magnetic sensor 62, the magnetization direction of the magnetic sensor 62 is reversed, but should be output from the magnetic sensor 62. Missing detection pulse.
- the magnet 53 approaches the magnetic sensor 63, the magnetization direction of the magnetic sensor 63 is reversed, and a positive detection pulse is output from the magnetic sensor 63.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 63 and the pulse direction is positive, the determination unit 81 determines that the current pulse number is “3”. Subsequently, since the current pulse number is “3” and the previous pulse number is “1”, the determination unit 81 subtracts the previous pulse number from the current pulse number and determines that the pulse comparison value is 2. Subsequently, when the pulse comparison value is 2 and the rotation direction information is “unknown reversal” (step S1: NO in FIG. 4, step S3: NO, step S12: NO, step S18 in FIG. 6: NO).
- Step S23 YES
- the determination unit 81 determines that the rotation direction of the movable unit 43 at the time when the current detection pulse is output is “unknown”, and sets the rotation change amount to ⁇ 1 as a fourth adjustment value. Is set (step S24 in FIG. 6, process number P21 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “3”, decreases the rotation amount detection value by 1, and updates the rotation direction information to “unknown”.
- ⁇ 1 is set as the fourth adjustment value in the rotation change amount in this process.
- the magnets 51, 52, and 53 sequentially approach the magnetic sensors 61, 63, and 62, respectively, but the magnetization directions of the magnetic sensors 61, 63, and 62 were not reversed by applying the same direction magnetic field.
- the magnet 54 approaches the magnetic sensor 61 and the magnetization direction of the magnetic sensor 61 is reversed, but a detection pulse that should be output from the magnetic sensor 61 is missing.
- the movable portion 43 changed the rotation direction from the left direction to the right direction and rotated about 120 degrees in the right direction.
- the magnets 54, 53, 52 sequentially approach the magnetic sensors 61, 62, 63, respectively, but the magnetization directions of the magnetic sensors 61, 62, 63 were not reversed by applying the same direction magnetic field. Subsequently, the magnet 51 approaches the magnetic sensor 61, the magnetization direction of the magnetic sensor 61 is reversed, and a positive pulse signal is output from the magnetic sensor 61.
- the rotation detection process in this case is as follows. That is, since the output source of the current detection pulse is the magnetic sensor 61 and the direction of the pulse is positive, the determination unit 81 determines that the current pulse number is “1”. Subsequently, since the current pulse number is “1” and the previous pulse number is “1”, the determination unit 81 determines that the pulse comparison value is 0 by subtracting the previous pulse number from the current pulse number. Subsequently, when the pulse comparison value is 0 and the rotation direction information is “right direction” (step S1: YES in FIG. 4), the determination unit 81 is a movable unit at the time when the current detection pulse is output.
- step S2 in FIG. 4 and process number P25 in FIG. 8 It is determined that the rotation direction of 43 is “rightward” and the amount of change in rotation is 0 (step S2 in FIG. 4 and process number P25 in FIG. 8). Subsequently, the determination unit 81 updates the previous pulse number to “1”, maintains the rotation direction information “right” without changing the rotation amount detection value.
- the rotation amount detection value in this process is determined to be zero.
- FIG. 8 or FIG. 9 shows some missing complement processing that has not been described. However, these missing complement processes that are not explained can be fully understood by understanding FIG. 8 or FIG. 9 after understanding the explanation of the above 12 missing complement processes.
- the determination unit 81 determines an error, For example, the rotation detection process is stopped, and the rotation direction and the rotation amount of the movable portion 43 are corrected by other correction means. A description of correction means when an error occurs will be omitted.
- the rotation detection device 31 it is possible to determine the rotation direction and the rotation amount of the movable portion 43 without using the previous detection pulse in the missing complement processing. Therefore, it is possible to reduce the information necessary for performing the process of determining the rotation direction and the rotation amount of the movable part 43, and to reduce the storage area of the storage element used for the process.
