CN111239433B - Rate sampling method and device and rate sampling equipment - Google Patents
Rate sampling method and device and rate sampling equipment Download PDFInfo
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- CN111239433B CN111239433B CN202010099593.7A CN202010099593A CN111239433B CN 111239433 B CN111239433 B CN 111239433B CN 202010099593 A CN202010099593 A CN 202010099593A CN 111239433 B CN111239433 B CN 111239433B
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- 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
- G01P3/50—Devices characterised by the use of electric or magnetic means for measuring linear speed
- G01P3/54—Devices characterised by the use of electric or magnetic means for measuring linear speed by measuring frequency of generated current or voltage
Abstract
The embodiment of the invention discloses a rate sampling method, a device and a rate sampling device thereof, wherein the number x of pulse signals per equal division is determined through the total amount m of pulse signals sent by an encoder per passing route S and the number n of equal parts divided by the pulse signals sent by the encoder per passing route S; acquiring a starting time point T0 of the encoder for sending the starting pulse signal, and sequentially acquiring equal division time points Ti of every x pulse signals from the starting pulse signal sent from the starting time point so as to calculate the time difference of every n equal division pulse signals; and calculating a speed sampling value according to the distance S and the time difference. The embodiment of the invention has higher sampling efficiency and higher refreshing frequency.
Description
Technical Field
The embodiment of the invention relates to the technical field of information acquisition, in particular to a rate sampling method and device and rate sampling equipment.
Background
The speed is an amount reflecting the speed of the object, and the calculation formula of the speed is distance/time, namely the speed can represent the distance traveled in unit time, and can also represent the time used in unit distance in a reverse way.
At present, in order to obtain a rate change rule, a plurality of routes and a plurality of times need to be collected, and the rate of each route or each time segment is obtained through calculation. For example, the time required for one revolution of the encoder is collected in the prior art to calculate the velocity of the revolution. So, when needs gather a plurality of routes and a plurality of time and show speed, then need the rotatory many circles of encoder, gather each circle required time to calculate the speed of each circle, thereby need longer sampling time, just can obtain a plurality of speed values, sampling inefficiency, extravagant manpower and material resources.
Disclosure of Invention
In view of the above problems, embodiments of the present invention provide a rate sampling method, a device thereof, and a rate sampling apparatus, so as to improve the rate sampling efficiency in the prior art, and reduce the sampling time and cost.
In a first aspect, an embodiment of the present invention provides a rate sampling method, including:
acquiring the total amount m of pulse signals sent by an encoder passing through a route S and the number n of equal parts for dividing the pulse signals sent by the encoder passing through the route S; wherein m and n are both positive integers greater than 2;
determining the number x of the pulse signals in each equal part according to the total number m and the number n of the equal parts;
acquiring a starting time point T0 of a starting pulse signal sent by the encoder, and sequentially acquiring equal division time points Ti of x pulse signals at intervals from the starting pulse signal sent by the starting time point; wherein i is a positive integer greater than or equal to 1;
sequentially calculating the time difference delta Tq of equally dividing the pulse signal at each interval n according to the starting time point T0 and each equally dividing time point Ti; wherein q is a positive integer greater than or equal to 1;
and sequentially acquiring sampling values of the rate according to the distance S and each time difference delta Tq.
Optionally, after obtaining a start time point T0 at which the encoder sends a start pulse signal, and sequentially obtaining, from the start pulse signal sent at the start time point, equal division time points Ti of every x pulse signals, the method further includes:
the start time point T0 and each of the divided time points Ti are sequentially stored in n +1 registers.
Optionally, the sequentially storing the starting time point T0 and each of the equally divided time points Ti in n +1 registers includes:
before the current equally divided samples are stored in the registers, judging whether n +1 registers store time points;
if so, clearing the time point stored in the first register, and moving the time point stored in the jth register to the jth-1 register; wherein j is more than 1 and less than or equal to n +1, and j is a positive integer;
storing the current halving time point in an n +1 th register.
Optionally, the method further includes:
and if not, sequentially storing the current equally divided time points in an empty register closest to the first register.
