CN108163662A - A kind of staircase speed based on rotary encoder and retrograde detection method and device - Google Patents
A kind of staircase speed based on rotary encoder and retrograde detection method and device Download PDFInfo
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- CN108163662A CN108163662A CN201711185974.1A CN201711185974A CN108163662A CN 108163662 A CN108163662 A CN 108163662A CN 201711185974 A CN201711185974 A CN 201711185974A CN 108163662 A CN108163662 A CN 108163662A
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- rotary encoder
- resistance
- phase signals
- staircase
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B25/00—Control of escalators or moving walkways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B27/00—Indicating operating conditions of escalators or moving walkways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B29/00—Safety devices of escalators or moving walkways
- B66B29/005—Applications of security monitors
Abstract
The invention discloses a kind of staircase speed based on rotary encoder and fault detection method and device, it is related to staircase and tests the speed and drive in the wrong direction detection field；Its method includes the following steps：1) whether the condition adjudgement staircase of booting monitoring rotary encoder runs, if then starting self study, step 2 is skipped to, if otherwise terminating；2) pulse of the A phase signals of acquisition rotary encoder and B phase signals and statistics rotary encoder；3) judge whether staircase drives in the wrong direction according to acquisition signal, if then shutting down, if otherwise calculating staircase speed using interrupt mode according to pulse；Its device includes Acquisition Circuit, filter circuit and microcontroller；The Acquisition Circuit includes rotary encoder through signals collecting unit, amplifying unit and strong and weak electricity converting unit；The present invention solve the problems, such as it is existing using rotary encoder measure direction of rotation because the time of Microsecond grade causes to capture difficulty, achieved the effect that capture Microsecond grade A phase signals and B phase signals so as to fulfill measure direction of rotation.
Description
Technical field
The present invention relates to staircase test the speed and drive in the wrong direction detection field, especially a kind of staircase speed based on rotary encoder and
Retrograde detection method and device.
Background technology
The long-play of staircase easily generates situations such as metal fatigue, safety component failure, for example the chain driven breaks
It splits；Traction machine due to bolt comes loose and displacement etc., drive in the wrong direction so as to cause elevator；Existing retrograde detection is by being positioned proximate to switch
Staircase situation is sensed so as to judge, but is caused its measurement accuracy poor greatly by such environmental effects close to switch；On the other hand
Rotary encoder is for measuring rotating speed and coordinating PWM technologies that can realize the device of quick speed governing, photoelectric rotary coder
By opto-electronic conversion, the mechanical quantities such as the angular displacement of output shaft, angular speed can be converted into corresponding electric pulse with digital output
(REP)；Technical parameter, which mainly has, every turns umber of pulse and supply voltage etc.；It is divided into two kinds of single channel output and doubleway output；Single channel
Output refers to that the output of rotary encoder is a set of pulses, and the rotary encoder of doubleway output exports two groups of A/B phase differences 90
The pulse of degree can not only measure rotating speed by this two group pulse, can also judge the direction of rotation.But it adopts in the prior art
Measuring direction of rotation with rotary encoder needs the difficult point that overcomes to be：Separately the time is microsecond to the A phases and B of rotary encoder
Grade, capture is extremely difficult, needs guarantee system and the stability of circuit, so a kind of detection device is needed to ensure the steady of signal
It is fixed, it is ensured that the capture of A phase signals and B phase signals.
Invention content
It is an object of the invention to：The present invention provides a kind of staircase speed based on rotary encoder and fault detect sides
Method and device, solve it is existing using rotary encoder measure direction of rotation because the time of Microsecond grade cause capture difficulty so as to lead
Detection is caused to drive in the wrong direction the problem of difficult.
The technical solution adopted by the present invention is as follows：
A kind of staircase speed based on rotary encoder and retrograde detection method, include the following steps：
Step 1：Whether the condition adjudgement staircase of booting monitoring rotary encoder runs, if then starting self study, skips to
Step 2, if otherwise terminating；
Step 2：Acquire the A phase signals of rotary encoder and the pulse of B phase signals and statistics rotary encoder；
Step 3：Judge whether staircase drives in the wrong direction according to the A phase signals of acquisition and B phase signals, if then shutting down, if otherwise root
Staircase speed is calculated using interrupt mode according to rotary encoder pulse.