- the rotation detection device 31 according to the embodiment of the present invention will be described in detail in comparison with the prior art. That is, a first example of the missing complement processing in the rotation detection device 300 (the rotation detection device described in Patent Document 1) according to the prior art and the missing complement processing A and C in the rotation detection device 31 according to the embodiment of the present invention. And the mode of operation of the movable part is common.
- the second example of the missing complement processing in the rotation detection device 300 according to the prior art and the missing complement processing B and C in the rotation detection device 31 according to the embodiment of the present invention have opposite rotation directions.
- the mode of operation of the movable part is common.
- the third example of the missing complement processing in the rotation detection device 300 according to the prior art and the missing complement processing F in the rotation detection device 31 according to the embodiment of the present invention share the same mode of operation of the movable part. Yes.
- the missing complement processing according to the conventional technique In comparison between the missing complement processing according to the conventional technique and the missing complement processing according to the embodiment of the present invention, in the missing complement processing according to the conventional technique, information indicating the presence / absence of a missing detection pulse is stored, and based on this information, the detection pulse is stored. When it is recognized that the omission has occurred, the number of the previous detection pulse is subtracted from the number of the detection pulse of this time, and the correct rotation change amount of the movable part is calculated using the value obtained thereby. For this reason, in the rotation detection device 300 according to the prior art, it is necessary to always hold the detection pulse of the previous time, and it is necessary to update the detection pulse of the previous time using the previous detection pulse every time a new detection pulse is output. There is. Therefore, in order to hold and update the previous detection pulse, a storage area for storing a variable input from the outside must be secured in the storage element.
- “right direction”, “left direction”, “unknown” and “unknown inversion” are stored as rotation direction information, and it is recognized that a detection pulse is missing.
- the rotation direction information is set to “unknown”, and subsequently, when the rotation direction information is “unknown”, the rotation change amount of the movable portion 43 is adjusted using the first adjustment value, and then the rotation direction information. Is updated from “Unknown” to “Right” or “Left”, the second adjustment value is used to adjust the rotation change amount of the movable portion 43, and thereby the correct rotation change amount of the movable portion 43. Is calculated.
- the rotation direction information is updated from “unknown” to “unknown reversal”. Subsequently, when the rotation direction information is “unknown reversal”, the rotation change amount of the movable portion 43 is set to 0, and subsequently, the rotation direction information changes from “unknown reversal” to “right direction” or “left direction”. Is updated using the third adjustment value, the rotation change amount of the movable portion 43 is adjusted, thereby calculating the correct rotation change amount of the movable portion 43.
- the rotation change amount of the movable portion 43 is adjusted using the fourth adjustment value, and the correct rotation change amount of the movable portion 43 is calculated.
- the first adjustment value is 1 or ⁇ 1
- the second adjustment value is 4 or ⁇ 4
- the third adjustment value is 1 or ⁇ 1
- the adjustment value of 1, the second adjustment value, and the third adjustment value are constant values determined according to the number of magnetic sensors.
- the fourth adjustment value is 1 or ⁇ 1, which is also a constant value. Therefore, these adjustment values can be defined as constants in the computer program for executing the missing complement process. That is, in the rotation detection device 31 according to the embodiment of the present invention, in order to store the first adjustment value, the second adjustment value, the third adjustment value, and the fourth adjustment value, variables input from the outside are stored. It is not necessary to secure a storage area for storage in the storage element. Therefore, according to the rotation detection device 31 according to the embodiment of the present invention, as compared with the prior art, in the storage element, the storage size for storing the variable input from the outside has a data size ( For example, 3 bits) can be reduced.
- a data size For example, 3 bits
- the case where the three magnetic sensors 61, 62, and 63 are provided is taken as an example, but as described several times in the description of the above-described embodiment, the number of magnetic sensors is four. That's all.
- the case where the four magnets 51, 52, 53, and 54 are arranged at intervals of 90 degrees and the three magnetic sensors 61, 62, and 63 are arranged at intervals of 120 degrees is given as an example.
