KR20210156625A - Method and apparatus for linear position detection using De Bruijn sequence as scale ID - Google Patents

Abstract

a sensor unit and a control unit, wherein the sensor unit reads a first de Bruin code from a first de Bruin sequence unit indicating a first de Bruin sequence of the linear scale, and a second de Bruin sequence of the linear scale reads a second de Bruin code from a second de Bruin sequence unit representing and determining the ID of the linear scale based on the second de Bruin code, a linear position detecting apparatus is disclosed.

Description

{Method and apparatus for linear position detection using De Bruijn sequence as scale ID}

The present disclosure relates to a linear position detection method and apparatus.

To detect the position of the mover in a linear motor system, a scale is attached to one of the stator and the mover, and an encoder head is attached to the other, and the encoder head reads the scale by optical or magnetic methods is widely used. Also, since magnets are attached to the stator or mover so that the N and S poles are alternately repeated in the stator or mover, when the precision of position detection is not required, the magnetic field sensor is used to read the magnetic field size of the magnets to detect the position. used However, since the position detection method of the linear motor system detects the relative position change according to the movement of the mover but does not detect the absolute position of the mover, initialization work such as moving the mover to a specific position is required when the system is first started. necessary. It is also necessary to identify the scales on different movers when there are multiple movers.

Patent Application No. 18-156362 (filed on December 6, 2018)

An embodiment of the present disclosure provides a method and apparatus for detecting a linear position using a de Bruin sequence as a scale ID so that the scale can be identified regardless of the position of a mover.

As a technical means for achieving the above-described technical problem, an embodiment of the present disclosure includes a sensor unit and a control unit, wherein the sensor unit is a first de Bruin sequence representing a first de Bruin sequence of a linear scale A first de Bruin code is read from the unit, and a second de Bruin code is read from a second de Bruin sequence unit indicating a second de Bruin sequence of the linear scale, wherein the controller includes: It is possible to provide a linear position detection apparatus that determines the absolute position of the linear scale based on a code and determines the ID of the linear scale based on the first de Bruin code and the second de Bruin code. .

In an embodiment, the controller determines the phase of the second de Bruin sequence based on the first de Bruin code and the second de Bruin code, and determines the phase of the second de Bruin sequence. It is possible to provide a linear position detection device that determines the ID of the linear scale based on the linear scale.

In an embodiment, the control unit determines a third de Bruin code at a predefined position on the second de Bruin sequence based on the first de Bruin code and the second de Bruin code; , to determine the ID of the linear scale based on the third de Bruin code, it is possible to provide a linear position detection device.

In an embodiment, the control unit determines a position on the second de Bruin sequence of a predefined fourth de Bruin code based on the first de Bruin code and the second de Bruin code, The apparatus for detecting a linear position may be provided, which determines the ID of the linear scale based on the position of the fourth de Bruin code on the second de Bruin sequence.

In an embodiment, the control unit may provide a linear position detection device that determines the ID of the linear scale based on the absolute position determined based on the first de Bruin code and the second de Bruin code. have.

In one embodiment, the controller is configured to determine a phase of the first de Bruin code on the first de Bruin sequence, and a phase of the first de Bruin code on the first de Bruin sequence and It is possible to provide a linear position detection device that determines the ID of the linear scale based on the second de Bruin code.

In an embodiment, the controller is configured to include a third de Bruin code at a position separated from the second de Bruin code in the second de Bruin sequence by a phase of the first de Bruin code in the first de Bruin sequence. It is possible to provide a linear position detection apparatus that determines the bruin code and determines the ID of the linear scale based on the third de Bruin code.

In an embodiment, the controller may provide a linear position detection device that determines the third de Bruin code as the ID of the linear scale.

In one embodiment, the control unit is, based on the phase of the first de Bruin code on the first de Bruin sequence and the second de Bruin code, the second of a predefined fourth de Bruin code. It is possible to provide a linear position detecting apparatus that determines a position on a 2 de Bruin sequence and determines an ID of the linear scale based on a position of the fourth de Bruin code on the second de Bruin sequence.

In an embodiment, the control unit may provide a linear position detection apparatus that determines the position of the fourth de Bruin code on the second de Bruin sequence as the ID of the linear scale.

In an embodiment, the first de bruin sequence and the second de bruin sequence are the same, and the controller is configured to include the second de bruin sequence based on the first de bruin code and the second de bruin code. A linear position detection device for determining a phase difference between a bruin sequence and the first de Bruin sequence, and determining the ID of the linear scale based on a phase difference between the second de Bruin sequence and the first de Bruin sequence can provide

In an embodiment, the first de bruin sequence and the second de bruin sequence are the same, and the control unit includes: the second de bruin code and the first de bruin sequence on the first de bruin sequence It is possible to provide a linear position detecting apparatus for determining a phase difference between encoded codes and determining the ID of the linear scale based on a phase difference between the second de Bruin code and the first de Bruin code.

In an embodiment, the control unit may provide a linear position detection device that determines the phase difference as the ID of the linear scale.

In an embodiment, each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence, and the controller is configured to: LFSR (Linear-Feedback Shift Register) operation is performed, and the absolute position of the linear scale is determined based on the number of times the first LFSR operation is performed on the first de Bruyne code until the reference code is obtained, , a third de Bruin code is obtained by performing a second LFSR operation on the second de Bruin code as many times as the number of times the first LFSR operation is performed on the first de Bruin code until the reference code is obtained and to determine the ID of the linear scale based on the third de Bruin code, it is possible to provide a linear position detection device.

In an embodiment, each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence, and the controller is configured to: LFSR operation is performed, and the absolute position of the linear scale is determined based on the number of times that the first LFSR operation is performed on the first de Bruin code until the reference code is obtained, and a predefined fourth code is performed. the number of times that the second LFSR operation is performed on the second de Bruin code until obtaining the Bruin code, and the first LFSR operation is performed on the first de Bruin code until the reference code is obtained; and to determine the ID of the linear scale based on the number of times that the second LFSR operation is performed on the second de Bruin code until the fourth de Bruin code is obtained. .

In an embodiment, the first de Bruin sequence and the second de Bruin sequence are the same binary sequence, and the control unit performs LFSR operation on the first de Bruin code until a predefined reference code is obtained. to determine the absolute position of the linear scale based on the number of times the LFSR operation is performed on the first de Bruin code until the reference code is obtained, and to obtain the first de Bruin code The LFSR operation is performed on the second de Bruin code until the linear scale It is possible to provide a linear position detection device that determines the ID of .

