WO2018195966A1

WO2018195966A1 - Position detecting device, method, and rotating system

Info

Publication number: WO2018195966A1
Application number: PCT/CN2017/082521
Authority: WO
Inventors: 赵进; 黄淮; 王鹏; 龙承辉
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-04-28
Filing date: 2017-04-28
Publication date: 2018-11-01
Also published as: CN108700410A; CN108700410B

Abstract

Provided is a position detecting device (200), comprising a coded disc (1) having an opening (11), and at least one optical switch (2), with the opening (11) being used to hold a rotating member (3); a plurality of light-transmitting regions (12) and a plurality of non-light-transmitting regions (13) are alternately distributed along the same circumference on the coded disc (1); the plurality of light-transmitting regions (12) include a plurality of first light-transmitting regions (121) having the same width, and a second light-transmitting region (122) having a width different from the width of the first light-transmitting region (121); or, the plurality of non-light-transmitting regions (13) include a plurality of first non-light-transmitting regions (131) having the same width, and a second non-light-transmitting region (132) having a width different from the width of the first non-light-transmitting region (131), wherein the width is the circumferential width along the circumference thereof. At least one optical switch (2) cooperates with the light-transmitting region (12) and the non-light-transmitting region (13) to output a pulse sequence. A light-transmitting region with a width different from that of other light-transmitting regions or a non-light-transmitting region with a width different from that of other non-light-transmitting regions serves as a zero position mark of the coded disc (1), and the absolute rotation position of the rotating member (3) is thus determined. The structure is simple and the range of application thereof is wider. A position detecting method and a rotating system are also provided.

Description

Position detecting device, method and rotating system

Technical field

The invention relates to the field of motion detection, and in particular to a position detecting device, a method and a rotating system.

Background technique

At present, it is more conventional to detect the rotational position of the rotating member by means of the combination of the code wheel and the optical switch. Referring to FIG. 1, a code wheel 1' is disposed on the rotating member, and a plurality of light transmitting regions 11' and a plurality of non-light transmitting regions 12' alternately arranged along the same circumference on the code wheel 1', and an optical switch 2 is disposed at the same time. 'Cooperating with the light transmitting region 11' and the non-light transmitting region 12'. The rotation of the rotating member drives the code wheel 1' to rotate at the same speed, and the optical switch 2' detects a pulse sequence of alternating high and low levels, wherein the high level corresponds to the light transmitting area 11' and the low level corresponds to the non-light transmitting area 12' . Taking the code wheel 1' having 36 light-transmissive areas 11' as an example, the central angle between two adjacent light-transmissive areas 11' is 10°, and the angle of each rising edge of the output pulse sequence of the optical switch 2' is opposite. By adding 10°, the relative rotational position of the rotating member is obtained.

However, the plurality of light transmitting regions 11' of the above code wheel 1' are uniformly distributed, and there is no zero mark on the code wheel 1', so that the absolute rotational position of the rotating member cannot be known. Referring to Fig. 2, in order to obtain the zero position of the rotating member, a light transmitting portion 3' for marking the zero position is usually opened on the other circumference of the code wheel 1', and another one is used for marking the zero position. The light transmissive area 3' is fitted with an optical switch 4'. The light transmitting region 3' for marking the zero position is aligned with one of the plurality of light transmitting regions 11'. In the above arrangement, the rising edge of the pulse sequence of the optical switch 4' mated with the light-transmitting region 3' for marking the zero position is the zero position of the code wheel 1'. Referring to FIG. 3, the optical switch 2' mated with the light transmitting portion 11' and the optical switch 4' matched with the light transmitting portion 3' for marking the zero position respectively detect the pulse sequences S3 and S4, respectively, at S4. The rising edge clears the angle, recounts, and adds 10° to the angle at each rising edge of S3 to obtain the absolute position of the rotating member. In the above solution, the radius of the circumference of the light-transmitting region 3' for marking the zero position and the circle of the light-transmitting region 11' The radius of the circumference is different, so it is necessary to provide two different heights of the optical switch 2', and the optical switch 4' that cooperates with the light-transmitting area 3' for marking the zero position generally needs to be re-customized, and the cost is high. Further, the above solution requires opening the light-transmitting portion 11' and the light-transmitting portion 3' for marking the zero position on the two radii of the code wheel 1', resulting in application in some special cases.