- the present invention is not limited to this.
- four magnets may be arranged at intervals of 90 degrees, and three magnetic sensors may be arranged at intervals of 30 degrees around a part of the movable portion. That is, in the rotation detection device 300 shown in FIG.
- the magnets 51, 52, 53, and 54 are provided on the movable portion 43, and the magnetic sensors 61, 62, and 63 are provided around the movable portion 43.
- the present invention is not limited to this. Not limited to.
- the magnetic sensors 61, 62, and 63 may be provided on the movable portion 43, and the magnets 51, 52, 53, and 54 may be provided around the movable portion 43. In this case, it is the magnetic sensors 61, 62, and 63 that change the position together with the movable portion 43, and the magnets 51, 52, 53, and 54 do not change the position.
- any one of the magnets 51, 52, 53, and 54 and any one of the magnetic sensors 61, 62, and 63 are in the radial direction of the movable unit 43 due to the rotation of the movable unit 43.
- the arrangement of the magnets 51, 52, 53 and 54 and the magnetic sensors 61, 62 and 63 is set so as to face each other is taken as an example, the present invention is not limited to this.
- any one of four magnets 112 (only two are shown in FIG. 11) and three magnetic sensors 113 (2 in FIG.
- the arrangement of the magnet 112 and the magnetic sensor 113 may be set so that any one of them may face each other in a direction parallel to the rotation axis of the movable portion 111.
- the rotation detection device that detects the rotation direction and the rotation amount of the detection target object has been described as an example, but the present invention is not limited to this.
- a plurality of pairs of magnets 122 are provided in the movable portion 121 that moves around together with the detection target, and three or more magnetic sensors 123 are provided around the movable portion 121 as in the circular motion detection device 120 illustrated in FIG.
- the present invention can also be applied to the obtained motion detection apparatus.
- Rotation detection device Motion detection device
- Rotating shaft object to be detected
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Abstract
Description
図13において、回転検出装置300は、例えば、産業用ロボットの可動部分に設けられたサーボモータの回転軸301の回転方向および回転量を検出することができる装置である。回転検出装置300は、回転軸301に固定され、回転軸301の回転に応じて回転する可動部302を備えている。可動部302の回転方向および回転量は、回転軸301の回転方向および回転量と一致する。
以下、可動部302の回転方向および回転量を判断するために回転検出回路330が行う通常処理を4通り説明する。