In one embodiment, each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence, and the sensor unit reads the first de Bruin code from the first de Bruin sequence unit. A first sensor array including binary sensors arranged as , and a second sensor array including binary sensors arranged in a line for reading the second de Bruin code from the second de Bruin sequence unit, wherein the second sensor array comprises: It is possible to provide a linear position detecting apparatus in which the binary sensor of the first sensor array and the binary sensor of the second sensor array are alternately arranged in a line.

In an embodiment, each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence, and the linear scale includes a binary symbol of the first de Bruin sequence unit and a binary symbol of the second de Bruin sequence unit. It is possible to provide a linear position detecting apparatus in which binary symbols are alternately arranged in a line one by one.

An embodiment of the present disclosure provides a plurality of linear scales, each of which includes a first de Bruin sequence unit representing a first de Bruin sequence for displaying an absolute position, and a scale ID for displaying a second de Bruin sequence unit indicating a second de Bruin sequence, wherein the plurality of linear scales have the same phase as the first de Bruin sequence indicated by the first de Bruin sequence unit, and the second de Bruin sequence unit It is possible to provide linear scales having different phases of the second de Bruin sequence indicated by the in-sequence unit.

In an embodiment, each of the first de Bruin sequence and the second de Bruine sequence is a binary sequence, and in each of the plurality of linear scales, a binary symbol and a second de Bruin sequence part of the first de Bruin sequence part It is possible to provide linear scales in which the binary symbols of the in-sequence part are alternately arranged in a line one by one.

An embodiment of the present disclosure may provide a linear position detection system including the linear position detection apparatus and the plurality of linear scales, wherein the linear scale is any one of the plurality of linear scales.

An embodiment of the present disclosure provides an operating method of a linear position detecting apparatus, an operation of reading a first de Bruin code from a first de Bruin sequence unit indicating a first de Bruin sequence of a linear scale, Reading a second de Bruin code from a second de Bruin sequence unit indicating a second de Bruin sequence, determining the absolute position of the linear scale based on the first de Bruin code, and the second It is possible to provide a method of operating a linear position detecting apparatus including an operation of determining the ID of the linear scale based on the first de Bruin code and the second de Bruin code.

An embodiment of the present disclosure includes a computer-readable recording medium in which a program for executing the method according to an embodiment of the present disclosure in a computer is recorded.

An embodiment of the present disclosure provides a method and apparatus for detecting a linear position using a de Bruin sequence as a scale ID so that the scale can be identified regardless of the position of a mover.

1 is a diagram schematically illustrating a configuration of a linear position detection system according to an embodiment of the present disclosure.
2 is a diagram schematically illustrating a configuration of a linear position detection system according to another embodiment of the present disclosure.
3 is a diagram schematically illustrating a configuration of a linear position detection system including a plurality of movers according to an embodiment of the present disclosure.
4 is a diagram illustrating an example of a method of generating a pseudorandom binary sequence using LFSR.
5 is a diagram illustrating a configuration of a linear position detection apparatus according to an embodiment of the present disclosure.
6 is a diagram illustrating a configuration of a linear position detection system according to an embodiment of the present disclosure.
7 is a flowchart schematically illustrating a flow of a method of operating a linear position detection apparatus according to an embodiment of the present disclosure.
8 is a diagram illustrating a method of implementing a linear scale in a single track according to an embodiment of the present disclosure.
9 is a diagram illustrating an example in which a sensor unit reads a linear scale according to an embodiment of the present disclosure.

An embodiment of the present disclosure will be described in detail with reference to the accompanying drawings in order to clarify the technical spirit of the present disclosure. In describing the present disclosure, if it is determined that a detailed description of a related well-known function or component may unnecessarily obscure the subject matter of the present disclosure, the detailed description thereof will be omitted. Elements having substantially the same functional configuration in the drawings are given the same reference numbers and reference numerals as much as possible even though they are shown in different drawings. For convenience of explanation, if necessary, the device and method will be described together. Each operation of the present disclosure does not necessarily have to be performed in the order described, and may be performed in parallel, selectively, or individually.

1 is a diagram schematically illustrating a linear position detection system according to an embodiment of the present disclosure. Referring to FIG. 1 , the linear position detection system according to an embodiment of the present disclosure includes a linear scale 110 provided in a stator and a linear position detection device 120 provided in a mover. The linear scale 110 is a device representing a sequence capable of representing a position, and is also called an encoder scale or simply a scale. The linear position detecting apparatus 120 reads the sequence included in the linear scale 110 to detect the position of the mover. For example, the linear scale 110 may indicate a binary sequence with an N-pole or S-pole magnet, and the linear position detection device 120 may read the binary sequence of the linear scale 110 using a Hall sensor. . The movement trajectory of the mover or the shape of the scale is usually a straight line, but it is not necessarily a straight line.

2 is a diagram schematically illustrating a linear position detection system according to another embodiment of the present disclosure. Referring to FIG. 2 , unlike FIG. 1 , the linear scale 110 is provided on the mover, and the stator is provided with a plurality of linear position detection devices 120 at intervals shorter than the length of the linear scale 110 . have. As the mover to which the linear scale 110 is attached moves, one or more of the linear position detecting devices 120 read a sequence included in the linear scale 110 to detect the mover's position. The linear scale 110 and the linear position detecting apparatus 120 proposed below may be used in the embodiment shown in FIG. 1 or FIG. 2 , and may also be used in other embodiments. Hereinafter, the embodiment of FIG. 2 will be mainly described for convenience.

3 is a diagram schematically illustrating a linear position detection system including a plurality of movers according to an embodiment of the present disclosure. The embodiment of FIG. 3 is the same as the embodiment of FIG. 2 , but there are a plurality of movers and a linear scale 110 is provided in each mover. Accordingly, the linear position detection apparatus 120 that detects the positions of the plurality of linear scales 110 needs to identify the linear scales 110 . The present disclosure proposes a method of identifying a scale by using a De Bruijn sequence included in the linear scale 110 as a scale ID.

Justice

(One) De Bruin Sequences and De Bruin Chords

The nth order de Bruyne sequence B(k, n) for an alphabet of size k is a cyclic sequence with k alphabets as elements, and each substring of length n appears only once. A substring of length n of a de Bruin sequence will be referred to as a de Bruin code or simply a code.

For example, in {0 0 0 1 0 1 1 1}, which is B(2, 3), the de Bruyne codes are 000, 001, 010, 101, 011, 111, 110, 100 in that order. In {1 1 1 1 0 0 0 0 1 0 0 1 1 0 1 0}, which is B(2, 4), the de Bruin codes are 1111, 1110, 1100, 1000, 0000, 0001, 0010, 0100, 1001 in that order. , 0011, 0110, 1101, 1010, 0101, 1011, 0111. B(k, n) is not unique, and {0 0 0 0 1 1 1 1 0 1 1 0 0 1 0 1} is also B(2, 4).

