CN110440846A - A kind of collecting method of encoder, system, terminal and storage medium - Google Patents

Abstract

Collecting method, system terminal and the storage medium of a kind of encoder provided herein, which comprises when receiving Zero positioning instruction, obtain the Zero positioning data that encoder is sent and carry out power-off preservation；When a system is powered up, the Zero positioning data of preservation are obtained and real-time data collection that encoder is sent in real time；Actual data value is determined according to Zero positioning data and real-time data collection；According to real-time data collection judge encoder whether zero passage, if then to actual data value carry out zero passage processing；Wherein, mechanical device initial position measured by encoder is placed in zero-bit；The application is handled using the calibration of encoder initial value and zero passage, it need not consider that the zero-bit of encoder and mechanical device is corresponding when encoder can be made to install, and encoder is installed in any angle, it is not limited simultaneously by encoder range, the working efficiency of encoder installation can be obviously improved and ensures the accuracy of encoder data acquisition.

Description

A data acquisition method, system, terminal and storage medium of a multi-turn encoder

technical field

The present application relates to the technical field of data acquisition, in particular to a data acquisition method, system, terminal and storage medium of a multi-turn encoder.

Background technique

An encoder is a device that converts the angular displacement or linear displacement of mechanical rotation into an electrical signal, and transmits it to the acquisition device through digital quantities. It is a precision measuring device that combines machinery and electronics closely. Encoders are widely used in many aspects such as motors, automobiles, wind power, elevators, and robots. It converts a mechanical geometric displacement into an electronic signal, an electronic pulse signal or a data string through the principle of photoelectricity or electromagnetic principle. Generally, when the sensor is installed, it is necessary to install the zero position of the encoder and the zero position of the mechanical device at the same position, so as to ensure that the angle data sent by the encoder when the mechanical device rotates is consistent with the actual angle of the mechanical device, but this requirement is for the encoder. The installation brings inconvenience, and once the installed mechanical position is not accurate enough, it will directly affect the accuracy of angle data collection.

Therefore, there is an urgent need for a data acquisition method, system, terminal, and storage medium for a multi-turn encoder. On the basis of ensuring the accuracy of encoder data acquisition, the efficiency of encoder installation is improved, and the encoder does not need to be considered when installing. The zero position of the device and the mechanical device corresponds to the effect that it can be installed at any angle.

Contents of the invention

Aiming at the deficiencies of the prior art, the present application provides a data acquisition method, system, terminal and storage medium of a multi-turn encoder, which solves the problems of inconvenient installation of the encoder and low accuracy of data acquisition in the prior art.

In order to solve the above technical problems, in the first aspect, the application provides a data acquisition method of a multi-turn encoder, including:

When receiving the zero calibration command, obtain the zero calibration data sent by the encoder and save it after power off;

When the system is powered on, obtain the saved zero calibration data and the real-time acquisition data sent by the encoder in real time;

Determine the actual data value according to the zero calibration data and real-time acquisition data;

According to the real-time collected data, judge whether the encoder is zero-crossing, and if so, perform zero-crossing processing on the actual data value;

Among them, the initial position of the mechanical device measured by the encoder is set to zero.

Preferably, when the zero calibration command is received, the zero calibration data sent by the encoder is obtained for power-off storage, including:

Send zero calibration instructions to the controller through the display and control device;

After the controller receives the zero calibration instruction, it obtains the zero calibration data sent by the encoder, and stores the zero calibration data in the internal ferroelectric memory.

Preferably, when the system is powered on, acquiring the saved zero calibration data and the real-time acquisition data sent by the encoder in real time includes:

When the controller is powered on, it obtains the zero calibration data stored in the internal memory, and obtains the real-time acquisition data sent by the encoder in real time.

Preferably, said determining the actual data value according to the zero calibration data and the real-time acquisition data includes:

Calculate the zero calibration data d1 and the real-time collected data d2 according to the formula d=d2-d1 to determine the actual data value d.

Preferably, according to the real-time collected data, it is judged whether the encoder is zero-crossing, if so, the actual data value is processed for zero-crossing and output is judged according to the real-time collected data whether the encoder is zero-crossed, and if so, the actual data value is processed for zero-crossing, include:

Marking the number of acquisitions corresponding to the acquired real-time acquisition data, and comparing the currently acquired real-time acquisition data with the adjacent real-time acquisition data previously acquired;

If the highest bit of the binary number of the real-time collected data changes from 1 to 0, add the actual data value to the maximum angle value measured by the encoder; if the highest bit of the binary number of the real-time collected data changes from 0 to 1, subtract the actual data value Go to the encoder to measure the maximum angle value.