以上の回転検出回路330における4通りの通常処理は、各磁気センサ321、322、323の磁化方向が反転したときに、磁化方向が反転した磁気センサから検出パルスが必ず出力されることを前提とした処理である。ところが、各磁気センサ321、322、323において、磁化方向が反転したにもかかわらず、検出パルスが出力されないといった事態、すなわち検出パルスの欠落が起こることがある。検出パルスの欠落が起こった場合、上述した通常処理では、可動部302の回転方向または回転量を正しく判断することができなくなる。
回転検出回路330は、このような検出パルスの欠落を補完し、可動部302の回転方向および回転量を正しく判断する処理(以下、これを「欠落補完処理」という。)を行う機能を備えている。以下、欠落補完処理につき、3通りの例をあげて説明する。
図1は、本発明の実施形態による回転検出装置を示し、図2は図1中の矢示II-II方向から見た回転検出装置の断面を示している。
図3は回転検出回路68の内部構造を示している。回転検出回路68は、可動部43の回転方向および回転量を検出する回路である。回転検出回路68は、判断部81、記憶部82、および電源電圧生成回路83を備えている。なお、回転検出回路68は運動検出回路の具体例である。
図4ないし図6は回路検出回路68による回転検出処理を示している。図7ないし図9は、可動部43の動作と回転検出処理で用いられる情報との対応関係を示している。
例えば、前回、可動部43が右方向に回転し、磁石52が磁気センサ63に接近し、磁気センサ63の磁化方向が反転し、磁気センサ63から負方向の検出パルスが出力された。また、この時点に至るまでのしばらくの間、検出パルスの欠落は発生していなかった。その結果、記憶部82において、前回パルス番号が「6」に更新され、回転方向情報が「右方向」に更新された。この状態から、可動部43が右方向に約30度回転し、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。
例えば、前回、可動部43が左方向に回転し、磁石54が磁気センサ62に接近し、磁気センサ62の磁化方向が反転し、磁気センサ62から負方向の検出パルスが出力された。また、この時点に至るまでのしばらくの間、検出パルスの欠落は発生していなかった。その結果、記憶部82において、前回パルス番号が「2」に更新され、回転方向情報が「左方向」に更新された。この状態から、可動部43が左方向に約30度回転し、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。
例えば、前回、可動部43が右方向に回転し、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。また、この時点に至るまでのしばらくの間、検出パルスの欠落は発生していなかった。その結果、記憶部82において、前回パルス番号が「1」に更新され、回転方向情報が「右方向」に更新された。この状態から、可動部43が回転方向を右方向から左方向に変え、左方向に約120度回転した。可動部43が左方向に約120度回転した間、まず、磁石51、52、53が磁気センサ61、63,62にそれぞれ順次接近したが、同方向磁界付与により磁気センサ61、63、62の磁化方向は反転しなかった。続いて、磁石54が磁気センサ61に接近したとき、磁気センサ61の磁化方向が反転し、磁気センサ61から負方向の検出パルスが出力された。
例えば、前回、可動部43が左方向に回転し、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。また、この時点に至るまでのしばらくの間、検出パルスの欠落は発生していなかった。その結果、記憶部82において、前回パルス番号が「1」に更新され、回転方向情報が「左方向」に更新された。この状態から、可動部43が回転方向を左方向から右方向に変え、右方向に約120度回転した。可動部43が右方向に約120度回転した間、まず、磁石51、54、53が磁気センサ61、62、63にそれぞれ順次接近したが、同方向磁界付与により磁気センサ61、62、63の磁化方向は反転しなかった。続いて、磁石52が磁気センサ61に接近したとき、磁気センサ61の磁化方向が反転し、磁気センサ61から負方向の検出パルスが出力された。
例えば、前回、可動部43が右方向に回転し、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。また、この時点に至るまでのしばらくの間、検出パルスの欠落は発生していなかった。その結果、記憶部82において、前回パルス番号が「1」に更新され、回転方向情報が「右方向」に更新された。この状態から、可動部43が右方向に約60度回転した。可動部43が右方向に約60度回転した間、まず、磁石54が磁気センサ62に接近し、磁気センサ62の磁化方向が反転したが、磁気センサ62から出力されるはずの検出パルスが欠落した。続いて、磁石53が磁気センサ63に接近し、磁気センサ63の磁化方向が反転し、磁気センサ63から正方向の検出パルスが出力された。
例えば、前回、可動部43が左方向に回転し、磁石53が磁気センサ62に接近し、磁気センサ62の磁化方向が反転し、磁気センサ62から正方向の検出パルスが出力された。また、この時点において、しばらくの間、検出パルスの欠落は発生していなかった。その結果、記憶部82において、前回パルス番号が「5」に更新され、回転方向情報が「左方向」に更新された。この状態から、可動部43が回転方向を左方向から右方向に変え、右方向に約150度回転した。可動部43が右方向に約150度回転した間、まず、磁石53、52、51が磁気センサ62、63、61にそれぞれ順次接近したが、同方向磁界付与により磁気センサ62、63、61の磁化方向は反転しなかった。続いて、磁石54が磁気センサ62に接近したとき、磁気センサ62の磁化方向が反転したが、磁気センサ62から出力されるはずの検出パルスが欠落した。続いて、磁石53が磁気センサ63に接近し、磁気センサ63の磁化方向が反転し、磁気センサ63から正方向の検出パルスが出力された。