Summary of the invention

The invention provides a position detecting device, method and rotating system.

According to a first aspect of the present invention, there is provided a position detecting device for detecting a rotational position of a rotating member, the position detecting device comprising a code wheel having an opening and at least one optical switch, the opening being used for a socket a rotating member; a plurality of light-transmissive regions and a plurality of non-transmissive regions alternately distributed along the same circumference; wherein the plurality of light-transmitting regions include a plurality of first light-transmitting regions having the same width And a second light transmissive region having a width different from a width of the first light transmissive region; or the plurality of non-transparent regions includes a plurality of first non-transparent regions having the same width, and a width different from a second non-transmissive region of a width of the first non-transmissive region; wherein the width is a circumferential width along the circumference; at least one of the optical switch and the transparent region and the non- The light transmissive area is matched for outputting a pulse sequence.

According to a second aspect of the present invention, a rotating system includes a rotating member and a position detecting device for detecting a rotational position of the rotating member, wherein a code wheel in the position detecting device and the rotating member are fixed to each other, The position detecting device includes a code wheel having an opening and at least one optical switch, wherein the opening is for arranging the rotating member; the code wheel is provided with a plurality of light-transmissive regions and an alternating distribution along the same circumference a plurality of light-transmissive regions; wherein the plurality of light-transmissive regions comprise a plurality of first light-transmissive regions having the same width, and a second light-transmissive region having a width different from a width of the first light-transmitting region; or The plurality of non-transmissive regions include a plurality of first non-transmissive regions of the same width, and a second non-transparent region having a width different from a width of the first non-transmissive region; wherein the width is a circumferential width along the circumference; at least one of the optical switches mates with the light transmissive region and the non-transmissive region for outputting a pulse sequence.

According to a third aspect of the present invention, a position detecting method for detecting a rotational position of a rotating member in the rotating system is provided, the method comprising: acquiring at least one optical switch in a position detecting device in the rotating system An output pulse sequence; determining a rotational position of the rotating member based on the pulse sequence.

It can be seen from the technical solutions provided by the embodiments of the present invention that the present invention provides a plurality of transparent areas and a plurality of non-transparent areas alternately arranged along the same circumference on the code wheel, and one of the plurality of transparent areas The width of the light transmitting region is set to be different from the width of the other light transmitting regions, or the width of one of the plurality of non-light transmitting regions is set to be different from the width of the other non-light transmitting regions, thereby The light-transmitting area with different widths of the light-transmitting area or the non-light-transmitting area different from the width of the other non-light-transmitting areas is used as the zero mark of the code wheel, and the zero position of the code wheel can be accurately detected by the pulse sequence, without A zero hole is formed on a circumference (ie, the circumference of the light transmission area) to determine the zero position of the rotating member, and the absolute rotational position of the rotating member is finally determined according to the relative rotational position detected by the code wheel and the zero position and the code wheel. The structure is simple and the range of use is wider.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a perspective view of a position detecting device in the prior art;

2 is a perspective view of another position detecting device in the prior art;

3 is a pulse sequence diagram of an optical switch of another position detecting device in the prior art;

Figure 4 is a perspective view of a position detecting device in an embodiment of the present invention;

Figure 5 is a pulse sequence diagram of an optical switch of the position detecting device in the embodiment of the present invention;

Figure 6 is a perspective view of another position detecting device in the embodiment of the present invention;

7 is a pulse sequence diagram of an optical switch of another position detecting device in an embodiment of the present invention;

Figure 8 is a perspective view of a rotating system in accordance with an embodiment of the present invention;

Figure 9 is a perspective view of a rotating member in an embodiment of the present invention;

Figure 10 is a perspective view of a code wheel in an embodiment of the present invention;

Figure 11 is a perspective view of another rotation system in the embodiment of the present invention;

Figure 12 is a perspective view of another rotating system in another direction in an embodiment of the present invention;

13 is a flowchart of a position detecting method in an embodiment of the present invention;

Figure 14 is a block diagram showing the structure of a position detecting device in an embodiment of the present invention.