Preferably, the data acquisition method of the multi-turn encoder also includes:

The actual data value d is calculated, converted from binary to decimal to obtain the actual angle value D, and the actual angle value is output to the display and control device for display.

In a second aspect, the present application provides a data acquisition system for a multi-turn encoder, including:

An encoder, a controller, and a display and control device. The controller is connected to the encoder and the display and control device through a communication cable.

Preferably, the encoder is used to send the measured data to the controller;

The display and control device is used to send zero calibration instructions to the controller, and is also used to display data sent by the controller;

The controller is used to receive the zero calibration command sent by the display and control device, obtain the zero calibration data sent by the encoder and save it when the power is off; Data, and determine the actual data value according to the zero calibration data and real-time acquisition data; judge whether the encoder is zero-crossing according to the real-time acquisition data, and if so, perform zero-crossing processing on the actual data value.

Preferably, the encoder is a multi-turn encoder, which is used to send the measured number of turns and the angle within a turn to the controller in the form of binary numbers.

Preferably, the controller is also used to calculate the actual data value, convert binary to decimal to obtain the actual angle value, and output the actual angle value to the display and control device for display.

Preferably, the display and control device has a display screen and buttons, which are used to send zero calibration instructions to the controller, and are also used to display data values sent by the controller.

In a third aspect, the present application provides a data collection terminal for a multi-turn encoder, including:

memory for storing computer programs;

The processor is configured to realize the data acquisition method of the multi-turn encoder when executing the computer program.

In a fourth aspect, the present application provides a computer storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are run on a computer, the computer executes the methods described in the above aspects.

Compared with the prior art, the present application has the following beneficial effects:

This application uses the encoder initial value calibration and zero-crossing processing, so that the encoder does not need to consider the zero correspondence between the encoder and the mechanical device when installing the encoder, so that the encoder can be installed at any angle, and at the same time it is not limited by the range of the encoder. It can significantly improve the work efficiency of encoder installation and ensure the accuracy of encoder data collection.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present application, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the flowchart of the data acquisition method of a kind of multi-turn encoder provided by the embodiment of the present application;

FIG. 2 is a schematic structural diagram of a data acquisition system for a multi-turn encoder provided in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a terminal provided by an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Please refer to FIG. 1. FIG. 1 is a flow chart of a data acquisition method for a multi-turn encoder provided in an embodiment of the present application. The method 100 includes:

S101: When receiving the zero calibration command, obtain the zero calibration data sent by the encoder and save it after power off;

S102: When the system is powered on, obtain the saved zero calibration data and the real-time collection data sent by the encoder in real time;

S103: Determine the actual data value according to the zero calibration data and the real-time collected data;

S104: Judging whether the encoder has crossed zero according to the real-time collected data, and if so, performing zero-crossing processing on the actual data value.

It should be noted that, before the implementation of the data acquisition method of the above-mentioned multi-turn encoder, the installation of the encoder and the mechanical device should be performed first. In the prior art, it is necessary to install the zero position of the encoder and the zero position of the mechanical device at the same position, so as to ensure that the angle data sent by the encoder is consistent with the actual angle of the mechanical device when the mechanical device rotates. The installation is inconvenient. This application only needs to install the coding area on the mechanical device at any angle, and at the same time keep the mechanical device at its own mechanical zero position, that is, the actual angle of the mechanical device should be 0 at this time.

Based on the above embodiment, as described in a preferred embodiment, step 101, when receiving the zero calibration command, obtains the zero calibration data sent by the encoder for power-off storage, including:

Send zero calibration instructions to the controller through the display and control device;

After the controller receives the zero calibration instruction, it obtains the zero calibration data sent by the encoder, and stores the zero calibration data in the internal ferroelectric memory.

Specifically, after the encoder and the mechanical device are installed, the operator sends a zero calibration instruction to the controller by operating the display and control equipment, and the controller receives the zero calibration instruction sent by the display and control equipment, and obtains the zero calibration instruction sent by the encoder. Calibrate the data, that is, the first angle value d1, and store the first angle value d1 in the internal ferroelectric memory.

It should be noted that the ferroelectric memory is just an example of a memory, and any memory that can store data when power is off can be substituted for the ferroelectric memory.