例えば、前回、可動部43が右方向に約60度回転し、この間、まず、磁石54が磁気センサ62に接近し、磁気センサ62の磁化方向が反転したが、磁気センサ62から出力されるはずの検出パルスが欠落した。続いて、磁石53が磁気センサ63に接近し、磁気センサ63の磁化方向が反転し、磁気センサ63から正方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「3」に更新され、回転方向情報が「不明」に更新された。この状態から、可動部43が右方向に約30度回転し、磁石52が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から負方向の検出パルスが出力された。
例えば、前回、可動部43が左方向に約60度回転し、この間、まず、磁石54が磁気センサ62に接近し、磁気センサ62の磁化方向が反転したが、磁気センサ62から出力されるはずの検出パルスが欠落した。続いて、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「1」に更新され、回転方向情報が「不明」に更新された。この状態から、可動部43が左方向に約30度回転し、磁石52が磁気センサ63に接近し、磁気センサ63の磁化方向が反転し、磁気センサ63から負方向の検出パルスが出力された。
例えば、前回、可動部43が左方向に約60度回転し、この間、まず、磁石54が磁気センサ62に接近し、磁気センサ62の磁化方向が反転したが、磁気センサ62から出力されるはずの検出パルスが欠落した。続いて、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「1」に更新され、回転方向情報が「不明」に更新された。この状態から、可動部43が回転方向を左方向から右方向に変え、右方向に約120度回転した。可動部43が右方向に約120度回転した間、まず、磁石51、54、53が磁気センサ61、62、63にそれぞれ順次接近したが、同方向磁界付与により磁気センサ61、62、63の磁化方向は反転しなかった。続いて、磁石52が磁気センサ61に接近したとき、磁気センサ61の磁化方向が反転し、磁気センサ61から負方向の検出パルスが出力された。
例えば、前回、検出パルスの欠落により回転方向が不明状態となった後、可動部43が回転方向を左方向から右方向に変え、右方向に約120度回転した。可動部43が右方向に約120度回転した間、まず、磁石51、54、53が磁気センサ61、62,63にそれぞれ順次接近したが、同方向磁界付与により磁気センサ61、62、63の磁化方向は反転しなかった。続いて、磁石52が磁気センサ61に接近したとき、磁気センサ61の磁化方向が反転し、磁気センサ61から負方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「4」に更新され、回転方向情報が「不明反転」に更新された。この状態から、可動部43が右方向に約30度回転し、磁石51が磁気センサ62に接近し、磁気センサ62の磁化方向が反転し、磁気センサ62から正方向の検出パルスが出力された。
例えば、前回、検出パルスの欠落により回転方向が不明状態となった後、可動部43が回転方向を右方向から左方向に変え、左方向に約120度回転した。可動部43が左方向に約120度回転した間、まず、磁石51、52、53が磁気センサ62、61、63にそれぞれ順次接近したが、同方向磁界付与により磁気センサ62、61、63の磁化方向は反転しなかった。続いて、磁石54が磁気センサ62に接近したとき、磁気センサ62の磁化方向が反転し、磁気センサ62から負方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「2」に更新され、回転方向情報が「不明反転」に更新された。この状態から、可動部43が左方向に約30度回転した。磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。
例えば、前回、検出パルスの欠落により回転方向が不明状態となった後、可動部43が回転方向を左方向から右方向に変え、右方向に約120度回転した。可動部43が右方向に約120度回転した間、まず、磁石51、54、53が磁気センサ61、62、63にそれぞれ順次接近したが、同方向磁界付与により磁気センサ61、62、63の磁化方向は反転しなかった。続いて、磁石52が磁気センサ61に接近したとき、磁気センサ61の磁化方向が反転し、磁気センサ61から負方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「4」に更新され、回転方向情報が「不明反転」に更新された。この状態から、可動部43が回転方向を右方向から左方向に変え、左方向に約120度回転した。可動部43が左方向に約120度回転した間、まず、磁石52、53、54が磁気センサ61、63、62にそれぞれ順次接近したが、同方向磁界付与により磁気センサ61、63、62の磁化方向は反転しなかった。続いて、磁石51が磁気センサ61に接近したとき、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。