Reference mark:

200: position detecting device; 201: processor;

1: code wheel; 10: first code wheel; 10': second code wheel; 11: opening; 12: light transmitting area; 121: first light transmitting area; 122: second light transmitting area; Light zone; 131: first non-transmissive zone; 132: second non-transmissive zone; 14: mounting surface; 15: first fixing portion; 15': second fixing portion;

2: optical switch; 20: first optical switch group; 20': second optical switch group;

3: rotating member; 31: platform surface; 32: receiving space;

4: load;

5: first fixing member; 5': second fixing member;

6: a first magnetic member; 6': a second magnetic member;

7: first bearing; 7': second bearing.

detailed description

The technical solution in the embodiment of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention. The present invention is described in a clear and complete manner, and it is obvious that the described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The position detecting device 200, method and turning system of the present invention will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

Embodiment 1

Referring to FIG. 4, a position detecting device 200 according to an embodiment of the present invention may include a code wheel 1 and at least one optical switch 2. The code wheel 1 has an opening 11, and the opening 11 is sleeved on the rotating member 3, and the rotating plate 3 drives the code wheel 1 to rotate together, so that the rotating plate 3 is rotated by the code wheel 1. The rotational position is detected.

A plurality of light transmissive regions 12 and a plurality of non-transparent regions 13 are alternately arranged on the code wheel 1 along the same circumference. The plurality of transparent regions 12 include a plurality of first transparent regions 121 having the same width, and a second transparent region 122 having a width different from the width of the first transparent regions 121. It should be noted that, in the present embodiment, the width refers to the circumferential width on the circumference.

At least one of the optical switches 2 cooperates with the light transmissive region 12 and the non-transmissive region 13 for outputting a pulse sequence.

In the embodiment of the present invention, a plurality of transparent regions 12 and a plurality of non-transmissive regions 13 alternately arranged along the same circumference are disposed on the code wheel 1, and one of the plurality of transparent regions 12 is provided. The width is set to be different from the width of the other light-transmissive regions 12, so that the light-transmissive region 12 different from the width of the other light-transmitting regions 12 is used as the zero mark of the code wheel 1, and the code wheel 1 can be accurately detected by the pulse sequence. Zero position, the zero position of the rotating member 3 can be determined without opening a zero hole on the other circumference (ie, the circumference of the light transmitting area 12), and the relative rotation detected according to the code wheel 1 and the zero position and the code wheel 1 The position finally determines the absolute rotational position of the rotating member 3, and the structure is simple and the use range is wider.

In the present embodiment, when the rotational position of the rotating member 3 is detected using the code wheel 1, the code wheel 1 is sleeved on the rotating member 3, and the zero position of the code wheel 1 and the designated position of the rotating member 3 (ie, rotation) The zero position of the piece 3 is only aligned, and then the rotating piece 3 drives the code wheel 1 to rotate. It should be noted that the rotating member 3 of the present embodiment and the code wheel 1 are relatively stationary, so that the zero position of the rotating member 3 is accurately detected.

Optionally, in order to obtain the real-time rotational position of the rotating member 3, the at least one optical switch 2 is respectively connected to a processor, so that the rotating component is calculated by the processor according to the pulse sequence output by the at least one optical switch 2 3 real-time rotational position (ie absolute rotational position).

The number of the light transmitting regions 12 and the non-light transmitting regions 13 can be determined according to factors such as the size of the code wheel 1, the detection accuracy, and the data processing amount of the processor. For example, the light transmitting region 12 and the non-light transmitting region 13 are each of 17, 35 or 71, and the like. Although the number of the light-transmissive regions 12 and the non-transmissive regions 13 that are alternately disposed is higher, the detection accuracy is higher, but the increase in the number of the light-transmitting regions 12 and the non-transmissive regions 13 is bound to cause an increase in the size of the code wheel 1 and processing. The burden of the device is increased, and the processing process of the code wheel 1 is more complicated. Therefore, when determining the number of the light-transmitting region 12 and the non-light-transmitting region 13, it is necessary to balance the size of the code wheel 1, the detection accuracy, and the data processing amount of the processor. And other factors. Preferably, considering that the size of the code wheel 1 is not excessively large, and the burden on the processor is not increased, and the accuracy requirement can be met, the number of the light transmitting area 12 and the non-light transmitting area 13 disposed on the code wheel 1 is 35. One.