Typically, a de Bruin sequence includes all possible codes ^{and refers to a cyclic sequence having a length of k n} . Since the de Bruin sequence used in the present disclosure does not necessarily have a maximum length, even if the ^{length is shorter than k n} Any cyclic sequence in which each code appears only once is called a de Bruyne sequence. For example, a pseudorandom binary sequence (PRBS) generated using a linear-feedback shift register (LFSR) having a length of ⁿ is a sequence with a length of 2 n -1 and a length of 2 There is no code in which all symbols are 0 because one 0 is excluded from the de Bruin sequence that is ^{n, and this sequence also corresponds to a de Bruin sequence in the present disclosure.} 4 is a diagram illustrating an example of a method of generating a pseudorandom binary sequence using LFSR. The pseudorandom binary sequence obtained in the example of FIG. 4 is {1 1 1 1 0 0 0 1 0 0 1 1 0 1 0}, which is {1 1 1 1 0 0 0 0 1 0, which is B(2, 4) as described above. 0 1 1 0 1 0} is equivalent to excluding one zero.

Since each code, that is, a substring of length n, appears only once in the de Bruin sequence, if the linear scale 110 represents the de Bruin sequence, each code of the de Bruin sequence is converted to the absolute value of the linear scale 110 . It can be used as an index indicating a position. Here, the absolute position means the position value itself, not the amount of change in position according to the movement of the mover, which may be a relative position between the mover and the stator. For example, in the embodiment shown in FIG. 1 , the position of the linear scale 110 is fixed and the position of the linear position detecting device 120 is changed, but even in this case, the linear position detecting device 120 is the linear scale 110 ) to detect the absolute position.

In the present disclosure, since the de Bruin sequence is applied to the linear scale 110 , the de Bruin sequence may be used as an acyclic sequence rather than as a cyclic sequence. Here, 'acyclic' means that the position detected by the position detection system is not cyclic.

When a de Bruyne sequence of length N is expressed as an acyclic sequence, if all codes appear completely, a sequence of length N+(n-1) is obtained. For example, the length of {0 0 0 0 1 0 0 1 1 0 1 0 1 1 1 1}, which is B(2, 4), is N = 2 ⁴ = 16, which is expressed as {0 0 0 0 1 0 0 1 1 0 1 0 1 1 1 1 0 0 0}, a sequence of length L = 16 + (4-1) = 19 is obtained. In the present disclosure, a de Bruin sequence may refer to a de Bruin sequence shown as such acyclic. The de-bruin codes included in this de-bruin sequence are 0000, 0001, 0010, 0100, 1001, 0011, 0110, 1101, 1010, 0101, 1011, 0111, 1111, 1110, 1100, 1000, for a total of 16. Therefore, if the linear scale 110 indicates such a de Bruin sequence, a total of 16 position indexes can be used.

If the pseudorandom binary sequence {1 1 1 1 0 0 0 1 0 0 1 1 0 1 0} is expressed as an acyclic sequence, then ^{{1 1 1 with length L = 2 n} -1+(n-1) = 15 +3 = 18 1 0 0 0 1 0 0 1 1 0 1 0 1 1 1}. The de Bruin codes included in this de Bruin sequence are 1111, 1110, 1100, 1000, 0001, 0010, 0100, 1001, 0011, 0110, 1101, 1010, 0101, 1011, 0111, for a total of 15. When the linear scale 110 represents such a de Bruin sequence, a total of 15 position indexes can be used.

You can use only part of the de Bruyne sequence as needed. Accordingly, in the present disclosure, the de Bruin sequence may represent all or a part of the de Bruin sequence shown acyclically as above. For example, if k=3, n=3 and the entire de Bruyne sequence is {0 0 0 1 0 1 1 1 0 0}, if only 5 position indices are needed, L=7 and linear scale 110 The de Bruin sequence represented by this may be {0 1 0 1 1 1 0}, and in this case, the length 3 substring included in the de Bruin sequence is 010, 101, 011, 111, 110, for a total of 5 substrings.

(2) Aspects of the de Bruin Code

A symbol distance in a specific direction from a specific reference code to a specific code in the de Bruin sequence is called the phase of the code. For example, in the pseudorandom binary sequence {1 1 1 1 0 0 0 1 0 0 1 1 0 1 0} of length N=15, if 1111 is the reference code, 1110 is next to one symbol to the right of 1111, so its The phase is 1, and 0010 is 5 symbols to the right from 1111, so its phase is 5. If the reference code is 0001, the phase of 0010 is 1, and the phase of 1000 is -1.

The phase can be represented cyclically. For example, since there are 15 de Bruin codes in the With de Bruin sequence, the phase can be expressed as modulo 15. That is, when the reference code is 0001, the phase of 1000 can be expressed as -1 or -1 mod 15 = 14. That is, -1 and 14 are the same phase.

The phase difference between the two codes can also be expressed cyclically. For example, in the We de Bruyne sequence, if the reference code is 0001, the phase of 0010 is 1 and the phase of 1000 is 14, so the phase difference between 0010 and 1000 can be expressed as 1-14 = -13 or -13 mod 15 = 2. can

(3) Phases of the de Bruin sequence

The de Bruin sequence expressed as such acyclically may be expressed in different forms depending on the code of the starting point. For example, if the de Bruin sequence {0 0 0 0 1 0 0 1 1 0 1 0 1 1 1 1}, which is B(2, 4), is expressed acyclically starting with code 0000, then {0 0 0 0 1 0 0 1 1 0 1 0 1 1 1 1 0 0 0} becomes {0 0 0 1 0 0 1 1 0 1 0 1 1 1 1 0 0 0 0}, Starting from code 1111, if expressed acyclically, it becomes {1 1 1 1 0 0 0 0 1 0 0 1 1 0 1 0 1 1 1}.

In order to distinguish the de Bruin sequences having different codes of the starting point as described above, the phase of the de Bruyin sequence may be defined as 'the phase of the code at a specific position' or 'the position of the specific code'. These two definitions are practically equivalent.

Therefore, if the code at a specific location is the same or if the location of a specific code is the same, the phases of the two de Bruin sequences can be considered to be the same. It can be seen that the position is different. It goes without saying that the phase of the de Bruin sequence can also be represented cyclically.

Scale ID using de Bruin sequences

5 is a diagram illustrating a configuration of a linear position detection apparatus according to an embodiment of the present disclosure. Referring to FIG. 5 , the linear position detection device 120 includes a sensor unit 121 that reads a de Bruyne code of the linear scale 110 and a linear scale based on the code read by the sensor unit 121 ( 110) includes a control unit 122 that determines the absolute position and scale ID. A detailed operation of the control unit 122 will be described with reference to FIG. 6 and the like.