Based on the above embodiment, as a preferred embodiment, step 102, when the system is powered on, acquires the saved zero calibration data and the real-time acquisition data sent by the encoder in real time, including:

When the controller is powered on, it obtains the zero calibration data stored in the internal memory, and obtains the real-time acquisition data sent by the encoder in real time.

Specifically, when the controller is powered on, the controller first obtains the zero calibration data from the internal memory, that is, the first angle value d1, and then obtains the real-time collected data sent by the encoder, that is, the second angle value d2. At this time, the first angle data is fixed data, and the second angle value is variable data, which changes in real time with the rotation of the mechanical device.

Based on the above-mentioned embodiment, as a preferred embodiment, step 103 determines the actual data value according to the zero calibration data and real-time collected data, including:

Calculate the zero calibration data d1 and the real-time collected data d2 according to the formula d=d2-d1 to determine the actual data value d.

Specifically, the obtained zero calibration data, ie, the first angle value d1, and the real-time collected data, ie, the second angle value d2, are calculated according to the formula d=d2-d1 to obtain the actual data value d. Since the zero position of the encoder and the zero position of the mechanical device are not installed at the same position, but the rotation angle of the encoder on the basis of the zero calibration angle is consistent with the actual rotation angle of the mechanical device, the real-time obtained rotation angle of the mechanical device The actual rotation angle of the mechanical device can be obtained by subtracting the initial zero calibration angle value.

Based on the above-described embodiment, as a preferred embodiment, step 104 judges whether the encoder is zero-crossing according to the real-time collected data, if so, performs zero-crossing processing on the actual data value and outputs whether the encoder is judged to be zero-crossing according to the real-time collected data, and if so, then Actual data values are zero-crossed, including:

Marking the number of acquisitions corresponding to the acquired real-time acquisition data, and comparing the currently acquired real-time acquisition data with the adjacent real-time acquisition data previously acquired;

If the highest bit of the binary number of the real-time collected data changes from 1 to 0, add the actual data value to the maximum angle value measured by the encoder; if the highest bit of the binary number of the real-time collected data changes from 0 to 1, subtract the actual data value Go to the encoder to measure the maximum angle value.

Based on the above embodiment, as a preferred embodiment, the method further includes calculating the actual data value d, converting binary to decimal to obtain the actual angle value D, and outputting the actual angle value to the display and control device for display.

It should be noted that the angle data sent by the multi-turn encoder is a binary number, which is divided into two parts, one part represents the number of turns, and the other part represents the angle value within the circle. Taking a certain type of encoder as an example, the angle data sent by it is a 25-bit binary number, of which the high 12 bits represent the number of turns, a total of 4096 turns (2^12), and the low 13 bits represent the angle within the circle. Convert the upper 12 bits and lower 13 bits into decimal numbers A and B respectively, then the angle d2 sent by the encoder is:

d2＝360*A+360*B/8192

The number of turns that can be measured by a multi-turn encoder is certain. When the rotation continues after exceeding the maximum number of turns, the number of turns will start counting from 0 again, that is, the encoder crosses zero. At this time, the angle obtained by the encoder should be added or Subtracting the maximum number of turns is the true angle of rotation. When the encoder rotates in the positive direction until both the number of turns and the angle inside the circle reach the maximum value (that is, each bit of the 25-bit binary number representing the angle is 1), and then continues to rotate, the number of turns and the angle inside the circle both restart from 0. counting; or when the encoder rotates in the opposite direction until the number of turns and the angle within the circle reach 0, and then continues to rotate, the number of turns and the angle within the circle both become the maximum value (that is, each bit of the 25-bit binary number representing the angle is 1). The above process is called the encoder zero crossing, that is, passing through the zero point. Generally, when using an encoder, care should be taken to ensure that zero crossing is not possible during use, otherwise the data will jump, but when the encoder is installed at any angle, it cannot be guaranteed that there will be no zero crossing during use, so the controller should perform zero crossing of the encoder. Judgment and processing to avoid errors caused by jumps in the sent angle, so that the encoder is not limited by its range when using the encoder.