The light transmissive region 12 includes at least one of a through hole and a region formed of a light transmissive material. In some examples, the plurality of light transmissive regions 12 are both through holes for ease of processing. In some examples, the plurality of light transmissive regions 12 are regions formed of a light transmissive material (eg, light transmissive glass) for ease of processing.

In the present embodiment, the width of the second light-transmissive region 122 is multiplied by the width of the first light-transmitting region 121, for example, the second light-transmitting region 122 is obtained. The width is twice, three times or other multiples of the width of the first light transmitting region 121. In order to facilitate the calculation, in some embodiments, the width of the second transparent region 122 is three times the width of the first transparent region 121, that is, the second transparent region 122 is equivalent to three first The light transmissive area 121 is composed. After the rotating member 3 drives the code wheel 1 to rotate, the pulse detected by the optical switch 2 in the second transparent area 122 is different from the pulse detected by the optical switch 2 in the first transparent area 121 (for example, the duration of two pulses) The number of pulses included in the two pulses, etc., thereby realizing the calibration of the zero position of the code wheel 1, and finally obtaining the absolute position of the rotating member 3. Further, in order to simplify the calculation of the output, the width of the first light-transmitting region 121 is equal to the width of the non-light-transmitting region 13, so that the sandwich between the intermediate axes of the adjacent two first light-transmitting regions 121 The angle is 10°, and the angle between the intermediate axes of the adjacent two non-light transmitting regions 13 is also 10°, and the code wheel 1 rotates from the edge of the current first light transmitting region 121 to the next first light transmission. The same side edge of the area 121, the angle at which the code wheel 1 is rotated is 10°, thereby realizing the detection of the position.

In some embodiments, the optical switch 2 is a slotted photoelectric switch that includes a base (not shown), a launch tube (not shown), and a receiving tube (not shown). The launch tube and the receiving tube are respectively disposed at two ends of the base. The transmitting tube and the receiving tube are symmetrically disposed on two sides of the code wheel 1, and the centers of the transmitting tube and the receiving tube are located on the circumference of the light transmitting area 12 and the non-light transmitting area 13 to The cooperation with the light transmitting region 12 and the non-light transmitting region 13 is achieved. The base is disposed at a predetermined interval of the outer circumference of the code wheel 1, thereby preventing the outer circumferential surface from colliding with the base when the code wheel 1 is rotated.

In some embodiments, the optical switch 2 can also select other photoelectric switches having a transmitting tube and a receiving tube.

When the rotating member 3 drives the code wheel 1 to rotate, the optical switch 2 is stationary, and the transmitting tube of the optical switch 2 emits a light signal. When the transmitting tube and the receiving tube are located at the position of the light transmitting area 12, the receiving tube can receive When the transmitting tube and the receiving tube are located in the non-transmissive region 13, the receiving tube cannot receive the light signal emitted by the transmitting tube, thereby rotating the light transmitting region 12 and the non-light transmitting region 13 of the code wheel 1. When the position of the optical switch 2 is reached, the optical switch 2 outputs different level signals. In some embodiments, when the light transmissive region 12 of the code wheel 1 is rotated to the position of the optical switch 2, the optical switch 2 outputs a high level; accordingly, the non-transmissive region 13 of the code wheel 1 is rotated to the position of the optical switch 2. When the optical switch 2 outputs a low level. In some embodiments, the light transmission area of the code wheel may also be rotated to the light opening. When the position is off, the optical switch outputs a low level, and when the non-transparent area of the code wheel is rotated to the position of the optical switch, the optical switch outputs a high level.

Hereinafter, the width of the second light transmitting region 122 is three times the width of the first light transmitting region 121, and the width of the first light transmitting region 121 is equal to the width of the non-light transmitting region 13. When the light transmissive area 12 of the code wheel 1 is rotated to the optical switch 2, the optical switch 2 outputs a high level, and the non-transmissive area 13 of the code wheel 1 is rotated to the optical switch 2, and the optical switch 2 outputs a low level as an example for further explanation.