6 is a diagram illustrating a configuration of a linear position detection system according to an embodiment of the present disclosure. Referring to FIG. 6 , the linear position detection system according to an embodiment of the present disclosure includes a plurality of movers A, B, and C, and the linear scale 110 of each mover includes two tracks 111 and 112 . ) is there. In one embodiment, the two tracks 111 and 112 may consist of an N-pole or S-pole magnet array in 2 rows and L columns. The direction parallel to the row of the magnet array is the moving direction of the mover. One of the two tracks is a first de bruin sequence unit 111 indicating a first de Bruin sequence for displaying an absolute position, and the other is a second de Bruin sequence indicating a second de Bruin sequence for displaying a scale ID. It is the Bruin sequence unit 112 . Here, the first de Bruyne sequence and the second de Bruin sequence may be different or the same. Hereinafter, a case where both sequences are the same will be mainly described.

As shown in FIG. 6 , in the plurality of scales, the phase of the first de Bruin sequence represented by the first de Bruin sequence unit is the same as each other, and the phase of the second de Bruin sequence represented by the second de Bruin sequence unit is the same as that of the plurality of scales. different from each other That is, the first de Bruyne sequence of the three scales is a pseudorandom binary sequence {1 1 1 0 0 0 1 0 0 1 1 0 1 0 1 1 1 1} of length 18, and the The two de Bruin sequences are {0 0 1 0 0 1 1 0 1 0 1 1 1 0 0 0 1}, {0 1 0 0 1 1 0 1 0 1 1 1 1 0 0 0 1 0}, { 0 1 1 0 1 0 1 1 1 1 0 0 0 1 0 0 1 1}, which is the same sequence as the first de Bruyne sequence but different only in phase.

If the position of code 1111 is defined as the phase, based on the lowest code in the de Bruin sequence, the phase of the first de Bruin sequence is 0 in all three scales, and the second de Bruin sequence of movers A, B, and C is 0. The phases of the sequence are 4, 5, and 8, respectively.

Since the linear scale 110 includes two tracks, the sensor unit 121 of the linear position detecting apparatus 120 may also include a sensor array of two tracks to read the two tracks. That is, the sensor unit 121 includes a first sensor array including sensors arranged in a line for reading the first de Bruin sequence unit 111 and sensors arranged in a line for reading the second de Bruin sequence unit 112 . It may include a second sensor array including a. In an embodiment, when the length of the de Bruyne code is n, the sensor unit 121 may include a PWM Hall sensor array of 2 rows and n columns. The sensor unit 121 of the linear position detecting device 120 may read a de Bruin code of the same position of the first de Bruin sequence unit 111 and the second de Bruin sequence unit 112 . For example, in the example shown in FIG. 6 , the sensor unit 121 reads 0100, which is the 10th code from the bottom of the first de Bruin sequence, and 1101, which is the 10th code from the bottom of the second de Bruin sequence. The code read by the sensor unit 121 from the first de Bruin sequence will be referred to as a first de Bruin code, and the code read by the sensor unit 121 from the second de Bruin sequence will be referred to as a second de Bruin code. do.

Since the phases of the first de Bruin sequences of all the linear scales 110 are the same, the control unit 122 may determine the absolute position of the linear scales 110 based on the first de Bruin code read by the sensor unit 121 . have. In one embodiment, the controller 122 calculates the symbol distance from the code of a specific position of the first de Bruin sequence unit 111 to the first de Bruin code read by the sensor unit 121 of the linear scale 110 . The absolute position can be determined. Since the codes at the specific positions of the first de Bruin sequence unit 111 in all the linear scales 110 are the same, this is based on the phase difference between the first de Bruin code and the predefined code, in other words, the predefined code. It is the same as determining the phase of the first de Bruin code as the code as the absolute position of the linear scale 110 . That is, the controller 122 may determine the absolute position of the linear scale 110 based on the phase of the first de Bruin code on the first de Bruin sequence. In the example shown in FIG. 6 , if the symbol distance from the lower end code 1111 of the first de Bruin sequence unit 111 to the upper side is the absolute position of the linear scale 110 , the control unit 122 controls the sensor unit 121 . ) may determine the symbol distance 10 between the first de Bruin code 0100 and the reference code 1111 read by the absolute position of the linear scale 110 .

In one embodiment, the control unit 122 performs the LFSR operation until the reference code is obtained for the first de Bruin code read by the sensor unit 121, and the number of times the LFSR operation is performed until the reference code is obtained. Based on the absolute position of the linear scale 110 may be determined. In the example shown in FIG. 6 , when the LFSR operation is performed 10 times on the first de Bruyne code 0100, the reference code 1111 is obtained. Since the reference code is the code at the lower end, the control unit 122 may determine the number of times the LFSR operation is performed 10 as the absolute position of the linear scale 110 as it is. By setting the code at one end as the reference code in this way, the control unit 122 can determine the number of times the LFSR operation is performed as the absolute position of the linear scale 110 without additional calculation.

Meanwhile, since the second de Bruin sequences of the linear scales 110 have different phases from each other, the controller 122 may distinguish the linear scales 110 from each other according to the phases of the second de Bruin sequences. The control unit 122 cannot determine the scale ID only from the second de Bruin code read by the sensor unit 121 in the second de Bruin sequence, and the first de Bruin code read by the sensor unit 121 in the first de Bruin sequence. The scale ID can be determined only by using the bruin code together. That is, the controller 122 may determine the scale ID based on the first de Bruin code and the second de Bruin code. Hereinafter, various embodiments of determining the scale ID will be described.

(One) Example 1

The controller 122 may determine the scale ID based on the de Bruin code at a specific position of the second de Bruin sequence unit 112 . For example, the control unit 122 performs a first LFSR operation until a reference code is obtained for the first de Bruin code read by the sensor unit 121 as described above, and the first LFSR operation is performed until the reference code is obtained. The absolute position of the linear scale 110 is determined based on the number of times the LFSR operation has been performed, and the second LFSR operation is performed on the second de Bruin code as many times as the number of times the first LFSR operation has been performed to perform the third de Bruin operation. A code may be obtained, and an ID of the linear scale 110 may be determined based on the third de Bruin code. Here, the first LFSR operation and the second LFSR operation may be different or the same. If the first de Bruin sequence and the second de Bruin sequence are the same (the phases may be different), the first LFSR operation and the second LFSR operation are the same. The number of times the first LFSR operation is performed on the first de Bruin code until the reference code is obtained corresponds to the phase of the first de Bruin code. The number of times the first LFSR operation is performed on the first de Bruyne code until the reference code is obtained may be regarded as the absolute position of the linear scale 110 .