Specifically, taking an encoder whose angle data is a 25-bit binary number as an example, the controller marks the acquired real-time acquisition data with the corresponding acquisition times, and compares the currently acquired real-time acquisition data with the adjacent real-time acquisition data previously acquired ; If the highest bit of the binary number of the real-time collected data changes from 1 to 0, add 2^25 to the actual data value; if the highest bit of the binary number of the real-time collected data changes from 0 to 1, subtract 2 from the actual data value ^25, if the controller acquires the real-time data collected by the encoder, the highest binary bit of the encoder changes n times from 1 to 0 or 0 to 1, then when the actual data value performs zero-crossing processing, increase or decrease n times of encoding The device measures the maximum angle value, which is n*2^25.

Please refer to FIG. 2. FIG. 2 is a schematic structural diagram of a data acquisition system for a multi-turn encoder provided in an embodiment of the present application. The system 200 includes:

An encoder 201, a controller 202, and a display and control device 203. The controller 202 is connected to the encoder 201 and the display and control device 203 through a communication cable.

Based on the above embodiment, as a preferred embodiment, the encoder 201 is used to send the measured data to the controller;

The display and control device 203 is used to send a zero calibration instruction to the controller, and is also used to display the data sent by the controller;

The controller 202 is used to receive the zero calibration instruction sent by the display and control device, obtain the zero calibration data sent by the encoder and save it after power-off; The real-time data, and determine the actual data value according to the zero calibration data and real-time acquisition data; judge whether the encoder is zero-crossing according to the real-time acquisition data, and if so, perform zero-crossing processing on the actual data value.

Based on the above embodiment, as a preferred embodiment, the encoder 201 is a multi-turn encoder, which is used to send the measured number of turns and the angle within a turn to the controller in the form of binary numbers.

Based on the above embodiment, as a preferred embodiment, the controller 202 is also used to calculate the actual data value, convert binary to decimal to obtain the actual angle value, and output the actual angle value to the display and control device for display.

Based on the above embodiments, as a preferred embodiment, the display and control device 203 has a display screen and buttons, which are used to send zero calibration instructions to the controller, and are also used to display data values sent by the controller.

It should be noted that the encoder is a multi-turn encoder, which is used to send the measured number of turns and the angle within a turn to the controller in the form of binary numbers.

The controller can choose the HTFKXK5200C controller of Beijing Aerospace Launch Technology Research Institute, which has the function of serial port communication to realize communication with the encoder, and the function of CAN bus communication to realize communication with the display and control equipment, and the internal ferroelectric memory realizes the zero calibration of the encoder Power-off storage of data. In addition, since the encoder data acquired by the controller is binary data, it also has a calculation function to calculate the actual data value d and convert the binary value into the decimal actual angle value D.

The display and control device has a display screen and buttons. In addition to sending zero calibration instructions to the controller, it is also used to receive the actual angle value sent by the controller after zero judgment and processing.

Please refer to FIG. 3 . FIG. 3 is a schematic structural diagram of a terminal 300 provided by an embodiment of the present application. The terminal system 300 can be used to implement the data acquisition method of a multi-turn encoder provided by an embodiment of the present invention.

Wherein, the terminal system 300 may include: a processor 301 , a memory 302 and a communication unit 303 . These components communicate through one or more buses. Those skilled in the art can understand that the structure of the server shown in the figure does not constitute a limitation to the present invention. It can be a bus structure, a star structure, or a More or fewer components than shown, or combinations of certain components, or different arrangements of components may be included.

Wherein, the memory 302 can be used to store the execution instructions of the processor 301, and the memory 302 can be realized by any type of volatile or non-volatile storage terminal or their combination, such as static random access memory (SRAM), electronic Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic Disk or Optical Disk . When the execution instructions in the memory 302 are executed by the processor 301, the terminal 300 is enabled to perform some or all of the steps in the following above-mentioned method embodiments.

The processor 301 is the control center of the storage terminal, using various interfaces and lines to connect various parts of the entire electronic terminal, by running or executing software programs and/or modules stored in the memory 302, and calling data stored in the memory, To perform various functions of the electronic terminal and/or process data. The processor may be composed of an integrated circuit (Integrated Circuit, IC for short), for example, may be composed of a single packaged IC, or may be composed of multiple packaged ICs connected with the same function or different functions. For example, the processor 301 may only include a central processing unit (Central Processing Unit, CPU for short). In the embodiments of the present invention, the CPU may be a single computing core, or may include multiple computing cores.

The communication unit 303 is configured to establish a communication channel, so that the storage terminal can communicate with other terminals. Receive user data sent by other terminals or send user data to other terminals.

The present application also provides a computer storage medium, wherein the computer storage medium may store a program, and the program may include part or all of the steps in the various embodiments provided by the present invention when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (English: read-only memory, ROM for short), or a random access memory (English: random access memory, RAM for short), and the like.