Preferably, self study includes initialization, the processing of algorithm redundancy and anti-interference process in the step 1.
Preferably, the step 2 includes the following steps：
Step 2.1：The A phase signals of rotary encoder and B phase signals are acquired by Acquisition Circuit, if A phase signals line is height
Level, then to rotate forward；It is high level if B phase signals line, then to reverse；
Step 2.2：Umber of pulse is counted according to interruption when rotary encoder starts rotation, it is known that the wheel week of rotary encoder
It the long, respective pulses that rotate a circle number and rotates a circle the used time.
Preferably, the step 3 includes the following steps：
Step 3.1：Continuous collecting A phase signals and B phase signals, judge whether A phase signals line is continuously high level, if then
Judge whether B phase signals line is continuously low level, if then staircase normal operation, skips to step 3.2；If otherwise staircase drives in the wrong direction,
Then shut down；
Step 3.2：By the umber of pulse of statistics and known wheel perimeter, the respective pulses that rotate a circle number and rotate a circle
Used time calculates the corresponding perimeter of umber of pulse and time, so as to obtain speed.
A kind of staircase speed based on rotary encoder and retrograde detection device, including Acquisition Circuit, filter circuit and list
Piece machine；The Acquisition Circuit, filter circuit and microcontroller are sequentially electrically connected, and the Acquisition Circuit includes rotary encoder through signals
Collecting unit, amplifying unit and strong and weak electricity converting unit；The rotary encoder through signals collecting unit, amplifying unit and strong and weak electricity
Converting unit is sequentially electrically connected.
Preferably, the Acquisition Circuit connection is as follows：Rotary encoder through signals collecting unit pin 9 and pin 10 are grounded,
Pin 5 is all connected with VDD, pin 6 via resistance R11 connection VDD, pin 6 via resistance R108 connection VDD, pin 2 and pin 1
Connecting triode Q12_2 base stages after resistance R116 are also connected with, triode Q12_2 collectors connect via resistance R117 and resistance R109
Triode Q12 base stages are connect, pin 6 is also via resistance R109 connecting triode Q12 base stages, triode Q12_2 emitters connection electricity
It is grounded, triode Q12 collectors connection VDD, is grounded after emitter connection resistance R112, emitter also passes through PA01 after resistance R118
Connect filter circuit；Rotary encoder through signals collecting unit pin 5 is also connected with connecting triode Q22_2 base stages after resistance R216,
Pin 5 is also connected with resistance R209, and triode Q22_2 collectors are via resistance R217 and resistance R209 connecting triode Q13_2 bases
Pole, triode Q22_2 emitters are grounded after connecting resistance R218, triode Q13_2 collectors connection VDD, emitter connection electricity
It is grounded after resistance R212, emitter also connects filter circuit by PA02.
Preferably, the filter circuit connects as follows including filter circuit one and filter circuit two：Filter circuit one inputs
PA01 is connected, connection resistance R112_6 is grounded after the input connection of filter circuit two PA02, four shunt capacitance C26 of PA01 connections,
Resistance R112_7 ground connection is also connected with, is also grounded via resistance R112_8 and resistance R112_10, also via resistance R112_8 and resistance
R112_11 is grounded after being connect with resistance R112_9, also exports company by PA01_1 via after resistance R112_8 and resistance R112_11
Microcontroller is connect, two output terminal of filter circuit connects microcontroller by PA02_2.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
By anti-interference in self study realization program, 1. design filter circuit removal interference and ripple ensure that the present invention
A phase signals and B phase signals are captured in gsec, realize direction of rotation, using interrupt mode carry out pulse calculate so as to fulfill
The accurate measurement of staircase speed, solve it is existing using rotary encoder measure direction of rotation because the time of Microsecond grade causes to capture
The problem of difficult, has reached and has captured the A phase signals of Microsecond grade and B phase signals, the accurate effect for measuring direction of rotation and staircase speed
Fruit；
2. the anti-interference of present procedure is judged using algorithm redundancy and chip speed, caused by avoiding the interference of algorithm
The shortcomings that Microsecond grade A phase signals and B phase signals capture failure；The anti-interference of hardware prevents external disturbance to height using filter circuit
The interference of frequency normal signal removes clutter, ripple etc. in signal, realizes the anti-interference and stabilization processes of signal, it is ensured that micro-
The capture of the A phase signals and B phase signals of second grade；
3. the staircase speed of the present invention carries out accurate metering using interrupt mode, pass through the fixed ginseng of rotary encoder in itself
Number is so as to calculate staircase speed, and microcontroller, using STM32 series, performance is stable, strong interference immunity, avoids any signal
It loses, further improves the accuracy of system.
