CN109283353B - Method for detecting a marking gap of a sensor wheel - Google Patents

Method for detecting a marking gap of a sensor wheel Download PDF

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CN109283353B
CN109283353B CN201810797154.6A CN201810797154A CN109283353B CN 109283353 B CN109283353 B CN 109283353B CN 201810797154 A CN201810797154 A CN 201810797154A CN 109283353 B CN109283353 B CN 109283353B
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increment
time
marking
comparison
gap
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CN109283353A (en
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T.理查德森
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • 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
    • G01D5/2454—Encoders incorporating incremental and absolute signals
    • G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
    • G01D5/2457—Incremental encoders having reference marks

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The invention relates to a method for detecting marking gaps on a sensor wheel, comprising a plurality of markings and marking gaps, wherein the markings are designed such that a marking sensor emits a marking signal proceeding from the marking past the marking sensor, wherein an increment time is determined proceeding from the marking signal, wherein the increment time corresponds to a time period which elapses after a marking is detected until an immediately adjacent marking is detected, wherein the marking gaps are detected proceeding from three directly successive increment times.

Description

Method for detecting a marking gap of a sensor wheel
Technical Field
The invention relates to a method for detecting a marking gap of a sensor wheel, to a device, to a computer program product, to a memory medium and to a computing unit.
Background
For detecting the rotational position of the rotary shaft, a sensor wheel is used, which is designed such that it generates a sensor signal via a sensor provided for this purpose, from which sensor signal the rotational position of the rotary shaft can be read (enablesen). Such sensor wheels are used, for example, to detect the rotational position of a crankshaft or of a camshaft of an internal combustion engine. The sensor wheel is not only suitable for determining the rotational position of the shaft, but can also be used for detecting the rotational speed of the shaft. In particular, the sensor wheel on the camshaft is therefore provided with a large number of markings, so that a large number of pulses are generated in the associated sensor during a complete rotation of the sensor wheel. In order to be able to detect the absolute rotational position of the crankshaft, there are usually marking gaps in the multiplicity of markings, which are formed by, for example, missing two markings. The sensor or a software module that analyzes the sensor signal can recognize the gaps of the markings on the sensor wheel and determine a reference rotational position of the sensor wheel therefrom.
The sensor wheels known on the market in some cases comprise a plurality of interspaces, wherein usually all interspaces have the same width, all markings have the same width and there are always at least two standard (normal) markings between two interspaces. The identification of the marking is usually carried out in that either the beginning or the end of the marking is detected by the sensor and is emitted, for example, as a voltage transition or as a signal edge in the signal of the sensor (ausgeben). The time period that elapses after the detection of, for example, the start of a marker until the detection of the start of the marker immediately following (darauffolden) is generally referred to as the delta time.
In order to be able to identify a detected incremental time as belonging to a marking gap, the detected incremental time is compared with adjacent incremental times. If in this case a significant deviation of the detected delta time from the adjacent delta time is determined, it follows from the method known from the prior art that the detected delta time is a delta time belonging to a gap. The advantage of this method is that the computation effort for detecting sensor wheel gaps is so small that it can be checked immediately whether each detected incremental time is in this case an incremental time belonging to a gap. A disadvantage of the methods known from the prior art is that abrupt changes in the rotational speed of the sensor wheel can lead to unreliable detection of a marking gap or, even if the detected incremental time does not belong to a marking gap, to recognition of this as belonging to a gap.
Disclosure of Invention
The object of the present invention is therefore to provide a method which makes it possible to reliably detect a marking gap on a sensor wheel with little computational effort.
The method according to the invention for detecting marking gaps of a sensor wheel has the advantage that the marking gaps are detected from three directly successive incremental times. The sensor wheel comprises a plurality of markings and marking gaps, wherein the markings are configured such that a marking sensor emits a marking signal proceeding from a marking passage marking sensor, wherein an incremental time is determined proceeding from the marking signal, wherein the incremental time corresponds to a time period that elapses after a marking is recognized until a directly adjacent marking is recognized. This allows a significant improvement in the stability compared to the methods known from the prior art.