In some embodiments, the number of optical switches 2 is one. In this embodiment, after the rotating member 3 drives the code wheel 1 to rotate, when the light transmitting area 12 on the code wheel 1 is rotated to the position of the optical switch 2, the optical switch 2 outputs a high level, and the non-disc on the code wheel 1 When the light transmitting region 13 is rotated to the position of the optical switch 2, the optical switch 2 outputs a low level. There is a zero position (ie, a specific area in the second light transmitting area, for example, an intermediate shaft, an edge, etc.) every one rotation of the code wheel 1, and accordingly, each rotation of the code wheel 1 is due to the second light transmitting area. The width of the first light-transmissive region 121 is different from the width of the first light-transmitting region 121. Therefore, the pulse corresponding to the second light-transmitting region 122 in the pulse sequence outputted by the optical switch 2 is different from the pulse corresponding to the first light-transmitting region 121, thereby marking the code wheel 1 Zero. In some examples, when the rotating member 3 drives the code wheel 1 to rotate at a constant speed, the length of the high level output by the optical switch 2 (for example, the time length of the high level) when the second light transmitting area 122 is rotated to the position of the optical switch 2 Or the counting amount is larger than the length of the high level output by the optical switch 2 when the first light transmitting area 121 is rotated to the position of the optical switch 2, so the length of the high level is determined by the processor, and the length is long. The rising edge or the falling edge of the high level or the intermediate position may be the zero position of the code wheel 1. It should be noted that, in the embodiment of the present invention, an optical switch 2 can only be used to detect the zero position of the rotating member 3 that rotates at a constant speed, which is due to the length of the pulse sequence detected by the optical switch 2 and the rotational speed of the code wheel 1. Correspondingly, the rotation speed of the code wheel 1 is determined by the rotation speed of the rotating member 3. When the rotating member 3 is rotated, the length of the pulse corresponding to the first light transmitting area 121 and the second light transmitting area 122 detected by the optical switch 2 exists. Uncertainty, so that the zero position of the code wheel 1 cannot be determined.

In some embodiments, the number of the optical switches 2 is two, and the zero position information of the code wheel 1 and the relative rotational position of the code wheel 1 are determined by the pulse sequence outputted by the two optical switches 2, thereby The absolute rotational position of the rotating member 3 is obtained. It should be noted that, in the embodiment of the present invention, the two optical switches 2 are not only suitable for the zero position detection of the rotating member 3 which is rotated at a constant speed, but also for the zero position detection of the rotating member 3 for the variable speed rotation, which is due to The pulse sequence detected by the optical switch 2 is processed to obtain a unique zero pulse, thereby uniquely determining the zero position of the rotating member 3.

In some embodiments, to obtain a zero pulse, when the position detecting device 200 is not in operation, the positions of the two optical switches 2 are staggered, that is, two optical switches 2 are respectively placed on the code wheel. At different positions in the 1 circumferential direction, and respectively matched with the light transmitting region 12 and the non-light transmitting region 13.

In some examples, for the convenience of calculation, the positions of the two optical switches 2 can be such that the pulse sequences generated by the two optical switches 2 respectively comprise pulses with the same rising edge time, that is, the two optical switches 2 will be in a certain Simultaneously output pulses of the same rising edge at the same time. Optionally, when the position detecting device 200 is not in operation, the positions of the two optical switches 2 can be such that the two optical switches are respectively opposite to the edges of the two first transparent areas 121, so that the The pulse sequence generated by the two optical switches 2 respectively includes a pulse sequence having the same rising edge time, thereby facilitating calculation. Optionally, the two optical switches are respectively opposite to the edges of two adjacent first light transmitting regions 121.

Referring to FIG. 5, when the rotating member 3 drives the code wheel 1 to rotate, S1 and S2 are pulse sequences output by the two optical switches 2, respectively. When it is desired to determine the zero pulse of the code wheel 1 (a pulse sequence with one pulse), in some embodiments, see 5, first the S1 and S2 OR operations, resulting in a continuous pulse sequence S3, if the code wheel 1 The second transparent region 122 is rotated to zero position at the position of the optical switch 2 corresponding to S1, and the zero pulse S4 can be obtained by X2 operation between S2 and S3, that is,

If the second light transmitting area 122 of the code wheel 1 is rotated to zero position at the position of the optical switch 2 corresponding to S2, the zero pulse S4' can be obtained by XOR operation by S1 and S3, that is,

In some embodiments, S1 and S2 may be subjected to other operations (eg, a combination of at least one or more of, or,,,, or, and XOR) to determine the null of code wheel 1.