Description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the flow chart of the retrograde judgement of the present invention；
Fig. 3 is the microcontroller schematic diagram of the device of the invention；
Fig. 4 is the Acquisition Circuit figure of the device of the invention；
Fig. 5 is the filter circuit figure of the device of the invention.
Specific embodiment
All features or disclosed all methods disclosed in this specification or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
It elaborates with reference to Fig. 1-5 couples of present invention.
Embodiment 1
A kind of staircase speed based on rotary encoder and retrograde detection method, include the following steps：
Step 1：Whether the condition adjudgement staircase of booting monitoring rotary encoder runs, if then starting self study, skips to
Step 2, if otherwise terminating；
Step 2：Acquire the A phase signals of rotary encoder and the pulse of B phase signals and statistics rotary encoder；
Step 3：Judge whether staircase drives in the wrong direction according to the A phase signals of acquisition and B phase signals, if then shutting down, if otherwise root
Staircase speed is calculated using interrupt mode according to rotary encoder pulse.
Self study includes initialization, the processing of algorithm redundancy and anti-interference process in step 1.
Step 2 includes the following steps：
Step 2.1：The A phase signals of rotary encoder and B phase signals are acquired by Acquisition Circuit, if A phase signals line is height
Level, then to rotate forward；It is high level if B phase signals line, then to reverse；
Step 2.2：Umber of pulse is counted according to interruption when rotary encoder starts rotation, it is known that the wheel week of rotary encoder
It the long, respective pulses that rotate a circle number and rotates a circle the used time.
Step 3 includes the following steps：
Step 3.1：Continuous collecting A phase signals and B phase signals, judge whether A phase signals line is continuously high level, if then
Judge whether B phase signals line is continuously low level, if then staircase normal operation, skips to step 3.2；If otherwise staircase drives in the wrong direction,
Then shut down；
Step 3.2：By the umber of pulse of statistics and known wheel perimeter, the respective pulses that rotate a circle number and rotate a circle
Used time calculates the corresponding perimeter of umber of pulse and time, so as to obtain speed.
A kind of staircase speed based on rotary encoder and retrograde detection device, including Acquisition Circuit, filter circuit and list
Piece machine；The Acquisition Circuit, filter circuit and microcontroller are sequentially electrically connected, and the Acquisition Circuit includes rotary encoder through signals
Collecting unit, amplifying unit and strong and weak electricity converting unit；The rotary encoder through signals collecting unit, amplifying unit and strong and weak electricity
Converting unit is sequentially electrically connected.
Embodiment 2
Operation principle：Whether the condition adjudgement staircase of booting monitoring rotary encoder runs, and starts self study if operation,
Staircase operating status is judged after the acquisition A phase signals of rotary encoder and B phase signals, A phase signals line is high level, then for just
Turn；It is high level if B phase signals line, then to reverse；Whether continuous collecting A phase signals and B phase signals judge A phase signals line
High level is continuously, if then judging whether B phase signals line is continuously low level, if then staircase normal operation；If it otherwise helps
Ladder drives in the wrong direction, then shuts down；Rotary encoder starts to start interrupt mode statistics umber of pulse during rotation, it is known that the wheel of rotary encoder
It perimeter, the respective pulses that rotate a circle number and rotates a circle the used time, passes through the umber of pulse of statistics and known wheel perimeter, rotation one
All respective pulses numbers perimeter corresponding with the used time calculating umber of pulse that rotates a circle and time, so as to obtain speed；Rotary encoder
Foreign steamer Zhou Changwei 30cm, rotate a circle about 200ms, corresponding to generate 200 pulses, and statistics umber of pulse can obtain corresponding
The number of turns, perimeter and time, you can calculate staircase speed；Acquisition Circuit is by rotary encoder through signals collecting unit by signal acquisition
A phases and B phase pulses are obtained afterwards, are amplified by the capacitance-resistance triode of amplifying unit, are converted signal by strong and weak electricity converting unit