Advantageously, a marker slot is identified from a first comparison of three directly successive increment times, wherein the marker slot is assigned to a third increment time when the sum of the ratio of the second increment time to the first increment time and the ratio of the second increment time to the third increment time is less than a predeterminable comparison value, wherein the first increment time, the second increment time and the third increment time are three directly successive increment times, wherein the first increment time is detected before the second increment time and the third increment time, and wherein the second increment time is detected before the third increment time. It is therefore advantageously possible to identify the marking gap directly after the detection of three directly successive incremental times with better reliability than the methods known from the prior art. Advantageously, this allows a continuous finding of the marking gaps when the presence of marking gaps has been deduced for all incremental times that have been checked beforehand.
Advantageously, the marking gap is detected starting from a first comparison of three directly successive increment times and starting from a second comparison of three directly successive increment times.
Advantageously, the marker gap hypothesis is established when a first comparison of three directly successive increment times meets a comparison criterion, and the marker gap is identified when a second comparison of two directly successive increment times meets the comparison criterion. Advantageously, the comparison criterion of the first comparison and the comparison criterion of the second comparison are identical comparison criteria. The second comparison is only carried out if the first comparison yields that the comparison criterion is fulfilled, so that after the first comparison is carried out, a marking gap hypothesis is formed, which is unambiguous in accordance with the second comparison (pr 228zizisiert. The second comparison, which is carried out solely on the basis of the result of the first comparison, offers the advantage that computation time can be saved.
Advantageously, one of the three directly successive increment times on which the second comparison is based corresponds to one of the three directly successive increment times on which the first comparison is based. That is to say in other words, at least one increment time serving as an input value for the first comparison is used as an input value for the second comparison.
Advantageously, the comparison criterion is fulfilled when the sum of the ratio of the second incremental time to the first incremental time and the ratio of the second incremental time to the third incremental time is less than a predeterminable comparison value, wherein the first incremental time, the second incremental time and the third incremental time are three directly successive incremental times, wherein the first incremental time is detected before the second incremental time and the third incremental time, and wherein the second incremental time is detected before the third incremental time. The comparison criterion thus provides that the ratio of the intermediate increment time to the two immediately adjacent increment times is formed in each case, the two ratios are summed and the result of the summation is compared with a predeterminable threshold value. The term intermediate increment time refers here to the position of the intermediate increment time relative to two directly adjacent increment times. The intermediate increment times are not particularly understood to mean average increment times in the sense of the present invention.
In the case of the use of advantageous comparison criteria, the first comparison can determine whether one of the two increments directly adjacent to the central increment is the increment that marks the index gap of the sensor wheel. A second comparison, which is advantageously based on the last incremental time at which an entry in the first comparison was found and two incremental times detected directly therefrom, can likewise have the result that one of the incremental times directly adjoining the intermediate incremental time of the second comparison is the incremental time assigned to the marking gap of the sensor wheel. From the results of the first comparison and the second comparison, a combination can then be made such that the last detected increment time at which an entry in the first comparison is found, and also the first detected increment time at which an entry in the second comparison is found, is the increment time of the marking gap belonging to the sensor wheel, if the comparison criterion is fulfilled not only in the first comparison but also in the second comparison. If the comparison criterion is met in the first comparison but not in the second comparison, it follows that the first detected incremental time to find the entry in the first comparison is the incremental time representing the marking gap of the sensor wheel.
Furthermore, an apparatus is advantageous, which is designed to carry out each step of the method according to the invention.
It is advantageous to have a computer program product arranged or arranged by compilation to implement each step of the method according to the invention when it is run on a computing unit.
A memory medium on which the computer program product according to the invention is stored and a computing unit comprising a memory medium according to the invention are advantageous.
Drawings
Embodiments of the method according to the invention are explained in more detail with reference to the figures. Wherein:
FIG. 1 shows a schematic view of a sensing wheel that is scanned (astasten) with a marking sensor;