例えば、前回、可動部43が右方向に約60度回転し、この間、まず、磁石53が磁気センサ62に接近し、磁気センサ62の磁化方向が反転し、磁気センサ62から正方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「5」に更新され、回転方向情報が「右方向」に更新された。続いて、磁石52が磁気センサ63に接近し、磁気センサ63の磁化方向が反転したが、磁気センサ63から出力されるはずの検出パルスが欠落した。その後、可動部43が回転方向を右方向から左方向に変え、左方向に約120度回転した。可動部43が左方向に約120度回転した間、まず、磁石52、53、54が磁気センサ63、62、61にそれぞれ順次接近したが、同方向磁界付与により、磁気センサ63、62、61の磁化方向は反転しなかった。続いて、磁石51が磁気センサ63に接近し、磁気センサ63の磁化方向が反転し、磁気センサ63から正方向の検出パルスが出力された。
例えば、前回、可動部43が右方向に約60度回転し、この間、まず、磁石52が磁気センサ63に接近し、磁気センサ63の磁化方向が反転したが、磁気センサ63から出力されるはずの検出パルスが欠落した。続いて、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「1」に更新され、回転方向情報が「不明」に更新された。この状態から、可動部43が回転方向を右方向から左方向に変え、左方向に約150度回転した。可動部43が左方向に約150度回転した間、まず、磁石51、52、53が磁気センサ61、63、62にそれぞれ順次接近したが、同方向磁界付与により磁気センサ61、63、62の磁化方向は反転しなかった。続いて、磁石54が磁気センサ61に接近したとき、磁気センサ61の磁化方向が反転したが、磁気センサ61から出力されるはずの検出パルスが欠落した。続いて、磁石51が磁気センサ63に接近し、磁気センサ63の磁化方向が反転し、磁気センサ63から正方向の検出パルスが出力された。
例えば、前回、検出パルスの欠落により回転方向が不明状態となった直後、可動部43が回転方向を左方向から右方向に変え、右方向に約120度回転した。可動部43が右方向に約120度回転した間、まず、磁石54、53、52が磁気センサ61、62、63にそれぞれ順次接近したが、同方向磁界付与により磁気センサ61、62、63の磁化方向は反転しなかった。続いて、磁石51が磁気センサ61に接近したとき、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「1」に更新され、回転方向情報が「不明反転」に更新された。その後、可動部43が右方向に約60度回転し、この間、まず、磁石54が磁気センサ62に接近したとき、磁気センサ62の磁化方向が反転したが、磁気センサ62から出力されるはずの検出パルスが欠落した。続いて、磁石53が磁気センサ63に接近し、磁気センサ63の磁化方向が反転し、磁気センサ63から正方向の検出パルスが出力された。
例えば、前回、可動部43が右方向に約30度回転し、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向の検出パルスが出力された。その結果、記憶部82において、前回パルス番号が「1」に更新され、回転方向情報が「右方向」に更新された。その後、可動部43が回転方向を右方向から左方向へ変え、左方方向に約120度回転した。この間、まず、磁石51、52、53が磁気センサ61、63、62にそれぞれ順次接近するが、同方向磁界付与により磁気センサ61、63、62の磁化方向は反転しなかった。続いて、磁石54が磁気センサ61に接近し、磁気センサ61の磁化方向が反転したが、磁気センサ61から出力されるはずの検出パルスが欠落した。その後、可動部43が回転方向を左方向から右方向へ変え、右方向に約120度回転した。この間、磁石54、53、52が磁気センサ61、62、63にそれぞれ順次接近するが、同方向磁界付与により、磁気センサ61、62、63の磁化方向は反転しなかった。続いて、磁石51が磁気センサ61に接近し、磁気センサ61の磁化方向が反転し、磁気センサ61から正方向のパルス信号が出力された。
パルス比較値が1であり、回転方向情報が「左方向」である場合、またはパルス比較値が5であり、回転方向情報が「右方向」である場合、判断部81はエラーと判断し、例えば、回転検出処理を中止し、他の修正手段により、可動部43の回転方向および回転量の修正を行う。エラーが起こった際の修正手段については説明を省略する。
32、301 回転軸(被検出体)
43、111、121、312 可動部
51、52、53、54、112、122 磁石(磁界発生部)
61、62、63、113、123 磁気センサ(磁界検出部)
64、複合磁気ワイヤ
65 コイル
66 基板
68 回転検出回路(運動検出回路)
81 判断部(演算処理部、更新処理部)
82 記憶部
83 電源電圧生成回路
120 周回運動検出装置(運動検出装置)
Claims (7)
- 被検出体の回転運動または周回運動を検出する運動検出装置であって、
被検出体の回転運動または周回運動に応じて回転運動または周回運動する可動部と、
前記可動部および前記可動部近傍のうちの一方に配置され、方向が互いに異なる磁界をそれぞれ発生させる少なくとも一対の磁界発生部と、
前記可動部および前記可動部近傍のうちの他方に配置され、前記一対の磁界発生部のうちの一方の磁界発生部が接近したときに磁化方向が変化し、当該変化に応じて正方向の検出パルスを出力し、前記一対の磁界発生部のうちの他方の磁界発生部が接近したときに磁化方向が変化し、当該変化に応じて負方向の検出パルスを出力するn(nは3以上の整数)個の磁界検出部と、