For Transistor-Transistor Logic level, filter circuit progress LC filtering removal ripple and shake etc. are then passed through, finally level is connected to by treated
Microcontroller is calculated, and microcontroller ensure that the antijamming capability of signal, promoted signal using STM32 series, hardware circuit
Stablize transmission, be conducive to capture A phases and B phase signals complete the judgement whether staircase drives in the wrong direction；Acquisition Circuit connection is as follows：Rotation is compiled
Code device signal gathering unit pin 9 and pin 10 are grounded, and pin 5 connects via resistance R11 connection VDD, pin 6 via resistance R108
VDD is met, pin 2 and pin 1 are all connected with VDD, and pin 6 is also connected with connecting triode Q12_2 base stages after resistance R116, triode
Q12_2 collectors are via resistance R117 and resistance R109 connecting triode Q12 base stages, and pin 6 is also via resistance R109 connections three
Pole pipe Q12 base stages, triode Q12_2 emitters are grounded after connecting resistance R118, triode Q12 collectors connection VDD, emitter
It is grounded after connection resistance R112, emitter also connects filter circuit by PA01；Rotary encoder through signals collecting unit pin 5 is also
Connecting triode Q22_2 base stages after connection resistance R216, pin 5 are also connected with resistance R209, and triode Q22_2 collectors are via electricity
R217 and resistance R209 connecting triode Q13_2 base stages are hindered, is grounded after triode Q22_2 emitters connection resistance R218, three poles
Pipe Q13_2 collectors connect VDD, are grounded after emitter connection resistance R212, emitter also connects filter circuit by PA02.Filter
Wave circuit connects as follows including filter circuit one and filter circuit two：The input connection PA01 of filter circuit one, filter circuit two are defeated
Enter and connect PA02, resistance R112_6 ground connection is connected after four shunt capacitance C26 of PA01 connections, be also connected with resistance R112_7 ground connection,
It is also grounded via resistance R112_8 and resistance R112_10, also connects via resistance R112_8 and resistance R112_11 and resistance R112_9
It is grounded after connecing, connection microcontroller is also exported by PA01_1 via after resistance R112_8 and resistance R112_11, filter circuit two is defeated
Outlet connects microcontroller by PA02_2.For the present invention by anti-interference in self study realization program, design filter circuit removal is dry
It disturbs and ripple, ensure that and A phase signals and B phase signals are captured in gsec, realize direction of rotation, arteries and veins is carried out using interrupt mode
Punching calculates the accurate measurement so as to fulfill staircase speed, solves existing use rotary encoder and measures direction of rotation because of Microsecond grade
The problem of causing to capture difficulty time, reached and captured the A phase signals of Microsecond grade and B phase signals, accurately measured direction of rotation
With the effect of staircase speed.
Claims (7)
1. a kind of staircase speed based on rotary encoder and retrograde detection method, it is characterised in that：Include the following steps：
Step 1：Whether the condition adjudgement staircase of booting monitoring rotary encoder runs, if then starting self study, skips to step
2, if otherwise terminating；
Step 2：Acquire the A phase signals of rotary encoder and the pulse of B phase signals and statistics rotary encoder；
Step 3：Judge whether staircase drives in the wrong direction according to the A phase signals of acquisition and B phase signals, if then shutting down, if otherwise according to rotation
Turn encoder pulse and staircase speed is calculated using interrupt mode.
2. a kind of staircase speed and retrograde detection method, feature based on rotary encoder according to claim 1 exist
In：Self study includes initialization, the processing of algorithm redundancy and anti-interference process in the step 1.
3. a kind of staircase speed and retrograde detection method, feature based on rotary encoder according to claim 1 exist
In：The step 2 includes the following steps：
Step 2.1：The A phase signals of rotary encoder and B phase signals are acquired by Acquisition Circuit, if A phase signals line is high level,
Then to rotate forward；It is high level if B phase signals line, then to reverse；
Step 2.2：Umber of pulse is counted according to interruption when rotary encoder starts rotation, it is known that the wheel perimeter of rotary encoder,
It the respective pulses that rotate a circle number and rotates a circle the used time.