fig. 2 shows a schematic view of a flow of an embodiment of a method according to the invention;
fig. 3 shows a schematic diagram of the detected order of incremental times (unfolge).
Detailed Description
Fig. 1 shows a schematic view of a sensor wheel (10) which is connected to a rotary shaft in a rotationally fixed manner. The sensor wheel (10) can be in particular a sensor wheel of a crankshaft of an internal combustion engine. The sensor wheel (10) comprises a plurality of markings (14) along its circumference, which are configured such that they can change the physical properties of the sensor wheel (10) in such a way that, when the markings (14) pass the (vorbeibewegen) marking sensor (20) as a result of the rotation of the sensor wheel (10), the change is detected by the marking sensor (20). The marking (14) can be in particular a rise in the form of teeth (Erh nanogen). The marking sensor (20) can be in particular a hall sensor, which detects a magnetic field that is changed by passing the marking (14). The markers (14) are arranged along the circumference of the sensor wheel (10) such that the beginning of the markers (14) viewed in the direction of rotation of the sensor wheel (10) or the end of the markers (14) viewed in the direction of rotation of the sensor wheel (10) are arranged equidistantly. The sensor wheel (10) further comprises a marking recess (12) which can be formed, for example, in such a way that at least two adjacent markings are removed along the circumference of the sensor wheel (10).
The marking sensor (20) is configured in such a way that it transmits a marking signal to the computing unit (22), wherein the marking signal describes (wiedergibt) each time point of the recording of the marking (14), for example by means of a pulse or a signal edge (signalflash). Starting from the signal edges of the pulse or marking signal, the computing unit (22) can determine the time intervals between the signal edges of the pulse or marking signal and thus the incremental time. The computing unit (22) includes a memory medium (24).
The sensor wheel (10), the marking sensor (20) and the computing unit (22) are advantageously components of a device for controlling an internal combustion engine.
Fig. 2 shows a schematic flow of an embodiment of the method according to the invention. An embodiment of the method according to the invention is applied when the sensor wheel (10) rotates, so that the marking (14) passes the marking sensor (20) and the marking sensor generates a marking signal.
An embodiment of the method according to the invention starts in step 100. In step 100, a new incremental time is detected starting from the last detected pulse of the marking sensor (20) or the last detected signal edge of the marking signal and stored. It is next checked whether three directly successive increment times (40, 41, 42) have been stored. If three directly successive delta times (40, 41, 42) have not been stored, the delta times are detected again and stored. If three directly successive delta times (40, 41, 42) are stored, step 110 is carried out next. Method step 100 therefore comprises an inner loop (scheleife).
In step 110, it is checked whether three stored directly successive increment times (40, 41, 42) satisfy a comparison criterion. For this purpose, the ratio of the intermediate increment time (41) of three directly successive increment times to two directly adjacent increment times (40, 42) is formed. The two ratios of the increment times are then summed and the result of the summation is compared with a predeterminable threshold value. If the sum of the incremental time ratios is less than a predeterminable threshold value, step 130 is carried out after step 100. If the sum of the ratios is greater than a predeterminable threshold value, step 120 is carried out after step 110. If the first comparison performed in step 110 satisfies the comparison criterion, the increment time of one of the two outer increment times (40, 42) that has been supplied to the first comparison is the increment time corresponding to the marking gap (12) of the sensor wheel (10). If the three stored directly successive increment times (40, 41, 42) satisfy the comparison criterion, a marking gap hypothesis (Markierungsilkenhyphese) is thus established in the framework of step 110.
A new delta time is detected in step 120, which is directly connected to the delta time last detected in the frame of step 100 (42). The newly detected delta time is stored and the oldest of the three previously stored delta times is deleted. Step 110 is then repeated.
Two further incremental times (43, 44) are detected in step 130, wherein the two further detected incremental times (43, 44) are incremental times directly adjacent (angrenzen) to the incremental time (42) detected last in the frame of step 100. Step 140 is performed after step 130. Since the stored delta times are not deleted in step 130, there are at least five detected delta times (40, 41, 42, 43, 44) after step 130.
In step 140, the ratio of the middle incremental time (43) of the three last detected incremental times (42, 43, 44) to the two adjacent last detected incremental times (42, 44) is formed in each case. The intermediate increment time (43) is then summed with the ratio of two adjacent increment times (42, 44) and the result of the summation is compared with a predeterminable threshold value. If the comparison yields that the sum of the incremental time ratios is less than a predefinable threshold value, step 160 is carried out after step 140. If the comparison yields that the sum of the incremental time ratios is greater than a predeterminable threshold value, step 150 is carried out after step 140.