In the example shown in FIG. 6 , since the control unit 122 obtains the reference code 1111 when the LFSR operation is performed on the first de Bruin code 0100 10 times, the LFSR operation is also performed on the second de Bruin code 1101 10 times. , and as a result, the 3rd de Bruyne code 0001 can be obtained. This is a code in the second de Bruin sequence unit 112 at the same position as the reference code 1111 in the first de Bruin sequence unit 111 . If the first de Bruin code read by the sensor unit 121 is 0101, the LFSR operation is performed 3 times until the reference code 1111 is obtained, and the second de Bruin code read by the sensor unit 121 is 1110 , if the LFSR operation is performed 3 times, the 3rd de Bruyne code 0001 is obtained. That is, no matter where the sensor unit 121 is located on the linear scale 110, the third de Bruin code obtained by performing the LFSR operation on the second de Bruin code is always the same code, that is, the first de Bruin sequence. The code 0001 in the second de Bruin sequence unit 112 at the same position as the reference code in the unit 111 is obtained. The controller 122 may determine the scale ID of the linear scale 110 based on the third de Bruin code.

If the sensor unit 121 is at the position 10 of the mover B, the first de Bruin code 0100 will be read, and the first de Bruin code 1111 is obtained to obtain the reference code 1111 at the bottom of the first de Bruin sequence unit 111 . The LFSR operation is performed 10 times on the bruin code, and 1010 is read in the second de Bruin code, and when the LFSR operation is performed 10 times on this, 0010 at the bottom of the second de Bruin sequence unit 112 . This 3rd de Bruyne code is obtained. Even if the sensor unit 121 is located at a different location of the mover B, if such an operation is performed, 0010 is always obtained as the third de Bruyne code. If the sensor unit 121 is on the mover C, 0011 is always obtained as the third de Bruyne code.

In an embodiment, the control unit 122 may determine the third de Bruin code value obtained in the above method as the ID of the linear scale 110 as it is without performing an additional operation. In this case, the scale IDs of movers A, B, and C become 0001, 0010, and 0011, respectively, and when expressed in decimal numbers, they become 1, 2, and 3, respectively. That is, if the de Bruin code of the second de Bruin sequence unit 112 at the same position as the position of the reference code in the first de Bruin sequence unit 111 is set as the ID of the corresponding linear scale, an additional operation is performed. You can easily get the scale ID without having to do anything.

In short, in one embodiment, the control unit 122 determines a third de Bruin code at a predefined position on the second de Bruin sequence based on the first de Bruin code and the second de Bruin code, The ID of the linear scale 110 may be determined based on the determined third de Bruyne code. In an embodiment, the controller 122 determines the phase of the first de Bruin code on the first de Bruin sequence, and the phase and the second de Bruin code on the determined first de Bruin sequence. The ID of the linear scale 110 may be determined based on the Bruin code. In an embodiment, the controller 122 determines the absolute position of the linear scale 110 based on the first de Bruin code, and ID of the linear scale 110 based on the determined absolute position and the second de Bruin code. can be decided In an embodiment, the control unit 122 controls the third de Bruin code at a position separated from the second de Bruin code on the second de Bruin sequence by the phase of the first de Bruin code on the first de Bruin sequence. The ID of the linear scale 110 may be determined based on the determined third de Bruin code. As described above, the first de Bruin sequence and the second de Bruin sequence may be the same (the phase may be different). A phase difference between the second de Bruin code and the third de Bruin code may be the same as the phase of the first de Bruin code. As described above, the phase and the phase difference may be cyclically represented. That is, when the number of codes of the first de Bruyne sequence is N and the phase of the first de Bruin code is k, a code at a position separated by (k+m) mod N from the second de Bruyne code is converted into a third de Bruin code. It can be determined by encoding. where m is an arbitrary integer. The control unit 122 may determine a code of a position separated from the second de Bruin code by the absolute position of the linear scale 110 as the third de Bruin code on the second de Bruin sequence.

(2) Example 2

The controller 122 may determine the scale ID based on the location of a specific de Bruin code in the second de Bruin sequence unit 112 . For example, the control unit 122 performs a first LFSR operation until a reference code is obtained for the first de Bruin code read by the sensor unit 121 as described above, and the first LFSR operation is performed until the reference code is obtained. Determine the absolute position of the linear scale 110 based on the number of times the LFSR operation is performed, and perform a second LFSR operation on the second de Bruin code until a predefined fourth de Bruin code is obtained; The ID of the linear scale 110 may be determined based on a difference between the number of times the first LFSR operation is performed on the first de Bruin code and the number of times the second LFSR operation is performed on the second de Bruin code. As described above, the LFSR operation and the second LFSR operation may be different or the same until the first reference code is obtained.

In the example shown in FIG. 6 , if the fourth de Bruin code is 1000, the control unit 122 performs the LFSR operation on the first de Bruin code 0100 10 times until a reference code 1111 is obtained, and a fourth Since the LFSR operation is performed 9 times for the second de Bruin code 1101 until the de Bruin code 1000 is obtained, a difference of 1 between the two LFSR operations can be obtained. If the first de Bruin code read by the sensor unit 121 is 0101, the LFSR operation is performed 3 times until the reference code 1111 is obtained, and the second de Bruin code read by the sensor unit 121 is 1110 , since the fourth de Bruyne code 1000 is obtained when the LFSR operation is performed twice on this, the difference between the two LFSR operation times becomes 1. That is, no matter where the sensor unit 121 is located on the linear scale 110 , the difference between the number of LFSR calculations performed on the first de Bruin code and the second de Bruin code is always 1, which is the same value. The controller 122 may determine the scale ID of the linear scale 110 based on a difference in the number of LFSR calculations. At this time, the number of LFSR operations performed on the first de Bruyne code corresponds to the phase of the first de Bruin code, and the number of LFSR operations performed on the second de Bruin code corresponds to the fourth de Bruin code as the reference code. ha corresponds to the phase of the second de Bruyne code. The difference in the number of LFSR calculations corresponds to the position of the fourth de Bruin code in the second de Bruin sequence unit 112 with respect to the position of the reference code in the first de Bruin sequence unit 111 . In the example of FIG. 6 , since the position of the reference code 1111 in the first de Bruin sequence unit 111 is at the bottom, that the difference in the number of LFSR operations is 1 means that the This means that the bruin code is one symbol above the bottom. That is, the difference in the number of LFSR operations may indicate the position of the fourth de Bruin code in the second de Bruin sequence unit 112 .

If the sensor unit 121 is at the position 10 of the mover B, the first de Bruin code 0100 will be read, and the first de Bruin code 1111 is obtained to obtain the reference code 1111 at the bottom of the first de Bruin sequence unit 111 . The LFSR operation is performed on the bruin code 10 times, the second de bruin code 1010 is read, and the fourth de bruin code 1000 above two symbols from the bottom of the second de bruin sequence unit 112 LFSR operation is performed 8 times on the second de Bruin code to obtain Even if the sensor unit 121 is located at a different position of the mover B, if such an operation is performed, a difference in the number of LFSR calculations is always obtained. If the sensor unit 121 is on the mover C, the difference in the number of LFSR calculations is always 5.