In some examples, for convenience of calculation, the positions of the two optical switches 2 can be such that the pulse sequences generated by the two optical switches 2 respectively comprise a phase error of 1/2 cycle or a phase error of 1/4 cycle. Period of the pulse. Wherein, one period includes a time when the first light transmitting region 121 and one non-light transmitting region 13 pass through the optical switch 2. Optionally, when the position detecting device 200 is not in operation, the positions of the two optical switches 2 can be such that one of the two optical switches 2 is opposite to an edge of a first light transmitting area 121, At the same time, the other optical switch 2 is opposite to the intermediate axis of the other first light transmitting region 121, so that the pulse sequence generated by the two optical switches 2 respectively contains pulses of 1/2 cycle of phase error. Optionally, when the position detecting device 200 is not in operation, the positions of the two optical switches 2 can be such that one of the two optical switches 2 is opposite to an edge of a first light transmitting area 121, At the same time, the other optical switch 2 is opposite to the 1/4 position of the other first light transmitting region 121, so that the pulse sequence generated by the two optical switches 2 respectively contains pulses of 1/4 cycle of phase error. The process of determining the zero pulse of the code wheel 1 in the embodiment and the zero pulse of the code wheel 1 in the embodiment in which the two optical switches are respectively opposite to the edges of the two first light transmission areas 121 respectively The process is similar.

Embodiment 2

Referring to FIG. 6, a position detecting device 200 according to an embodiment of the present invention may include a code wheel 1 and at least one optical switch 2. The code wheel 1 has an opening 11, and the opening 11 is sleeved on the rotating member 3, and the rotating plate 3 drives the code wheel 1 to rotate together, so that the rotating plate 3 is rotated by the code wheel 1. The rotational position is detected.

A plurality of light transmissive regions 12 and a plurality of non-transparent regions 13 are alternately arranged on the code wheel 1 along the same circumference. The plurality of non-transmissive regions 13 include a plurality of first non-transmissive regions 131 having the same width, and a second non-transparent region 132 having a width different from the width of the first non-transmissive regions 131. It should be noted that, in the present embodiment, the width refers to the circumferential width on the circumference.

In the embodiment of the present invention, a plurality of transparent regions 12 and a plurality of non-transmissive regions 13 alternately arranged along the same circumference are disposed on the code wheel 1, and one of the plurality of non-transmissive regions 13 is non-transparent. District 13 The width is set to be different from the width of the other non-transmissive regions 13, so that the non-transmissive region 13 different from the width of the other non-transmissive regions 13 is used as the zero mark of the code wheel 1, and can be accurately detected by the pulse sequence. The zero position of the code wheel 1 can determine the zero position of the rotating member 3 without opening a zero hole on the other circumference (ie, the circumference of the light transmitting area 12), and is detected according to the code wheel 1 and the zero position and the code wheel 1. The relative rotational position of the rotating member 3 is finally determined, and the structure is simple and the use range is wider.

The light transmissive region 12 includes at least one of a through hole and a region formed of a light transmissive material. In some examples, the plurality of light transmissive regions 12 are both through holes for ease of processing. In some examples, the plurality of light transmissive regions 12 are formed of a light transmissive material (eg, a light transmissive glass) for ease of processing. region.

In the embodiment, the width of the second non-transmissive region 132 is multiplied by the width of the first non-transmissive region 131, for example, the second non-transparent. The width of the light region 132 is twice, three times or other multiples of the width of the first non-light transmitting region 131. In order to facilitate the calculation, in some embodiments, the width of the second non-transmissive region 132 is three times the width of the first non-transmissive region 131, that is, the second non-transparent region 132 is equivalent to three The first non-transmissive regions 131 are composed. After the rotating member 3 drives the code wheel 1 to rotate, the pulse detected by the optical switch 2 in the second non-transmissive region 132 is different from the pulse detected by the optical switch 2 in the first non-transmissive region 131 (for example, the duration of two pulses) The length of time, the number of pulses included in the two pulses, and the like, thereby realizing the calibration of the zero position of the code wheel 1, and finally obtaining the absolute position of the rotating member 3. Further, to simplify the calculation of the output, the width of the first non-transmissive region 131 is equal to the width of the light transmissive region 12 such that between the intermediate axes of the adjacent two first non-transmissive regions 131 The angle is 10°, and the angle between the intermediate axes of the adjacent two transparent regions 12 is also 10°, and the code wheel 1 is rotated from the edge of the current first non-light transmitting region 131 to the next first non- The same side edge of the light transmitting area 131, the angle at which the code wheel 1 is rotated is 10°, thereby realizing the detection of the position.

