Encoder system and method for determining the reading head position in an encoder system

Abstract

An encoder system has a reading head and a material measure. The reading head haa at least one first position sensor and at least one second position sensor. The position sensors are positioned at a fixed distance from one another in a reading direction. The material measure has a longitudinal direction and a transverse direction. The material measure has a first code segment in the longitudinal direction with a first absolutely coded code track. The reading head and the material measure are positioned relative to one another in such a way that the reading direction corresponds to the longitudinal direction. The reading head and the material measure are movable relative to one another in the reading direction. A first sensor position on the material measure can be detected by the first position sensor and a second sensor position can be detected on the material measure by the second position sensor.

Claims

1. Encoder system with the following features: a reading head (10) having at least one first position sensor (1, 1.1, 1.2) and at least one second position sensor (2, 2.1, 2.2), wherein the position sensors (1, 1.1, 1.2, 2, 2.1, 2.2) are positioned at a fixed distance (a, a1, a2, a3, a4, a6, a6) from one another in a reading direction (12). a material measure (30) having a longitudinal direction (l) and a transverse direction (q), wherein the material measure (30) has a first code segment (32) in the longitudinal direction (l) with a first absolutely coded code track (34), wherein the reading head (10) and the material measure (30) are positioned relative to one another in such a way that the reading direction (12) corresponds to the longitudinal direction (l), and that the reading head (10) and the material measure (30) are movable relative to one another in the reading direction (12), and that a first sensor position (p1, p1.1, p1.2) on the material measure (30) can be detected by the at least one first position sensor (1, 1.1, 1.2) and at the same time a second sensor position (p2, p2.1, p2.2) can be detected on the material measure (30) by the at least one second position sensor (2, 2.1 , 2.2).

2. Encoder system according to claim 1, characterized in that the reading head (10) has two first position sensors (1.1, 1.2) and two second position sensors (2.1, 2.2).

3. Encoder system according to claim 1, characterized in that the position sensors (1, 1.1, 1.2, 2, 2.1, 2.2) are configured as optical position sensors (1, 1.1, 1.2, 2, 2.1, 2.2).

4. Encoder system according to claim 1, characterized in that each of the position sensors (1, 1.1, 1.2, 2, 2.1, 2.2) is suitable for the simultaneous scanning of an absolute coded code track (34, 50) and an incrementally coded code track (36, 52).

5. Encoder system according to claim 1, characterized in that the position sensors (1, 1.1, 1.2, 2, 2.1, 2.2) are arranged on a one-piece sensor carrier (14) whose coefficient of thermal expansion is less than or equal to 2 ppm/K.

6. Encoder system according to claim 1, characterized in that the first code segment (32) has a first incrementally coded code track (34).

7. Encoder system according to claim 1, characterized in that the material measure (30) has a second code segment (48), whereby the reading head (10) and the material measure (30) are arranged relative to one another in such a way that the respective first sensor position (p1, p1.1, p1.2) on the first code segment (32) can be detected by the at least one first position sensor (1, 1.1, 1.2) and the respective second sensor position (p2, p2.1, p2.2) on the second code segment (48) can be detected simultaneously by the at least one second position sensor (2, 2.1, 2.2).

8. Encoder system according to claim 7, characterized in that the first code segment (32) and the second code segment (48) are arranged in opposite directions to one another.

9. Encoder system according to claim 1. characterized in that the material measure (30) has at least one material measure segment (38, 40) with a first segment end (42) and a second segment end (44).

10. Encoder system according to claim 1, characterized in that the material measure (30) is linear and/or curved and/or circular.

11. Encoder system according to claim 1, characterized in that the encoder system (20) has an evaluation unit for evaluating the sensor positions (p1, p1.1, p1.2, p2, p2.1, p2.2), wherein the evaluation unit is configured to determine a reading head position (p) from the respectively simultaneously detected sensor positions (p1, p1.1, p1.2, p2, p2.1, p2.2).

12. Encoder system according to claim 11, characterized in that the evaluation unit is configured to check the sensor positions (p1, p1.1, p1.2, p2, p2.1, p2.2) for plausibility and/or informative value and to not use implausible and/or non-meaningful sensor positions (p1, p1.1, p1.2, p2, p2.1, p2.2) to determine the reading head position (p).