In an embodiment, the controller 122 may determine the difference in the number of LFSR calculations obtained in the above method as the ID of the linear scale 110 as it is without performing additional calculations. In this case, the scale IDs of movers A, B, and C are 1, 2, and 5, respectively. That is, when the position of the fourth de Bruin code in the second de Bruin sequence unit 112 with respect to the position of the reference code in the first de Bruin sequence unit 111 is set as the ID of the corresponding linear scale, additional Scale ID can be easily obtained without performing calculations.

In other words, in one embodiment, the controller 122 determines a location on the second de Bruin sequence of a predefined fourth de Bruin code based on the first de Bruin code and the second de Bruin code, and The ID of the linear scale 110 may be determined based on the position of the fourth de Bruin code on the second de Bruin sequence. In an embodiment, the control unit 122 is configured to control a position on the second de Bruin sequence of the fourth de Bruin code based on the phase of the first de Bruin code on the first de Bruin sequence and the second de Bruin code. can be decided In an embodiment, the control unit 122 is configured to control the fourth de Bruin code based on the phase of the first de Bruin code on the first de Bruin sequence and the phase of the second de Bruin code on the second de Bruin sequence. The position on the second de Bruin sequence of the code can be determined. In an embodiment, the control unit 122 is configured to control the fourth de Bruin code based on the difference between the phase of the first de Bruin code on the first de Bruin sequence and the phase of the second de Bruin code on the second de Bruin sequence. It is possible to determine a position on the second de Bruin sequence of the Bruin code. In an embodiment, the controller 122 is configured to control the fourth de Bruin code based on a difference between the phase of the first de Bruin code on the first de Bruin sequence and the phase of the second de Bruin code on the second de Bruin sequence. It is possible to determine a position on the second de Bruin sequence of the Bruin code. In an embodiment, the controller 122 is configured to calculate the difference between the phase of the first de Bruin code on the first de Bruin sequence and the phase of the second de Bruin code on the second de Bruin sequence as the fourth de Bruin sequence. It can be determined by the position on the second de Bruin sequence of the code. In an embodiment, the controller 122 may determine the position of the fourth de Bruin code on the second de Bruin sequence as the ID of the linear scale 110 .

(3) Example 3

When the first de Bruin sequence and the second de Bruin sequence are the same (the phases may be different), the controller 122 determines the scale ID based on the phase difference between the second de Bruin code and the first de Bruin code. can decide For example, as described above, the control unit 122 performs the LFSR operation until a reference code is obtained for the first de Bruin code read by the sensor unit 121, and the LFSR operation is performed until the reference code is obtained. The absolute position of the linear scale 110 is determined based on the number of times, LFSR operation is performed on the second de Bruin code until the first de Bruin code is obtained, and the second de Bruin code is The ID of the linear scale 110 may be determined based on the number of times the LFSR operation is performed. Since the second de Bruin code and the first de Bruin code are read from the same position, the phase difference between the second de Bruin code and the first de Bruin code is the second de Bruin code of the second de Bruin sequence unit 112 . It is equal to the phase difference between the bruin sequence and the first de bruin sequence of the first de bruin sequence unit 111 . A phase difference between the second de Bruin sequence and the first de Bruin sequence may be regarded as a phase of the second de Bruin sequence with respect to the first de Bruin sequence.

In the example shown in FIG. 6 , when the LFSR operation is performed 11 times on the second de Bruin code 1101, the first de Bruin code 0100 is obtained. If the first de Bruin code read by the sensor unit 121 is 0101, the second de Bruin code read by the sensor unit 121 is 1110, and if the LFSR operation is performed 11 times on this, the first de Bruin code 0101 is obtained. That is, no matter where the sensor unit 121 is located on the linear scale 110, the number of LFSR operations performed on the second de Bruin code to always obtain the first de Bruin code becomes 11, which is the same value. The controller 122 may determine the scale ID of the linear scale 110 based on the number of LFSR operations performed on the second de Bruin code. In this case, the number of LFSR operations performed on the second de Bruyne code corresponds to the phase difference between the second de Bruin code and the first de Bruin code.

If the sensor unit 121 is at the position 10 of the mover B, the first de Bruin code 0100 will be read, the second de Bruin code 1010 will be read, and the second de Bruin code 0100 will be read. LFSR operation is performed 10 times on the Bruin code. Even if the sensor unit 121 is located at a different position of the mover B, if such an operation is performed, the number of LFSR calculations for the second de Bruyne code is always 10. If the sensor unit 121 is on the mover C, the number of LFSR calculations for the second de Bruyne code is always 7.

In an embodiment, the control unit 122 may determine the number of LFSR calculations for the second de Bruyne code obtained by the above method as the ID of the linear scale 110 as it is without performing additional calculations. In this case, the scale IDs of the movers A, B, and C are 11, 10, and 7, respectively. That is, if the phase difference between the second de Bruin sequence of the second de Bruin sequence unit 112 and the first de Bruin sequence of the first de Bruin sequence unit 111 is set as the ID of the corresponding linear scale, additional Scale ID can be easily obtained without performing calculations.

In other words, when the first de bruin sequence and the second de bruin sequence are the same, in an embodiment, the controller 122 controls the second de bruin sequence based on the first de bruin code and the second de bruin code. A phase difference between the and the first de Bruin sequence may be determined, and the ID of the linear scale 110 may be determined based on the determined phase difference between the second de Bruin sequence and the first de Bruin sequence. In an embodiment, the controller 122 determines a phase difference between the second de Bruin code and the first de Bruin code on the first de Bruin sequence, and the determined second de Bruin code and the first de Bruin code. The ID of the linear scale 110 may be determined based on the phase difference between them. In an embodiment, the controller 122 determines the phase of the second de Bruin sequence based on the first de Bruin code and the second de Bruin code, and linear based on the determined phase of the second de Bruin sequence. The ID of the scale 110 may be determined. In an embodiment, the controller 122 may determine the phase difference between the second de Bruin sequence and the first de Bruin sequence as the ID of the linear scale 110 . In an embodiment, the controller 122 may determine the phase difference between the second de Bruin code and the first de Bruin code as the ID of the linear scale 110 . In an embodiment, the controller 122 may determine the phase of the second de Bruyne sequence as the ID of the linear scale 110 .