This application uses the encoder initial value calibration and zero-crossing processing, so that the encoder does not need to consider the zero correspondence between the encoder and the mechanical device when installing the encoder, so that the encoder can be installed at any angle, and at the same time it is not limited by the range of the encoder. It can significantly improve the work efficiency of encoder installation and ensure the accuracy of encoder data collection.

Each embodiment in the description is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the system provided in the embodiment, since it corresponds to the method provided in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.

In this paper, specific examples are used to illustrate the principles and implementation methods of the present application, and the descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application. It should be pointed out that those skilled in the art can make some improvements and modifications to the application without departing from the principles of the application, and these improvements and modifications also fall within the protection scope of the claims of the application.

It should also be noted that in this specification, relative terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is no such actual relationship or order between the operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

Claims (10)

1. A data acquisition method of a multi-turn encoder, characterized in that, comprising: When receiving the zero calibration command, obtain the zero calibration data sent by the encoder and save it after power off; When the system is powered on, obtain the saved zero calibration data and the real-time acquisition data sent by the encoder in real time; Determine the actual data value according to the zero calibration data and real-time acquisition data; According to the real-time collected data, judge whether the encoder is zero-crossing, and if so, perform zero-crossing processing on the actual data value; Among them, the initial position of the mechanical device measured by the encoder is set to zero. 2. The data acquisition method of the multi-turn encoder according to claim 1, characterized in that, when the zero calibration instruction is received, obtaining the zero calibration data sent by the encoder for power-off preservation includes: Send zero calibration instructions to the controller through the display and control device; After the controller receives the zero calibration instruction, it obtains the zero calibration data sent by the encoder, and stores the zero calibration data in the internal ferroelectric memory. 3. the data acquisition method of multi-turn encoder according to claim 1, is characterized in that, when described when system is powered on, obtain the zero calibration data of preservation and the real-time acquisition data that encoder sends in real time, comprising: When the controller is powered on, it obtains the zero calibration data stored in the internal memory, and obtains the real-time acquisition data sent by the encoder in real time. 4. the data acquisition method of multi-turn encoder according to claim 1, is characterized in that, described according to zero calibration data and real-time acquisition data determine actual data value, comprising: Calculate the zero calibration data d1 and the real-time collected data d2 according to the formula d=d2-d1 to determine the actual data value d. 5. the data acquisition method of multi-turn encoder according to claim 1, is characterized in that, described according to real-time acquisition data judge whether encoder crosses zero, if so then carry out zero-crossing process to actual data value and output according to real-time acquisition The data judges whether the encoder is zero-crossing, and if so, performs zero-crossing processing on the actual data value, including: Marking the number of acquisitions corresponding to the acquired real-time acquisition data, and comparing the currently acquired real-time acquisition data with the adjacent real-time acquisition data previously acquired; If the highest bit of the binary number of the real-time collected data changes from 1 to 0, add the actual data value to the maximum angle value measured by the encoder; if the highest bit of the binary number of the real-time collected data changes from 0 to 1, subtract the actual data value Go to the encoder to measure the maximum angle value. 6. the data acquisition method of multi-turn encoder according to claim 1, is characterized in that, described method also comprises: Calculate the actual data value, convert binary to decimal to get the actual angle value, and output the actual angle value to the display and control device for display. 7. A data acquisition system of a multi-turn encoder, characterized in that, comprising: Encoders, controllers, display and control equipment, The controller is connected with the encoder and the display and control device through a communication cable. 8. the data acquisition system of multi-turn encoder according to claim 7, is characterized in that, The encoder is used to send the measured data to the controller; The display and control device is used to send zero calibration instructions to the controller, and is also used to display data sent by the controller; The controller is used to receive the zero calibration command sent by the display and control device, obtain the zero calibration data sent by the encoder and save it when the power is off; Data, and determine the actual data value according to the zero calibration data and real-time acquisition data; judge whether the encoder is zero-crossing according to the real-time acquisition data, and if so, perform zero-crossing processing on the actual data value. 9. A terminal, characterized in that, comprising: processor; memory for storing instructions for execution by the processor; Wherein, the processor is configured to execute the method according to any one of claims 1-6. 10. A computer-readable storage medium storing a computer program, wherein when the program is executed by a processor, the method according to any one of claims 1-6 is implemented.