4. a kind of staircase speed and retrograde detection method, feature based on rotary encoder according to claim 1 exist
In：The step 3 includes the following steps：
Step 3.1：Continuous collecting A phase signals and B phase signals, judge whether A phase signals line is continuously high level, if then judging
Whether B phase signals line is continuously low level, if then staircase normal operation, skips to step 3.2；If otherwise staircase drives in the wrong direction, stop
Machine；
Step 3.2：By the umber of pulse of statistics and known wheel perimeter, the respective pulses that rotate a circle number and rotate a circle the used time
The corresponding perimeter of umber of pulse and time are calculated, so as to obtain speed.
5. a kind of staircase speed based on rotary encoder and retrograde detection device, it is characterised in that：Including Acquisition Circuit, filtering
Circuit and microcontroller；The Acquisition Circuit, filter circuit and microcontroller are sequentially electrically connected, and the Acquisition Circuit includes rotation and compiles
Code device signal gathering unit, amplifying unit and strong and weak electricity converting unit；The rotary encoder through signals collecting unit, amplifying unit
It is sequentially electrically connected with strong and weak electricity converting unit.
6. a kind of staircase speed and retrograde detection device, feature based on rotary encoder according to claim 5 exist
In：The Acquisition Circuit connection is as follows：Rotary encoder through signals collecting unit pin 9 and pin 10 are grounded, and pin 5 is via resistance
R11 connection VDD, pin 6 are all connected with VDD via resistance R108 connection VDD, pin 2 and pin 1, and pin 6 is also connected with resistance R116
Connecting triode Q12_2 base stages afterwards, triode Q12_2 collectors are via resistance R117 and resistance R109 connecting triode Q12 bases
Pole, also via resistance R109 connecting triode Q12 base stages, triode Q12_2 emitters are grounded pin 6 after connecting resistance R118,
Triode Q12 collectors connect VDD, are grounded after emitter connection resistance R112, emitter also connects filter circuit by PA01；
Rotary encoder through signals collecting unit pin 5 is also connected with connecting triode Q22_2 base stages after resistance R216, and pin 5 is also connected with electricity
R209 is hindered, triode Q22_2 collectors are via resistance R217 and resistance R209 connecting triode Q13_2 base stages, triode Q22_2
It is grounded after emitter connection resistance R218, triode Q13_2 collectors connection VDD, is grounded, sends out after emitter connection resistance R212
Emitter-base bandgap grading also connects filter circuit by PA02.
7. a kind of staircase speed and retrograde detection device, feature based on rotary encoder according to claim 6 exist
In：The filter circuit connects as follows including filter circuit one and filter circuit two：The input connection PA01 of filter circuit one, filtering
Connection resistance R112_6 ground connection after the input connection of circuit two PA02, four shunt capacitance C26 of PA01 connections, is also connected with resistance
R112_7 is grounded, and is also grounded via resistance R112_8 and resistance R112_10, also via resistance R112_8 and resistance R112_11 with
It is grounded after resistance R112_9 connections, connection microcontroller is also exported by PA01_1 via after resistance R112_8 and resistance R112_11,
Two output terminal of filter circuit connects microcontroller by PA02_2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711185974.1A CN108163662A (en) | 2017-11-23 | 2017-11-23 | A kind of staircase speed based on rotary encoder and retrograde detection method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711185974.1A CN108163662A (en) | 2017-11-23 | 2017-11-23 | A kind of staircase speed based on rotary encoder and retrograde detection method and device |
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| CN108163662A true CN108163662A (en) | 2018-06-15 |
Family
ID=62527627
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| CN201711185974.1A Withdrawn CN108163662A (en) | 2017-11-23 | 2017-11-23 | A kind of staircase speed based on rotary encoder and retrograde detection method and device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112097803A (en) * | 2020-09-03 | 2020-12-18 | 华帝股份有限公司 | Incremental encoder signal identification system and identification method |
| CN112146686A (en) * | 2019-06-27 | 2020-12-29 | 西安诺瓦星云科技股份有限公司 | Rotation information acquisition method, device and system and computer readable storage medium |
| CN114544153A (en) * | 2020-11-24 | 2022-05-27 | 京东方科技集团股份有限公司 | Detection method and detection circuit for key board and rotary encoder, and display device |
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| CN1776373A (en) * | 2005-11-24 | 2006-05-24 | 上海交通大学 | Phase demodulating circuit for incremeutal rotary encoder |
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Application publication date: 20180615 |
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