Optionally, sequentially calculating a time difference Δ Tq of equally dividing the pulse signal every interval n according to the starting time point T0 and each of the equally dividing time points Ti, including:
acquiring a time point stored in a first register and a time point stored in an n +1 th register;
calculating a time difference Δ Tq between a point of time stored in the n +1 th register and a point of time stored in the first register.
Optionally, the sampled value of the rate is a circle speed in unit time.
In a second aspect, an embodiment of the present invention further provides a rate sampling apparatus, including:
the pulse acquisition module is used for acquiring the total amount m of pulse signals sent by an encoder passing each route S and the number n of equal parts divided by the pulse signals sent by the encoder passing each route S; wherein m and n are both positive integers greater than 2;
a pulse number determining module, configured to determine, according to the total amount m and the number n of equal parts, the number x of pulse signals in each equal part;
the sampling time acquisition module is used for acquiring a starting time point T0 of a starting pulse signal sent by the encoder and sequentially acquiring equal division time points Ti of every x pulse signals from the starting pulse signal sent by the starting time point; wherein i is a positive integer greater than or equal to 1;
the time difference calculation module is used for sequentially calculating the time difference delta Tq of equally dividing the pulse signal at each interval n according to the starting time point T0 and each equally divided time point Ti; wherein q is a positive integer greater than or equal to 1;
and the rate acquisition module is used for sequentially acquiring rate sampling values according to the distance S and each time difference delta Tq.
Optionally, the apparatus further comprises:
and the sampling time storage module is used for sequentially storing the starting time point T0 and each equally divided time point Ti in n +1 registers after acquiring the starting time point T0 of the encoder for sending the starting pulse signal and sequentially acquiring equally divided time points Ti of x pulse signals at intervals from the starting pulse signal sent by the starting time point.
Optionally, the sampling time storage module includes:
the register judging unit is used for judging whether the n +1 registers store time points before the current equal sampling is stored in the registers;
the sampling time shifting unit is used for clearing the time point stored in the first register when the n +1 registers store time points, and shifting the time point stored in the jth register to the jth-1 register; wherein j is more than 1 and less than or equal to n +1, and j is a positive integer;
and the current sampling time storage unit is used for storing the current equally divided time point in the (n + 1) th register.
Optionally, the current sampling time storage unit is further configured to:
and when the n +1 registers have empty registers, sequentially storing the current equally divided time points in the empty register closest to the first register.
Optionally, the time difference calculating module includes:
the head and tail sampling time acquisition unit is used for acquiring a time point stored in a first register and a time point stored in an n +1 th register;
a time difference calculation unit configured to calculate a time difference Δ Tq between a time point stored in the n +1 th register and a time point stored in the first register.
In a third aspect, an embodiment of the present invention further provides a rate sampling apparatus, including: encoder, programmable logic controller and the rate sampling device.
According to the rate sampling method, the device and the rate sampling equipment provided by the embodiment of the invention, the number x of pulse signals per equal division is determined through the total amount m of the pulse signals sent by the encoder per passing route S and the number n of equal parts divided by the pulse signals sent by the encoder per passing route S; acquiring a starting time point T0 of the encoder for sending the starting pulse signal, and sequentially acquiring equal division time points Ti of every x pulse signals from the starting pulse signal sent from the starting time point so as to calculate the time difference of every n equal division pulse signals; calculating a speed sampling value according to the distance S and the time difference, so that n time differences can be obtained every time the distance S is increased on the basis of the time point obtained after the distance S is passed, and n speed sampling values can be obtained according to the n time differences; compared with the prior art that the distance of n × S is required to be obtained, the embodiment of the invention can obtain n rate sampling values only by 2 × S, thereby reducing the time required by sampling, improving the sampling efficiency and improving the refresh frequency of the rate sampling values.
Drawings
Fig. 1 is a flow chart of a rate sampling method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an equal division structure of a pulse signal according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for storing a time point according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for calculating a time difference according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a rate sampling apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another rate sampling apparatus provided in the embodiment of the present invention;
fig. 7 is a schematic structural diagram of another rate sampling apparatus provided in the embodiment of the present invention;
fig. 8 is a schematic structural diagram of a rate sampling apparatus according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a rate sampling method, which can be applied to the condition of analyzing the movement speed of an object, such as a wheel. The rate sampling method provided by the embodiment of the present invention may be performed by the rate sampling apparatus provided by the embodiment of the present invention, and the apparatus may be implemented by software and/or hardware, and the apparatus may be integrated in a rate sampling device. Fig. 1 is a flowchart of a rate sampling method according to an embodiment of the present invention. As shown in fig. 1, the method includes:
s110, acquiring the total amount m of pulse signals sent by an encoder passing each route S and the number n of equal parts for dividing the pulse signals sent by the encoder passing each route S; wherein m and n are both positive integers greater than 2.