In some embodiments, the optical switch 2 is a slotted photoelectric switch that includes a base, a launch tube, and a receiving tube. The launch tube and the receiving tube are respectively disposed at two ends of the base. The transmitting tube and the receiving tube are symmetrically disposed on two sides of the code wheel 1, and the centers of the transmitting tube and the receiving tube are located on the circumference of the light transmitting area 12 and the non-light transmitting area 13 to The cooperation with the light transmitting region 12 and the non-light transmitting region 13 is achieved. The base is disposed at a predetermined interval of the outer circumference of the code wheel 1, thereby preventing the outer circumferential surface from colliding with the base when the code wheel 1 is rotated.

When the rotating member 3 drives the code wheel 1 to rotate, the optical switch 2 is stationary, and the transmitting tube of the optical switch 2 emits a light signal. When the transmitting tube and the receiving tube are located at the position of the light transmitting area 12, the receiving tube can receive When the light signal emitted from the launch tube is located in the non-transmissive region 13, When the receiving tube cannot receive the light signal emitted by the transmitting tube, so that the light transmitting area 12 and the non-light transmitting area 13 of the code wheel 1 are rotated to the position of the optical switch 2, the optical switch 2 outputs different pulse sequences respectively. In some embodiments, when the light transmissive region 12 of the code wheel 1 is rotated to the position of the optical switch 2, the optical switch 2 outputs a high level; accordingly, the non-transmissive region 13 of the code wheel 1 is rotated to the position of the optical switch 2. When the optical switch 2 outputs a low level. In some embodiments, when the light transmissive area 12 of the code wheel 1 is rotated to the position of the optical switch 2, the optical switch 2 outputs a low level, and the non-transmissive area 13 of the code wheel 1 is rotated to the position of the optical switch 2. At the time, the optical switch 2 outputs a high level.

The width of the second non-transmissive region 132 is three times the width of the first non-transmissive region 131, and the width of the first non-transmissive region 131 and the transparent region 12 are The width is equal. When the light transmissive area 12 of the code wheel 1 is rotated to the optical switch 2, the optical switch 2 outputs a high level, and the non-transmissive area 13 of the code wheel 1 is rotated to the optical switch 2, and the optical switch 2 outputs a low level as an example for further explanation.

In some embodiments, the number of optical switches 2 is one. In this embodiment, after the rotating member 3 drives the code wheel 1 to rotate, when the light transmitting area 12 on the code wheel 1 is rotated to the position of the optical switch 2, the optical switch 2 outputs a high level, and the non-disc on the code wheel 1 When the light transmitting region 13 is rotated to the position of the optical switch 2, the optical switch 2 outputs a low level. There is a zero position (ie, a specific area in the second non-transmissive area 132, for example, an intermediate shaft, an edge, etc.) every one rotation of the code wheel 1, and accordingly, each rotation of the code wheel 1 is due to the second non- The width of the transparent region 132 is different from the width of the first non-transmissive region 131. Therefore, the pulse corresponding to the second non-transmissive region 132 in the pulse sequence outputted by the optical switch 2 is different from the pulse corresponding to the first non-transmissive region 131. Thus, the zero position of the code wheel 1 is marked. In some examples, when the rotating member 3 drives the code wheel 1 to rotate at a constant speed, the length of the high level output by the optical switch 2 (for example, the time of the high level) when the second non-transmissive region 132 is rotated to the position of the optical switch 2 The length or the count amount is greater than the length of the high level output by the optical switch 2 when the first non-transmissive area 131 is rotated to the position of the optical switch 2, so the length of the high level is determined by the processor, and the length is compared. The rising edge, the falling edge, or the intermediate position corresponding to the long high level may be used as the zero position of the code wheel 1. It should be noted that, in the embodiment of the present invention, an optical switch 2 can only be used to detect the zero position of the rotating member 3 which is rotated at a constant speed, which is due to the length and the code wheel of the pulse sequence detected by the optical switch 2. The rotation speed of the encoder 1 is determined by the rotation speed of the rotary member 3. When the rotary member 3 is rotated, the second non-transmissive region 132 detected by the optical switch 2 corresponds to the first non-transmissive region 131. There is uncertainty in the length of the pulse so that the zero pulse cannot be determined.