13. Encoder system according to claim 11, characterized in that the evaluation unit has memory means for saving sensor positions (p1, p1.1, p1.2, p2, p2.1, p2.2) and/or reading head positions (p).

14. Encoder system according to claim 7, characterized in that the encoder system (20) has a plurality of material measures (30), wherein the first code segment (32) and the second code segment (48) are arranged differently to one another in each material measure (30).

15. Method for determining the reading head position (p) in an encoder system (20) according to claim 1, comprising the following steps: Simultaneous detection of the respective first sensor position (p1, p1.1, p1.2) of the at least one first position sensor (1, 1.1, 1.2) and the respective second sensor position (p2, p2.1, p2.2) of the at least one second position sensor (2, 2.1, 2.2), Verification of the plausibility and/or significance of each sensor position (p1, p1.1, p1.2, p2, p2.1, p2.2) by comparing it with the respectively simultaneously determined other sensor positions (p1, p1.1, p1.2, p2, p2.1, p2.2), Determination of the reading head position (p) based on the plausible and/or meaningful sensor positions (p1, p1.1, p1.2, p2, p2.1, p2.2).

Description

[0038] Embodiment examples of the invention are elucidated on the basis of the following figures.

[0039] Wherein:

[0040] FIG. 1 shows a schematic side view of a first embodiment example of an encoder system,

[0041] FIG. 2 shows is a schematic top view of a second embodiment example of an encoder system,

[0042] FIG. 3 shows a schematic top view of a third embodiment example of an encoder system,

[0043] FIG. 4 shows a schematic top view of a fourth embodiment example of an encoder system,

[0044] FIG. 5 shows a schematic side view of a fifth embodiment example of an encoder system,

[0045] FIG. 6 shows a schematic detailed view of the embodiment example of an encoder system shown in FIG. 5,

[0046] FIG. 7 shows a schematic detailed view of a sixth embodiment example of an encoder system,

[0047] FIG. 8 shows a schematic detailed view of a seventh embodiment example of an encoder system,

[0048] FIG. 9 shows a schematic representation of a first embodiment example of a material measure,

[0049] FIG. 10 shows a schematic representation of a second embodiment example of a material measure,

[0050] FIG. 11 shows a schematic representation of a third embodiment example of a material measure.

[0051] FIG. 1 through FIG. 11 show different views of various embodiment examples. For the sake of clarity, not all reference signs are used in each figure. The same reference symbols are used for identical and functionally identical parts.

[0052] FIG. 1 shows a schematic side view of a first embodiment example of an encoder system 20 with a reading head 10 and a material measure 30. The reading head 10 comprises a first position sensor 1 and a second position sensor 2. The position sensors 1, 2 are suitable for scanning an absolute coded code track 34 and are arranged in a reading direction 12 at a fixed distance a from one another. The position sensors 1, 2 can be arranged on a one-piece sensor carrier 14. Preferably, the coefficient of thermal expansion of the sensor carrier 14 is less than or equal to 2 ppm/K. The sensor carrier 14 is particularly preferably made of quartz glass with a coefficient of thermal expansion of approximately 1 ppm/K. The reading head 10 may comprise a reading head housing 16 in which the position sensors 1, 2 are arranged. The position sensors 1, 2 can be configured as optical position sensors.

[0053] As shown in FIG. 2, the material measure 30 comprises a longitudinal direction l and a transverse direction q. In the longitudinal direction l, the material measure 30 has a first code segment 32 with the first absolutely coded code track 34. In addition, the first code segment 32 may comprise a first incrementally coded code track 36. The reading head 10 and the material measure 30 are arranged relative to one another in such a way that the reading direction 12 corresponds to the longitudinal direction l, and that the reading head 10 and the material measure 30 are movable relative to one another in the reading direction l. The reading head 10 and the material measure 30 are, moreover, arranged relative to one another in such a way that a first sensor position p1 on the material measure 30 can be detected by the first position sensor 1 and at the same time a second sensor position p2 on the material measure 30 can be detected by the second position sensor 2. The position sensors 1, 2 are preferably suitable for simultaneous scanning of the first absolutely coded code track 34 and the first incrementally coded code track 36.