In a step 150, a marking gap (12) of the sensor wheel (10) is assigned to a first incremental time (40), the comparison carried out in a step 110 being based on the first incremental time. Step 100 is performed after step 150.
In a step 160, the marking gap (12) of the sensor wheel (10) is assigned to an incremental time (42) during which not only the entry to the comparison carried out in the step 110 but also the entry to the comparison carried out in the step 140 is found. In this case the middle of the total of five stored incremental times (40, 41, 42, 43, 44) at the point in time when step 140 is implemented.
Within the framework of the described exemplary embodiment, a marking gap assumption is established by the first comparison carried out in step 110. Since the comparison carried out in step 110 only results in one of the incremental times compared in step 110 being the incremental time of the marking gap (12) belonging to the sensor wheel (10). The marking gap assumption is checked by the second comparison in step 140 in such a way that, after step 140, it can be reliably determined which of the incremental times compared in step 110 is assigned to the marking gap (12) of the sensor wheel (10).
In an alternative embodiment, no flag slot hypothesis is created in the framework of step 110, but the flag slot (12) of the last detected increment time (42) is assigned to three directly successive increment times (40, 41, 42) when the comparison criterion is fulfilled. In this alternative embodiment, it is advantageously used that only one of the two outer incremental times (40, 42) can be an incremental time associated with the marking gap (12) with a high probability. If the increment time (40) detected first (zuerst) of the three directly successive increment times (40, 41, 42) is an increment time belonging to the marking gap (12), the comparison criterion is already satisfied when the earlier step (Durchlauf) 110 is passed, which is completed (zurtzliegt) so quickly (kurzfrisig) that the earlier step cannot correspond to a complete (volen) rotation (Umdrehung) of the sensor wheel (10). Thus, the last detected delta time (42) of the three directly successive delta times (40, 41, 42) is assigned to a marking gap (12) only if the step 110 has been passed at least twice without the comparison criterion being met in the at least two passes. This alternative design does not provide for performing step 130 after step 110. Rather, the alternative design ends with step 110 if the comparison criterion is fulfilled. If the comparison criterion is not met, step 110 is followed by step 120 within the framework of this alternative design.
Fig. 3 shows a schematic representation of the temporal course of the marking signal provided by the marking sensor (20). At a first point in time (30), the marking signal comprises at least four pulses, so that three directly adjacent incremental times (40, 41, 42) can be formed from the time interval (Abst \228. After a further pulse has been emitted by the marking sensor (20) at time point 31, a fourth incremental time (43) can be determined. After another pulse is provided at time 32 by the mark sensor (20), a fifth incremental time (44) can be calculated. The incremental times 40, 41 and 42 are fed to the first comparison carried out in the framework of step 110. For this purpose, the ratio of the incremental time 41 to the incremental time 40 and the ratio of the incremental time 41 to the incremental time 42 are formed. These two ratios are then summed and compared with a predefinable threshold value. The incremental times 43 and 44 are detected in the framework of method step 130. Now, the second comparison, which is carried out in the framework of step 140, is based on the delta times 42, 43 and 44. For this purpose, a ratio of increment time 43 to increment time 42 and a ratio of increment time 43 to increment time 44 are formed. These two ratios are summed and then compared with a predeterminable threshold value. If both the first comparison carried out in step 110 and the second comparison carried out in step 140 result in the sum of the ratios formed being less than a predefinable threshold value, it is known from this that one of the incremental times at which both the entry to the comparison carried out in the frame of step 110 and the entry to the comparison carried out in the frame of step 140 was found represents a marking gap (12) of the sensor wheel (10). In this case only the increment time 42 is possible for logical reasons.
If the comparison carried out in step 110 yields that the sum of the ratios of the incremental times is less than a predeterminable threshold value and the comparison carried out in step 140 subsequently yields that the sum of the ratios of the incremental times formed there is greater than a predeterminable threshold value, it can be concluded that the incremental time of the marking gap (12) representing the sensor wheel (10) has found an entry in the first comparison, but not in the second comparison. Next, the increment time representing the marking gap (12) of the sensor wheel (10) must be the increment time 40.
The described exemplary embodiment of the method according to the invention enables the identification of a marking gap (12) of the sensor wheel (10) to be carried out reliably even with strongly varying rotational speeds of the sensor wheel (10) and requires only such a low computation power of the computation unit (22) that the exemplary embodiment of the method according to the invention can be carried out in a shorter time period than the typical incremental time of the sensor wheel (10).