Wherein the encoder is capable of programming, converting the signal or data into a form of signal that can be communicated, transmitted, and stored. For example, the encoder can convert an angular displacement or a linear displacement into an electric signal, that is, convert the angular displacement or the linear displacement into a periodic electric signal, convert the electric signal into a count pulse, and express the magnitude of the displacement by the number of pulses.
And S120, determining the number x of each equal part of pulse signals according to the total number m and the number n of equal parts.
Specifically, when the encoder is used to obtain the speed of the wheel, the encoder correspondingly sends m pulse signals every time the wheel passes through the route S. By dividing the m pulse signals of the encoder into n equal parts, the pulse signal x of each equal part can be m/n. For example, when m is 3600 and n is 10, each half may include 360 pulse signals.
S130, sequentially acquiring a starting time point T0 of the encoder for sending a starting pulse signal, and sequentially acquiring equal division time points Ti of x pulse signals at intervals from the starting pulse signal sent by the starting time point; wherein i is a positive integer of 1 or more.
Specifically, each time a certain route is passed, the encoder correspondingly sends a pulse signal, and when the encoder sends m pulse signals each time the route S is passed, and the m pulse signals are divided into n equal parts, the number x of the pulse signals in each equal part is m/n. By acquiring a start time point T0 when the encoder starts to transmit the first pulse signal, and starting from the first pulse signal transmitted at the start time point T0, the encoder can correspondingly acquire an equally divided time point Ti every time x pulse signals are transmitted. The pulse signal sent by the encoder can be controlled and received by the programmable logic controller, and a timer in the programmable logic controller is adopted to sample the starting time point T0 and each divided time point T. Thus, n equal time points can be obtained for each route S.
For example, fig. 2 is a schematic diagram of an equal division structure of a pulse signal according to an embodiment of the present invention. As shown in fig. 2, when dividing the pulse signal sent by the encoder every time the encoder passes through the route S into 10 equal parts, the number of the pulse signals in each equal part may be 360, a starting time point T0 is obtained when the encoder starts sending the first pulse signal, and a first equal time point T1 is obtained when 360 pulse signals are spaced from the starting time point; when the encoder starts to send the 360 th pulse signal and separates 360 pulse signals, a second equally divided time point T2 is obtained; obtaining a tenth equally-divided time point T10 until the 3600 th pulse signal is sent; by analogy, twenty equal time points can be obtained when the 2S journey is passed; …, respectively; by the way of L S, 10L aliquot time points are obtained.
S140, sequentially calculating the time difference delta Tq of the equally divided pulse signals at each interval n according to the starting time point T0 and each equally divided time point Ti; wherein q is a positive integer of 1 or more.
And S150, sequentially acquiring rate sampling values according to the distance S and each time difference delta Tq.
Illustratively, when the tenth equally divided time point T10 is obtained, the time required for the journey S to pass through may be calculated by the time difference Δ T1 between T10 and T0, and the sampling value of the first rate may be obtained by S/Δ T1; when the eleventh equally-divided time point T11 is obtained, the time required for the journey S to pass can be calculated through the time difference Δ T2 between T11 and T1, and the second rate sampling value can be obtained through S/Δ T2; by analogy, when the twentieth halving time point is obtained, the tenth rate sampling value can be obtained through the time difference Δ T10 between T20 and T10 and through S/Δ T10.
Therefore, compared with the prior art that ten rate sampling values can be acquired only by passing through a route of 10 × S, the ten rate sampling values can be acquired only by 2 × S by adopting the method for acquiring the rate sampling values, so that the time for rate sampling can be shortened, the acquisition efficiency of the rate sampling values is improved, and the refresh frequency of the rate is increased. The path S may be a straight path, a curved path, or a rotational path, and when the path S is a rotational path, the acquired sampling value of the speed may be a rotational speed of the wheel or the like in a unit time.