[0054] The first incrementally coded code track 36 is preferably arranged in longitudinal direction l parallel to the first absolutely coded code track 34 and in transverse direction q next to the first absolutely coded code track 34. The first incrementally coded code track 34 is, moreover, preferably configured such that it comprises an incremental code which repeats cyclically and the periods of which can be absolutely assigned by means of the absolutely coded code track 34. Preferably, the incrementally coded code track 36 has a finer partitioning and thus a higher resolution than the absolutely coded code track 34. By a simultaneous scanning of the absolutely coded code track 34 and of the incrementally coded code track 36, high-resolution sensor positions p1, p2 can hereby be detected.

[0055] The material measures 30 shown in FIG. 2 and FIG. 3 each comprise a first material measure segment 38 and a second material measure segment 40. The material measure segments 38, 40 each comprise a first segment end 42 and a second segment end 44. An offset in the form of a gap 46 can be arranged between the successive segment ends 44, 42. In order to make it clear that a material measure element 38, 40 can extend over a greater length, the material measure segments 38, 40 are shown in FIG. 2 and FIG. 3 with diagonally arranged interruptions.

[0056] As the embodiment example in FIG. 3 shows, a reading head 10 may comprise a first first position sensor 1.1 and a second first position sensor 1.2 as well as a first second position sensor 2.1 and a second second position sensor 2.2. Preferably, the two first position sensors 1.1, 1.2 and the two second position sensors 2.1, 2.2 are arranged alternately on the reading head such that, in the reading direction 12, the first first position sensor 1.1 is followed by the first second position sensor 2.1, the second first position sensor 1.2, and the second second position sensor 2.2, in this order.

[0057] As shown in FIG. 2, the sensor position p1 can be detected by the first position sensor 1 and the sensor position p2 can be detected by the second position sensor. Correspondingly, the first first position sensor 1.1 can detect a first first sensor position p1.1, the second first position sensor 1.2 a second first sensor position p1.2, the first second position sensor 2.1 a first second sensor position p2.1, and the second position sensor 2.2 a second second sensor position p2.2 (and FIG. 3). Preferably, a reading head position p is determined from the sensor positions p1, p2 or alternatively p1.1, p1.2, p2.1, p2.1. The determination of the reading head position p can take place, for example, by averaging the sensor positions p1, p2 or alternatively p1.1, p1.2, p2.1, p2.2. The detection of the sensor positions p1 and p2 or alternatively p1.1, p1.2, p2.1 and p2.2 is preferably carried out simultaneously.

[0058] To evaluate the sensor positions p1, p2 or alternatively p1.1, p1.2, p2.1, p2.2, the encoder system 20 may comprise an evaluation unit, not shown, which is configured to determine the reading head position p from the simultaneously detected sensor positions p1, p2 or alternatively p1.1, p1.2, p2.1, p2.2. The reading head position p can be defined as desired in relation to the detected sensor positions p1, p2 or alternatively p1.1, p1.2, p2.1, p2.2. The reading head position p is preferably defined centrally between the detected sensor positions p1, p2 or alternatively p1.1, p1.2, p2.1, p2.2.

[0059] Inasmuch as the position sensors 1, 2 or alternatively 1.1, 1.2, 2.1, 2.2 are arranged at a fixed distance from one another in the reading direction, the reading head position p can also be determined when it coincides with the gap 46, as shown in FIG. 2 and FIG. 3. A teach-in run is preferably carried out before commissioning, in which teach-in run the gaps 46 are detected and saved. For this purpose, the evaluation unit may comprise, in particular, memory means for saving sensor positions p1, p2 or alternatively p1.1, p1.2, p2.1, p2.2 and/or reading head positions p.

[0060] In this, it should be noted that the encoder system 20 shown in FIG. 4 may comprise, in addition to the first code segment 32 with the first absolutely coded code track 34 and the first incrementally coded code track 36, a second code segment 48 with a second absolutely coded code track 50 and a second incrementally coded code track 52. The first code segment 32 and the second code segment 48 are, preferably, arranged in opposite directions to one another. The first code segment 32, particularly preferably, has a first counting direction 54, which is configured to be ascending in the longitudinal direction l, whereas the second code segment 48 may comprise a second counting direction 56, which can be configured to be descending in the longitudinal direction l.