Claims (8)

1. Method for detecting a marking gap (12) of a sensor wheel (10), which comprises a plurality of markings (14) and marking gaps (12), wherein the markings (14) are designed such that a marking sensor (20) emits a marking signal from the passage of a marking (14) past the marking sensor (20), wherein, starting from the marking signal, an increment time (40, 41, 42, 43, 44) is determined, wherein the increment times (40, 41, 42, 43, 44) correspond to the time period that elapses after the identification of a marking (14) until the identification of an immediately adjacent marking (14), characterized in that, starting from three immediately successive increment times (40, 41, 42), the marking gap (12) is identified, wherein, starting from a first comparison of three immediately successive increment times (40, 41, 42), the marking gap (12) is identified, wherein, when a ratio of a second increment time (41) to a first increment time (40) and a ratio of a second increment time (41) to a third increment time (42) are compared, the increment time (42) is less than a given value of the sum of the third increment time (40, 42), wherein the increment time (41) and the increment times (42) are assigned to a third increment time (40, wherein the sum of the third increment time (41) is a given value, wherein the first incremental time (40) is detected before the second incremental time (41) and the third incremental time (42), and wherein the second incremental time (41) is detected before the third incremental time (42).
2. Method for detecting a marking gap (12) of a sensor wheel (10), which comprises a plurality of markings (14) and marking gaps (12), wherein the markings (14) are designed such that a marking sensor (20) emits a marking signal from the passage of the markings (14) over the marking sensor (20), wherein, starting from the marking signal, an increment time (40, 41, 42, 43, 44) is determined, wherein the increment time (40, 41, 42, 43, 44) corresponds to the time period that elapses after the identification of a marking (14) until the identification of an immediately adjacent marking (14), characterized in that the marking gap (12) is identified starting from three immediately successive increment times (40, 41, 42), wherein, starting from a first comparison of the three immediately successive first increment times (40), a second increment time (41) and a third increment time (42) and starting from a second comparison of the three immediately successive third increment times (42), a fourth increment time (43) and a fifth increment time (44), the marking gap (12) is identified.
3. Method according to claim 2, characterized in that a marker gap hypothesis is established when a first comparison of three directly successive first increment times (40), second increment times (41) and third increment times (42) fulfils a comparison criterion, and the marker gap (12) is identified when a second comparison of three directly successive third increment times (42), fourth increment times (43) and fifth increment times (44) fulfils a comparison criterion.
4. A method according to claim 3, characterized in that one of the three directly successive third, fourth and fifth increment times (42, 43, 44) on which the second comparison is based corresponds to one of the three directly successive first, second and third increment times (40, 41, 42) on which the first comparison is based.
5. Method according to claim 3 or 4, characterized in that a comparison criterion is fulfilled when the sum of the ratio of the second increment time (41) to the first increment time (40) and the ratio of the second increment time (41) to the third increment time (42) is smaller than a predeterminable comparison value, wherein the first increment time (40), the second increment time (41) and the third increment time (42) are three directly successive increment times (40, 41, 42), wherein the first increment time (40, 42) is detected before the second increment time (41, 43) and the third increment time (42, 44), and wherein the second increment time (41, 43) is detected before the third increment time (42, 44).
6. Device for identifying a marking gap (12) of a sensor wheel (10), which is set up to carry out each step of the method according to one of claims 1 to 5.
7. A memory medium (24) on which is stored a computer program product arranged or arranged by compilation for carrying out each step of the method according to any one of claims 1 to 5 when it is run on a computing unit (22).
8. A computing unit (22) comprising a memory medium (24) according to claim 7.
CN201810797154.6A 2017-07-20 2018-07-19 Method for detecting a marking gap of a sensor wheel Active CN109283353B (en)

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DE102010023533A1 (en) * 2009-12-19 2011-06-22 Volkswagen AG, 38440 Method for detecting reference mark of magnitude of incremental marks of wheel of e.g. hall sensor utilized to detect speed of crankshaft in internal combustion engine of motor vehicle, involves detecting reference mark by detection unit
CN102374062A (en) * 2010-08-06 2012-03-14 丰田自动车株式会社 Rotary detection device and method for determining rotating body reference clearance
WO2016207004A1 (en) * 2015-06-26 2016-12-29 Robert Bosch Gmbh Method for detecting a gap of a timing wheel

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Publication number Priority date Publication date Assignee Title
JP3794487B2 (en) 2002-11-13 2006-07-05 三菱電機株式会社 Crank angle detector
EP2163858A1 (en) 2008-09-16 2010-03-17 Magneti Marelli Powertrain S.p.A. A control method for determining the angular position of a drive shaft of an internal combustion engine

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0618284A (en) * 1992-04-02 1994-01-25 Robert Bosch Gmbh Method of evaluating output signal of revolution-number sensor
US5663495A (en) * 1994-02-01 1997-09-02 Rover Group Detecting a marker in an engine position sensing system
DE102010023533A1 (en) * 2009-12-19 2011-06-22 Volkswagen AG, 38440 Method for detecting reference mark of magnitude of incremental marks of wheel of e.g. hall sensor utilized to detect speed of crankshaft in internal combustion engine of motor vehicle, involves detecting reference mark by detection unit
CN102374062A (en) * 2010-08-06 2012-03-14 丰田自动车株式会社 Rotary detection device and method for determining rotating body reference clearance
WO2016207004A1 (en) * 2015-06-26 2016-12-29 Robert Bosch Gmbh Method for detecting a gap of a timing wheel

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