Optionally, in order to obtain the time required for transmitting the pulse signals of n equal parts, after obtaining the start time point T0 of the encoder for transmitting the start pulse signal and obtaining the divided time points Ti of x pulse signals every interval in sequence from the start pulse signal transmitted by the start time point, the start time point T0 and the divided time points Ti of the x pulse signals are sequentially stored in n +1 registers, so that the time required for transmitting the pulse signals of n equal parts can be calculated by the head and tail time points of the data stored in the n +1 registers. Fig. 3 is a flowchart of a method for storing a time point according to an embodiment of the present invention. As shown in fig. 3, the method for storing time points in n +1 registers includes:
s210, before the current equal sampling is stored in the register, judging whether the n +1 registers store time points; if yes, go to S220; if not, go to S240.
S220, clearing the time point stored in the first register, and moving the time point stored in the jth register to the jth-1 register; wherein j is more than 1 and less than or equal to n +1, and j is a positive integer.
And S230, storing the current equally divided time point in an n +1 th register.
And S240, sequentially storing the current equally divided time points into an empty register closest to the first register.
Specifically, when the corresponding time point is obtained, it is stored in the corresponding register. Before the starting time point is obtained, all the n +1 registers are empty registers, when the starting time point is obtained, the starting time point can be stored in a first register, and when the first equally divided time point T1 is obtained, the first equally divided time point T1 is stored in a second register; and repeating the steps until the nth halving time point Tn is obtained, and storing the nth halving time point Tn in the (n + 1) th register. When n +1 registers store the equal time points, the time required for the journey S to pass can be calculated through Tn-T1. When the (n + 1) th equally divided time point Tn +1 is obtained, no spare register is used for storing the (n + 1) th equally divided time point Tn +1, at this time, the starting time point stored in the first register can be cleared, and the data of the first halved time point T1 stored in the second register is moved to the first register, and the data in the second register is cleared, the second register which is vacated can store the data in the third register until the data in the (n + 1) th register is moved to the nth register, after the data of the (n + 1) th register is cleared, the (n + 1) th equally divided time point Tn +1 can be stored in the (n + 1) th register, the time required for the journey S to pass can thus be calculated from the (n + 1) th aliquot time Tn +1 in the (n + 1) th register and the first aliquot time in the first register. Therefore, when a new equal division time point is obtained each time, the data stored in the first register can be cleared, the data from the 2 nd register to the n +1 th register is moved to the previous register, the obtained new equal division time point is stored in the n +1 th register, and meanwhile, the time required by the journey S can be calculated through the difference value between the time point stored in the n +1 th register and the time point stored in the first register, so that the corresponding rate sampling value can be obtained through the relation between the journey and the time.
Optionally, fig. 4 is a flowchart of a method for calculating a time difference according to an embodiment of the present invention. As shown in fig. 4, the method of calculating the time difference includes:
s141, acquiring a time point stored in a first register and a time point stored in an n +1 th register;
and S142, calculating the time difference delta Tq between the time point stored in the (n + 1) th register and the time point stored in the first register.
Specifically, when time points are stored in n +1 registers, the fact that the measured object passes through the route S can be known, the time required for the measured object to pass through the route S can be obtained through the difference value between the time point stored in the n +1 register and the time point stored in the first register, and the first rate V1 can be obtained through the route S/time difference Δ T1; when a new time point is stored in the (n + 1) th register, the time required for the measured object to pass through the route S can be obtained by the difference between the time point stored in the (n + 1) th register and the time point stored in the first register, so that the rate sampling value can be refreshed once every time one equal time point is obtained from the time point obtained by obtaining the nth equal time point. Thus, the refresh frequency of the rate sample value can be increased. If the rate sample is the loop speed, the stretch S is considered to be an angle of one rotation. At this time, when the unit of the obtained time difference Δ T is seconds, the loop speed per minute can be calculated by 60/Δ T.