7 is a flowchart schematically illustrating a flow of a method of operating a linear position detection apparatus according to an embodiment of the present disclosure. Referring to FIG. 7 , in operation 710 , the controller 122 of the linear position detecting apparatus 120 receives the first de Bruin code from the first de Bruin sequence unit representing the first de Bruin sequence of the linear scale 110 . , reads a second de Bruin code from the second de Bruin sequence unit indicating the second de Bruin sequence of the linear scale 110 in operation 720, and reads a second de Bruin code based on the first de Bruin code in operation 730 The absolute position of the scale 110 is determined, and an ID of the linear scale 110 is determined based on the first de Bruin code and the second de Bruin code in operation 740 . Here, the linear scale 110 may be one of a plurality of linear scales.

Absolute position and scale ID using single track

In the linear position detection system described above, the sensor unit 121 reads the first de Bruin code and the second de Bruin code from the same position of the linear scale 110 , and the sensor unit 121 reads the linear scale 110 . Since it is possible to find out the absolute position and ID of the linear scale 110 only by one reading at any position of the linear scale 110 , it is possible to implement the linear scale 110 as one track, that is, a single track. If the linear scale 110 is implemented as a single track, there is an advantage in that the width of the scale, for example, the width of the magnet plate can be narrowed.

8 is a diagram illustrating a method of implementing a linear scale in a single track according to an embodiment of the present disclosure. Referring to FIG. 8 , if the symbols of the first de Bruin sequence unit 111 and the symbols of the second de Bruin sequence unit 112 are interlaced by half a symbol and then interposed between the symbols, the first de Bruin sequence unit (111) and the second de Bruyne sequence unit 112 can be implemented as one track. In this case, the odd-numbered symbols and the even-numbered symbols in one track represent different de Bruyne sequence units, respectively. That is, the 1st, 3rd, 5th, ..., 35th symbols from the bottom indicate the second de Bruin sequence unit 112, and the 2nd, 4th, 6th, ..., 36th symbols are the 1st de Bruin sequence unit 112. A sequence part 111 is shown. In one embodiment, the first de Bruin sequence unit 111 and the second de Bruin sequence unit 112 may be formed of a symbol array of 1 row and 2L columns, for example, a magnet array of N pole or S pole. In order to read the single track linear scale 110 , the sensor unit 121 may include a sensor array of 2 rows and n columns.

9 is a diagram illustrating an example in which a sensor unit reads a linear scale according to an embodiment of the present disclosure. Referring to FIG. 9 , in the double track embodiment on the left, the sensor unit 121 includes a sensor array of 2 rows and 4 columns, and the first de Bruin sequence unit 111 of the double track linear scale 110 . and the second de Bruin sequence unit 112 reads the 10th code from the bottom, that is, the 10th, 11th, 12th, and 13th symbols from the bottom. In the single track embodiment on the right, the sensor unit 121 includes a sensor array of 1 row and 8 columns, and the first de Bruin sequence unit 111 and the second de Bruin sequence of the double track linear scale 110 are The unit 112 reads the 10th code from the bottom, that is, the 19th to 26th symbols from the bottom. Among them, the 19th, 21st, 23rd, and 25th symbols correspond to the second de Bruin code of the second de Bruin sequence unit 112, and the 20th, 22nd, 24th, and 26th symbols correspond to the first de Bruin sequence unit. It corresponds to the first de Bruin code of (111). In this case, the k-th symbol corresponding to the second de Bruin sequence unit 112 and the k+1-th symbol corresponding to the first de Bruin sequence unit 111 may be considered to be in the same position.

In other words, in an embodiment, the symbols of the first de Bruin sequence unit 111 and the symbols of the second de Bruin sequence unit 112 of the linear scale 110 are alternately arranged in a line, so that the linear scale 110 is It can be implemented as a single track. In this case, the symbols of the first de Bruyne sequence and the symbols of the second de Bruin sequence are alternately arranged in a line one by one in order. The symbols of the first de Bruin sequence unit 111 and the second de Bruin sequence unit 112 may be binary symbols, for example, magnets having an N pole or an S pole. Of course, each of the plurality of linear scales may be implemented as a single track in this way.

The sensor unit 121 includes a first sensor array including sensors arranged in a line for reading a first de Bruin code from the first de Bruin sequence unit 111 and a first sensor array from the second de Bruin sequence unit 112 . A second sensor array including sensors arranged in a line for reading the 2 de Bruin code may be included, and the sensors of the first sensor array and the sensors of the second sensor array may be alternately arranged in a line one by one. The sensors of the first sensor array and the second sensor array may be binary sensors.

Odd-numbered sensors of the sensor unit 121 may be controlled to read odd-numbered symbols of the linear scale 110 , and even-numbered sensors of the sensor unit 121 may be controlled to read even-numbered symbols of the linear scale 110 . Odd-numbered sensors and even-numbered sensors of the sensor unit 121 may be controlled to read different de Bruin sequence units. Odd-numbered sensors of the sensor unit 121 read symbols of the second de Bruin sequence unit 112 , and even-numbered sensors of the sensor unit 121 read symbols of the first de Bruin sequence unit 111 . can be controlled to

As described so far, according to the present disclosure, it is possible to know both the absolute position and ID of the scale no matter where the sensor is located on the scale while using only one track.

Embodiments of the present disclosure can be implemented as computer-executable code on a computer-readable recording medium. The computer-readable recording medium includes all recording media such as magnetic media, optical media, ROM, and RAM. The computer-readable recording medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory storage medium' is a tangible device and only means that it does not contain a signal (eg, electromagnetic wave). It does not distinguish the case where it is stored as For example, the 'non-transitory storage medium' may include a buffer in which data is temporarily stored.

With respect to the present disclosure so far, it has been looked at in detail focusing on the preferred embodiments shown in the drawings. These embodiments are not intended to limit this disclosure, but rather to be illustrative, and should be considered in an illustrative rather than a restrictive sense. Those of ordinary skill in the art to which the present disclosure pertains will understand that these embodiments can be easily modified into other specific forms without changing the technical spirit or essential features of the present disclosure. For example, each component described as a single type may be implemented in a distributed manner, and likewise components described as distributed may also be implemented in a combined form. Although specific terms are used in the present disclosure, they are only used for the purpose of describing the concept of the present disclosure, and are not used to limit the meaning or scope of the present disclosure as set forth in the claims.

The true technical protection scope of the present disclosure should be determined by the technical spirit of the appended claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents are the scope of the present disclosure should be construed as being included in It is to be understood that equivalents include both currently known equivalents as well as equivalents developed in the future, i.e., all elements disclosed that perform the same function, regardless of structure.