記憶部、演算処理部および更新処理部を有し、前記各磁界検出部から出力される検出パルスを受け取り、当該受け取った検出パルスに基づいて前記被検出体の回転運動または周回運動の状態を検出する運動検出回路とを備え、
前記少なくとも一対の磁界発生部および前記n個の磁界検出部は、前記可動部が一方向に回転する間に、前記n個の磁界検出部のそれぞれから正方向および負方向のうちの一方の方向の1つの検出パルスがそれぞれ異なるタイミングで連続して出力され(この間に出力されるn個の検出パルスの正負の方向はそれぞれ同一であるとは限らない)、続いてさらに前記可動部が一方向に回転する間に、前記n個の磁界検出部のそれぞれから正方向および負方向のうちの他方の1つの検出パルスがそれぞれ異なるタイミングで連続して出力され(この間に出力されたn個の検出パルスの正負の方向はそれぞれ同一であるとは限らない)、これにより出力元と正負の方向との組合せが異なる合計2n個の検出パルスからなる一定の出力パターンが形成されるように配置され、
前記演算処理部は、前記出力パターンを形成する2n個の検出パルスに1、2、…、n、n+1、n+2、…、2nの番号をそれぞれ順次割り当て、
前記記憶部には、前記n個の磁界検出部のうちのいずれかの磁界検出部から前回出力された検出パルスの番号と、当該前回の検出パルスが出力された時点における前記可動部の運動方向が一方向か、他方向か、不明か、または不明状態で反転した(以下、これを「不明反転」という。)かを示す運動方向情報と、当該前回の検出パルスが出力された時点における前記可動部の運動量を示す運動量検出値とが記憶され、
前記演算処理部は、前記n個の磁界検出部のうちのいずれかの磁界検出部から今回出力された検出パルスの番号と前記記憶部に記憶された前回の検出パルスの番号との差と、前記記憶部に記憶された運動方向情報および運動量検出値とに基づいて、当該今回の検出パルスが出力された時点における前記可動部の運動方向が一方向か、他方向か、不明か、または不明反転かを判断すると共に、当該今回の検出パルスが出力された時点における前記可動部の運動量を判断または設定し、
前記更新処理部は、今回の検出パルスの番号に基づき前記記憶部に記憶された前回の検出パルスの番号を更新し、前記演算処理部により行われた、今回の検出パルスが出力された時点における前記可動部の運動方向の判断に基づき前記記憶部に記憶された前記運動方向情報を更新し、前記演算処理部により行われた、今回の検出パルスが出力された時点における前記可動部の運動量の判断または設定に基づき前記記憶部に記憶された前記運動量検出値を更新することを特徴とする運動検出装置。 - 前記演算処理部は、
今回の検出パルスの番号から前回の検出パルスの番号を引くことにより得られた値(当該値が負である場合には当該値に2nを加えた値)をパルス比較値として算出し、
前記パルス比較値が1であり、かつ前記運動方向情報が一方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が一方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量が+1であると判断し、
前記パルス比較値が2n-1であり、かつ前記運動方向情報が他方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が他方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量が-1であると判断し、
前記パルス比較値がnであり、かつ前記運動方向情報が一方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が他方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量が-nであると判断し、
前記パルス比較値がnであり、かつ前記運動方向情報が他方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が一方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量が+nであると判断し、
前記パルス比較値が2であり、かつ前記運動方向情報が一方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を-(n-1)/2に設定し、
前記パルス比較値がn-1であり、かつ前記運動方向情報が一方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を-(n-1)/2に設定し、
前記パルス比較値が2n-2であり、かつ前記運動方向情報が他方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を(n-1)/2に設定し、
前記パルス比較値がn+1であり、かつ前記運動方向情報が他方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を(n-1)/2に設定し、
前記パルス比較値が1であり、かつ前記運動方向情報が不明を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が一方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を(n+5)/2に設定し、