The embodiment of the invention also provides a speed sampling device, which can be suitable for analyzing the movement speed of an object, such as a wheel. The rate sampling device provided by the implementation of the invention can be realized by software and/or hardware, and the device can be integrated in a rate sampling device. The rate sampling apparatus can be used to execute the rate sampling method provided by the embodiment of the present invention, and therefore the rate sampling apparatus has the beneficial effects of the rate sampling method. The beneficial effects of the rate sampling apparatus provided by the embodiment of the present invention can refer to the description of the rate sampling method, and are not described herein again.
Fig. 5 is a schematic structural diagram of a rate sampling apparatus according to an embodiment of the present invention. As shown in fig. 5, the rate sampling apparatus includes a pulse acquisition module 51, a pulse number determination module 52, a sampling time acquisition module 53, a time difference calculation module 54, and a rate acquisition module 55; the pulse acquiring module 51 is configured to acquire a total amount m of pulse signals sent by the encoder per pass path S and an equal number n of divided equal parts of the pulse signals sent by the encoder per pass path S; wherein m and n are both positive integers greater than 2; the pulse number determining module 52 is configured to determine the number x of pulse signals in each equal portion according to the total number m and the equal portion number n; the sampling time obtaining module 53 is configured to obtain a starting time point T0 when the encoder sends a starting pulse signal, and obtain, in sequence, equal division time points Ti of every x pulse signals from the starting pulse signal sent by the starting time point; wherein i is a positive integer greater than or equal to 1; the time difference calculating module 54 is configured to sequentially calculate a time difference Δ Tq between n equal pulse signals at each interval according to the starting time point T0 and each equal division time point Ti; wherein q is a positive integer greater than or equal to 1; the rate obtaining module 55 is configured to sequentially obtain rate sampling values according to the route S and each time difference Δ Tq.
Optionally, fig. 6 is a schematic structural diagram of another rate sampling apparatus provided in the embodiment of the present invention. As shown in fig. 6, the rate sampling apparatus further includes a sampling time storage block 56; the sampling time storage module 56 is configured to sequentially store the start time point T0 and each of the divided time points Ti in n +1 registers after acquiring the start time point T0 at which the encoder transmits the start pulse signal and sequentially acquiring the divided time points Ti every x pulse signals from the start pulse signal transmitted from the start time point.
Optionally, fig. 7 is a schematic structural diagram of another rate sampling apparatus according to an embodiment of the present invention. As shown in fig. 7, the sampling time storage module 56 includes a register judgment unit 561, a sampling time shift unit 562, and a current sampling time storage unit 563; the register determination unit 561 is configured to determine whether n +1 registers all store time points before the current equal sampling is to be stored in the registers; the sampling time shift unit 562 is configured to zero the time point stored in the first register when the n +1 registers all store time points, and shift the time point stored in the jth register to the jth-1 register; wherein j is more than 1 and less than or equal to n +1, and j is a positive integer; the current sample time storage unit 563 is used to store the current divided time point in the (n + 1) th register.
Optionally, with continued reference to fig. 7, the current sample time storage unit 563 is further configured to: when there are empty registers in the n +1 registers, the current equally divided time points are sequentially stored in the empty register closest to the first register.
Optionally, with continuing reference to fig. 7, the time difference calculation module 54 includes a head-to-tail sampling time acquisition unit 541 and a time difference calculation unit 542; the head-to-tail sampling time acquisition unit 541 is configured to acquire a time point stored in a first register and a time point stored in an n +1 th register; the time difference calculation unit 542 is configured to calculate a time difference Δ Tq between a point in time stored in the n +1 th register and a point in time stored in the first register.
The rate sampling device provided in the above embodiment can execute the rate sampling method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the rate sampling method. The technical details not described in detail in the above embodiments may be referred to a rate sampling method provided in any embodiment of the present invention.
The embodiment of the present invention further provides a rate sampling device, where the rate sampling device includes an encoder, a programmable logic controller, and the rate sampling apparatus provided in the embodiment of the present invention, and the rate sampling apparatus can be used to execute the rate sampling method provided in the embodiment of the present invention, so that the rate sampling device also has the beneficial effects of the rate sampling method provided in the embodiment of the present invention, and the same points can refer to the description of the rate sampling method described above, and are not described herein again.