[0061] In the embodiment example shown in FIG. 4, the position sensors 1.1, 1.2, 2.1, 2.2 can be arranged at fixed distances a1 to a6 from one another in the reading direction 12. The first position sensors 1.1, 1.2 are, preferably, arranged in such a way that they can detect the first code segment and the second position sensors 2.1, 2.2 in such a way that they can detect the second code segment 48.

[0062] During the determination of the reading head position p, implausible and/or non-meaningful sensor positions p1, p2 or alternatively p1.1, p1.2, p2.1, p2.2 are preferably not used. How a plausibility check can be carried out is elucidated below using the embodiment example shown in FIG. 4. In comparison to the embodiment examples shown in FIG. 2 and FIG. 3, it should be noted in particular that the first code segment 32 and the second code segment 48 are arranged in opposite directions to one another.

[0063] The plausibility of all simultaneously detected sensor positions p1.1, p1.2, p2.1, p2.2 preferably exists if all of the following conditions are met:

TABLE-US-00001 p1.1 + p2.1 = a4, p1.2 + p2.2 = a6, p1.2 ? p1.1 = a3, p2.1 ? p2.2 = a2, p1.1 + p2.2 = a1, p2.1 + p1.2 = a5.

[0064] By evaluating the simultaneously detected sensor positions p1.1, p1.2, p2.1, p2.2 in this way, it can also be determined that a single detected sensor position p1.1, p1.2, p2.1, p2.2 is not plausible.

[0065] By comparing the distances between the simultaneously detected sensor positions p1.1, p1.2, p2.1, p2.2 with the fixed distances a1 to a6, systematic changes, such as a change in the length of the material measure, in particular as a result of a change in temperature, can, moreover, be detected and compensated for. The position sensors 1.1, 1.2, 2.1, 2.2 can, in particular, be arranged on a one-piece sensor carrier 14 made of quartz glass. This applies correspondingly to the embodiment examples shown in FIG. 2 and FIG. 3.

[0066] FIG. 5 and FIG. 6 show a further embodiment example of the encoder system 20. Here the material measure 30 can be circular. The material measure 30 is, preferably, arranged on a shaft 58 with a shaft radius 60. In this, the material measure 30 can be formed by the first material measure segment 38 with the first segment end 42 and the second segment end 44. The gap 46 is, preferably, arranged between the first segment end 42 and the second segment end 44. This can significantly simplify the assembly of the material measure 30 on the shaft 58. In accordance with the relevant elucidations relating to the embodiments shown in FIG. 2 and FIG. 3, the reading head position p can also reliably and unambiguously be determined if the reading head 10 is arranged above the gap 46.

[0067] The material measure 30 is preferably arranged in such a way that the transverse direction q and the longitudinal direction l are arranged perpendicular to the shaft radius 60. The position sensors 1.1, 1.2, 2.1, 2.2 of the reading head 10 are preferably oriented at least approximately to the center of the shaft and thus to the center of the circle of the circular material measure 30.

[0068] The material measure 30 is preferably arranged on the outer radius of the shaft 58. In particular, if the shaft 58 is configured as a hollow shaft, the material measure 30 can alternatively be arranged on the inner radius of the shaft 58, as shown in FIG. 7. In contrast to the embodiment example shown in FIG. 5 and FIG. 6, the reading head 10 can be arranged inside the shaft 58.

[0069] A further embodiment example, in which the material measure 30 can be circular, is shown in FIG. 8. Here the material measure 30 is preferably arranged in such a way that the transverse direction q is arranged in the direction of the shaft radius 60 and the longitudinal direction l is arranged perpendicular to the shaft radius 60. The position sensors 1.1, 1.2, 2.1, 2.2 of the reading head 10 are preferably oriented at least approximately in the direction of a longitudinal axis of a shaft that is not shown and runs perpendicular to the plane of the drawing. The material measure 30 can, for example, be arranged on the end face of a shaft end or a shaft shoulder.