前記パルス比較値が2n-1であり、かつ前記運動方向情報が不明を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が他方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を-(n+5)/2に設定することを特徴とする請求項1に記載の運動検出装置。 - 前記演算処理部は、
前記パルス比較値がnであり、かつ前記運動方向情報が不明を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明反転であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を0に設定し、
前記パルス比較値が1であり、かつ前記運動方向情報が不明反転を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が一方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を(n-1)/2に設定し、
前記パルス比較値が2n-1であり、かつ前記運動方向情報が不明反転を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が他方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を-(n-1)/2に設定し、
前記パルス比較値がnであり、かつ前記運動方向情報が不明反転を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を0に設定することを特徴とする請求項2に記載の運動検出装置。 - 前記演算処理部は、
前記パルス比較値が2であり、かつ前記運動方向情報が不明反転を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を-1に設定し、
前記パルス比較値がn-1であり、かつ前記運動方向情報が不明反転を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を-1に設定し、
前記パルス比較値が2n-2であり、かつ前記運動方向情報が不明反転を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を1に設定し、
前記パルス比較値がn+1であり、かつ前記運動方向情報が不明反転を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を1に設定することを特徴とする請求項3に記載の運動検出装置。 - 前記演算処理部は、
前記パルス比較値がn-1であり、かつ前記運動方向情報が他方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が一方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量がn-1であると判断し、
前記パルス比較値がn+1であり、かつ前記運動方向情報が一方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が他方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を-(n-1)であると判断し、
前記パルス比較値がn-1であり、かつ前記運動方向情報が不明を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が他方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を-(n-1-(n-1)/2)に設定し、
前記パルス比較値がn+1であり、かつ前記運動方向情報が不明を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が一方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量をn-1-(n-1)/2に設定することを特徴とする請求項4に記載の運動検出装置。 - 前記演算処理部は、
前記パルス比較値が0であり、かつ前記運動方向情報が一方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が一方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量が0であると判断し、
前記パルス比較値が0であり、かつ前記運動方向情報が他方向を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が他方向であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量が0であると判断し、
前記パルス比較値が0であり、かつ前記運動方向情報が不明を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を0に設定し、
前記パルス比較値が0であり、かつ前記運動方向情報が不明反転を示している場合には、今回の検出パルスが出力された時点における前記可動部の運動方向が不明反転であると判断し、今回の検出パルスが出力された時点における前記可動部の運動量の変化量を0に設定することを特徴とする請求項5に記載の運動検出装置。 - 前記各磁界検出部は、大バルクハウゼン効果を生じる磁性素子と、前記磁性素子に巻回されたコイルとを備えていることを特徴とする請求項1に記載の運動検出装置。
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