For example, fig. 8 is a schematic structural diagram of a rate sampling apparatus according to an embodiment of the present invention. As shown in fig. 8, the rate sampling apparatus 200 includes an encoder 210, a programmable logic controller 220, and a rate sampling device 100. The pulse signal sent by the encoder 210 can be received by the programmable logic controller 220, and the start time point and each of the divided time points are obtained by a timer in the programmable logic controller 220 and are sequentially stored in an n +1 register of the programmable logic controller 220. In addition, on the premise that the core invention point of the embodiment of the present invention can be implemented, the rate sampling device 200 may further include other device structures, which all belong to the protection scope of the embodiment of the present invention, and the embodiment of the present invention is not particularly limited to this.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious modifications, rearrangements, combinations and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A method of rate sampling, comprising:
acquiring the total amount m of pulse signals sent by an encoder passing through a route S and the number n of equal parts for dividing the pulse signals sent by the encoder passing through the route S; wherein m and n are both positive integers greater than 2;
determining the number x of the pulse signals in each equal part according to the total number m and the number n of the equal parts;
acquiring a starting time point T0 of a starting pulse signal sent by the encoder, and sequentially acquiring equal division time points Ti of x pulse signals at intervals from the starting pulse signal sent by the starting time point; wherein i is a positive integer greater than or equal to 1;
sequentially storing the starting time point T0 and each equal time point Ti in n +1 registers;
acquiring a time point stored in a first register and a time point stored in an n +1 th register;
calculating a time difference Δ Tq between a time point stored in the n +1 th register and a time point stored in the first register;
and sequentially acquiring sampling values of the rate according to the distance S and each time difference delta Tq.
2. The method of claim 1, wherein storing the starting time point T0 and each of the aliquot time points Ti in n +1 registers in sequence comprises:
before the current equally divided samples are stored in the registers, judging whether n +1 registers store time points;
if so, clearing the time point stored in the first register, and moving the time point stored in the jth register to the jth-1 register; wherein j is more than 1 and less than or equal to n +1, and j is a positive integer;
storing the current halving time point in an n +1 th register.
3. The method of claim 2, further comprising:
and if not, sequentially storing the current equally divided time points in an empty register closest to the first register.
4. The method of claim 1, wherein the sampled value of the rate is a circle speed per unit time.
5. A rate sampling device, comprising:
the pulse acquisition module is used for acquiring the total amount m of pulse signals sent by an encoder passing each route S and the number n of equal parts divided by the pulse signals sent by the encoder passing each route S; wherein m and n are both positive integers greater than 2;
a pulse number determining module, configured to determine, according to the total amount m and the number n of equal parts, the number x of pulse signals in each equal part;
the sampling time acquisition module is used for acquiring a starting time point T0 of a starting pulse signal sent by the encoder and sequentially acquiring equal division time points Ti of every x pulse signals from the starting pulse signal sent by the starting time point; wherein i is a positive integer greater than or equal to 1;
the sampling time storage module is used for sequentially storing a starting time point T0 and each equally divided time point Ti of pulse signals at intervals of x after acquiring the starting time point T0 of the encoder for sending the starting pulse signals and sequentially acquiring the equally divided time points Ti of the pulse signals at intervals of x from the starting pulse signals sent by the starting time point;
the head and tail sampling time acquisition unit is used for acquiring a time point stored in a first register and a time point stored in an n +1 th register;
a time difference calculation unit for calculating a time difference Δ Tq between a time point stored in the n +1 th register and a time point stored in the first register;
and the rate acquisition module is used for sequentially acquiring rate sampling values according to the distance S and each time difference delta Tq.
6. The apparatus of claim 5, wherein the sample time storage module comprises:
the register judging unit is used for judging whether the n +1 registers store time points before the current equal sampling is stored in the registers;
the sampling time shifting unit is used for clearing the time point stored in the first register when the n +1 registers store time points, and shifting the time point stored in the jth register to the jth-1 register; wherein j is more than 1 and less than or equal to n +1, and j is a positive integer;
and the current sampling time storage unit is used for storing the current equally divided time point in the (n + 1) th register.
7. The apparatus of claim 6, wherein the current sample time storage unit is further configured to:
and when the n +1 registers have empty registers, sequentially storing the current equally divided time points in the empty register closest to the first register.
8. A rate sampling device, comprising: an encoder, a programmable logic controller and a rate sampling device as claimed in any one of claims 5 to 7.
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