Claims (23)

sensor unit; and a control unit,
The sensor unit,
reading the first de Bruin code from the first de Bruin sequence unit indicating the first de Bruin sequence of the linear scale;
reading a second de bruin code from a second de bruin sequence unit indicating a second de bruin sequence of the linear scale;
The control unit is
determining the absolute position of the linear scale based on the first de Bruyne code;
A linear position detecting apparatus for determining the ID of the linear scale based on the first de Bruin code and the second de Bruin code. According to claim 1,
The control unit is
determining the phase of the second de Bruin sequence based on the first de Bruin code and the second de Bruin code;
A linear position detecting device that determines the ID of the linear scale based on the phase of the second de Bruin sequence. According to claim 1,
The control unit is
determine a third de Bruin code at a predefined position on the second de Bruin sequence based on the first de Bruin code and the second de Bruin code;
A linear position detecting device that determines the ID of the linear scale based on the third de Bruin code. According to claim 1,
The control unit is
determine a position on the second de Bruin sequence of a predefined fourth de Bruin code based on the first de Bruin code and the second de Bruin code;
and determining the ID of the linear scale based on a position of the fourth de Bruin code on the second de Bruin sequence. According to claim 1,
The control unit is
A linear position detecting apparatus that determines the ID of the linear scale based on the absolute position determined based on the first de Bruin code and the second de Bruin code. According to claim 1,
The control unit is
determining a phase of the first de Bruin code on the first de Bruin sequence;
and determining the ID of the linear scale based on a phase of the first de Bruin code on the first de Bruin sequence and the second de Bruin code. 7. The method of claim 6,
The control unit is
determining a third de Bruin code at a position separated by a phase of the first de Bruin code on the first de Bruin sequence from the second de Bruin code on the second de Bruin sequence;
A linear position detecting device that determines the ID of the linear scale based on the third de Bruin code. 8. The method according to claim 3 or 7,
The control unit is
A linear position detecting device that determines the third de Bruin code as the ID of the linear scale. 7. The method of claim 6,
The control unit is
Determine a position on the second de Bruin sequence of a predefined fourth de Bruin code based on a phase of the first de Bruin code on the first de Bruin sequence and the second de Bruin code do,
and determining the ID of the linear scale based on a position of the fourth de Bruin code on the second de Bruin sequence. 10. The method according to claim 4 or 9,
The control unit is
and determining a position of the fourth de Bruin code on the second de Bruin sequence by the ID of the linear scale. According to claim 1,
The first de Bruin sequence and the second de Bruin sequence are the same,
The control unit is
determining a phase difference between the second de Bruin sequence and the first de Bruin sequence based on the first de Bruin code and the second de Bruin code;
A linear position detecting apparatus for determining the ID of the linear scale based on a phase difference between the second de Bruin sequence and the first de Bruin sequence. According to claim 1,
The first de Bruin sequence and the second de Bruin sequence are the same,
The control unit is
determining a phase difference between the second de Bruin code and the first de Bruin code in the first de Bruin sequence;
A linear position detecting device for determining the ID of the linear scale based on a phase difference between the second de Bruin code and the first de Bruin code. 13. The method of claim 11 or 12,
The control unit is
A linear position detecting device that determines the phase difference as an ID of the linear scale. According to claim 1,
each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence,
The control unit is
A first LFSR (Linear-Feedback Shift Register) operation is performed on the first de Bruin code until a predefined reference code is obtained,
determining the absolute position of the linear scale based on the number of times the first LFSR operation is performed on the first de Bruin code until the reference code is obtained;
A third de Bruin code is obtained by performing a second LFSR operation on the second de Bruin code as many times as the number of times the first LFSR operation is performed on the first de Bruin code until the reference code is obtained. do,
A linear position detecting device that determines the ID of the linear scale based on the third de Bruin code. According to claim 1,
each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence,
The control unit is
performing a first LFSR operation on the first de Bruin code until a predefined reference code is obtained;
determining the absolute position of the linear scale based on the number of times the first LFSR operation is performed on the first de Bruin code until the reference code is obtained;
performing a second LFSR operation on the second de Bruin code until a predefined fourth de Bruin code is obtained;
The number of times the first LFSR operation is performed for the first de Bruin code until obtaining the reference code and the second LFSR for the second de Bruin code until obtaining the fourth de Bruin code A device for detecting a linear position, which determines the ID of the linear scale based on the number of times the calculation is performed. According to claim 1,
wherein the first de Bruin sequence and the second de Bruin sequence are the same binary sequence;
The control unit is
LFSR operation is performed on the first de Bruyne code until a predefined reference code is obtained;
determining the absolute position of the linear scale based on the number of times the LFSR operation is performed on the first de Bruin code until the reference code is obtained;
performing the LFSR operation on the second de Bruin code until the first de Bruin code is obtained;
and determining the ID of the linear scale based on the number of times the LFSR operation is performed on the second de Bruin code until the first de Bruin code is obtained. According to claim 1,
each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence,
The sensor unit,
a first sensor array including binary sensors arranged in a line for reading the first de Bruin code from the first de Bruin sequence unit; and
and a second sensor array comprising binary sensors arranged in a row, for reading the second de Bruin code from the second de Bruin sequence unit,
The binary sensor of the first sensor array and the binary sensor of the second sensor array are alternately arranged one by one in a line. According to claim 1,
each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence,
The linear scale is
The binary symbol of the first de Bruin sequence unit and the binary symbol of the second de Bruin sequence unit are alternately arranged in a line one by one. As a plurality of linear scales,
Each of the plurality of linear scales,
a first de Bruin sequence unit indicating a first de Bruin sequence for displaying an absolute position; and
and a second de Bruin sequence unit indicating a second de Bruin sequence for displaying scale ID,
The plurality of linear scales,
The phases of the first de Bruin sequences indicated by the first de Bruin sequence unit are the same as each other,
Linear scales in which phases of the second de Bruin sequence indicated by the second de Bruin sequence unit are different from each other. 20. The method of claim 19,
each of the first de Bruin sequence and the second de Bruin sequence is a binary sequence,
In each of the plurality of linear scales,
Linear scales, wherein the binary symbol of the first de Bruyne sequence part and the binary symbol of the second de Bruin sequence part are alternately arranged in a line one by one. The linear position detection device according to claim 1; and
A plurality of linear scales according to claim 19,
The linear scale of claim 1 is any one of the plurality of linear scales of claim 19, a linear position detection system. A method of operating a linear position detection device, comprising:
reading a first de bruin code from a first de bruin sequence unit indicating a first de bruin sequence of a linear scale;
reading a second de bruin code from a second de bruin sequence unit indicating the second de bruin sequence of the linear scale;
determining an absolute position of the linear scale based on the first de Bruin code; and
and determining the ID of the linear scale based on the first de Bruin code and the second de Bruin code. A computer-readable recording medium in which a program for performing the method of claim 22 in a computer is recorded.

Images