[0070] In the embodiment example shown in FIG. 8, the second incrementally coded code track 52 can be formed by the first incrementally coded code track 36, such that the material measure 30 comprises two absolutely coded code tracks 34, 50 and one incrementally coded code track.

[0071] FIG. 9 through FIG. 11 show various embodiment examples of the material measure 30, which preferably comprise the first code segment 32 and the second code segment 48. In each of the embodiment examples shown in FIG. 9 through FIG. 11, the first code segment 32 and the second code segment 48 may be arranged differently from one another. The reading head 10 and the material measures 30 can be arranged relative to one another in such a way that the first sensor position p1 on the first code segment 32 can be detected by the position sensor 1 and at the same time the second sensor position p2 on the second code segment 48 can be detected by the second position sensor 2. Since the first position sensor 1 and the second position sensor 2 are arranged at a fixed distance a from one another in the reading head 10 (see also FIG. 1), the difference between the sensor positions p1 and p2, which are respectively simultaneously detected, differs between the material measures 30 shown in FIG. 9 through FIG. 11. Thus, the difference p1?p2 can be 6 in the embodiment example shown in FIG. 9, 5 in the embodiment example shown in FIGS. 10, and 4 in the embodiment example shown in FIG. 11.

[0072] If the material measures 30 shown in FIG. 9 through FIG. 11 are arranged one behind the other in the encoder system 20, a measuring section can be realized which has three times the length of the material measure 30. Inasmuch as the difference between the simultaneously detected sensor positions p1, p2 on each material measure 30 differs from the others, each position that the reading head 10 can assume on the measuring section can be determined absolutely and unambiguously. In various embodiment examples of the material measure 30, identical first code segments 32 and/or identical second code segments 48 are preferably used.

[0073] According to this procedure, a measuring section can be created in which the number of material measures 30 arranged one behind the other corresponds to the number of unique combination possibilities of the first code section 32 with the second code section 48. If, for example, a one-meter-long material measure 30 comprises code segments 32, 48 that are absolutely coded to one micrometer, one million material measures 30 with code segments 32, 48 arranged differently to one another can be obtained by offsetting the code segments 32, 48. Theoretically, a measuring section with a total length of 1 million meters, which is to say, 1000 km, can thereby be created.

[0074] In order to be able to detect unique sensor positions p1, p1.1, p1.2, p2.1, p2.2 and thus a unique reading head position p, the offset difference between the various material measures 30 will, in practice, preferably be in the millimeter magnitude. In the discussed example, a measurement stretch of one kilometer could be achieved.

LIST OF REFERENCE SYMBOLS

[0075] 1 First position sensor [0076] 1.1 First first position sensor [0077] 1.2 Second first position sensor [0078] 2 Second position sensor [0079] 2.1 First second position sensor [0080] 2.2 Second second position sensor [0081] 10 Reading head [0082] 12 Reading direction [0083] 14 Sensor carrier [0084] 16 Reading head housing [0085] 20 Encoder system [0086] 30 Material measure [0087] 32 First code segment [0088] 34 First absolutely coded code track [0089] 36 First incrementally coded code track [0090] 38 First material measure segment [0091] 40 Second material measure segment [0092] 42 First segment end [0093] 44 Second segment end [0094] 46 Gap [0095] 48 Second code segment [0096] 50 Second absolutely coded code track [0097] 52 Second incrementally coded code track [0098] 54 Ascending counting direction [0099] 56 Descending counting direction [0100] 58 Shaft [0101] 60 Shaft radius [0102] a Fixed distance [0103] a1 First fixed distance [0104] a2 Second fixed distance [0105] a3 Third fixed distance [0106] a4 Fourth fixed distance [0107] a5 Fifth fixed distance [0108] a6 Sixth fixed distance [0109] l Longitudinal direction [0110] p Reading head position [0111] p1 First sensor position [0112] p1.1 First first sensor position [0113] p1.2 Second first sensor position [0114] p2 Second sensor position [0115] p2.1 First second sensor position [0116] p2.2 Second second sensor position [0117] q Transverse direction