In some embodiments, the number of the optical switches 2 is two, and the zero position information of the code wheel 1 and the relative rotational position of the code wheel 1 are determined by the pulse sequence outputted by the two optical switches 2, thereby obtaining the rotating member 3. Absolute rotation position. It should be noted that, in the embodiment of the present invention, the two optical switches 2 are not only suitable for the zero position detection of the rotating member 3 which is rotated at a constant speed, but also for the zero position detection of the rotating member 3 for the variable speed rotation, which is due to The pulse sequence detected by the optical switch 2 is processed to obtain a unique zero pulse, thereby uniquely determining the zero position of the rotating member 3. In some embodiments, to obtain a zero pulse, when the position detecting device 200 is not in operation, the positions of the two optical switches 2 are staggered, that is, two optical switches 2 are respectively placed on the code wheel. At different positions in the 1 circumferential direction, and respectively matched with the light transmitting region 12 and the non-light transmitting region 13.

In some examples, for the convenience of calculation, the positions of the two optical switches 2 can be such that the pulse sequences generated by the two optical switches 2 respectively comprise pulses with the same rising edge time, that is, the two optical switches 2 will be in a certain Simultaneously output pulses of the same rising edge at the same time. Optionally, when the position detecting device 200 is not in operation, the positions of the two optical switches 2 are such that the two optical switches are respectively opposite to the edges of the two first non-light transmitting regions 131, so that The pulse sequence generated by the two optical switches 2 respectively includes the same pulse with the rising edge time, which is convenient for calculation. Optionally, the two optical switches are respectively opposite to the edges of two adjacent first non-transmissive regions 131. Referring to Fig. 7, when the rotating member 3 drives the code wheel 1 to rotate, S1 and S2 are the pulse sequences output by the two optical switches 2, respectively. When it is desired to determine the zero pulse of the code wheel 1 (a pulse sequence with one pulse), in some embodiments, referring to Figure 7, the S1 and S2 OR operations are first performed to obtain a continuous pulse sequence S3, if the code wheel is 1 The second non-transmissive region 132 is rotated to zero position at the position of the optical switch 2 corresponding to S1, and the zero pulse S4 can be obtained by XOR operation by S1 and S3, that is,

If the second non-transmissive region 132 of the code wheel 1 is rotated to zero position at the position of the optical switch 2 corresponding to S2, the zero pulse S4' can be obtained by X2 operation between S2 and S3, that is,

In some embodiments, S1 and S2 may be subjected to other operations (eg, a combination of multiples with, or, none, the same, or XOR) to determine the null of code wheel 1.

In some examples, for ease of calculation, the positions of the two optical switches 2 can be such that the pulse sequences generated by the two optical switches 2 respectively comprise pulses of 1/2 cycle phase error or 1/4 cycle phase error. Wherein, one cycle includes a time when the light transmitting region 12 and a first non-light transmitting region 131 pass through the optical switch 2. Optionally, when the position detecting device 200 is not in operation, the positions of the two optical switches 2 can be such that one of the two optical switches 2 is opposite to an edge of a first non-transmissive region 131. At the same time, the other optical switch 2 is opposite to the intermediate axis of the other first non-transmissive region 131, so that the pulse sequences generated by the two optical switches 2 respectively comprise pulses of 1/2 cycle of phase error. Optionally, when the position detecting device 200 is not in operation, the positions of the two optical switches 2 can be such that one of the two optical switches 2 is opposite to an edge of a first non-transmissive region 121. At the same time, the other optical switch 2 is opposite to the 1/4 position of the other first non-transmissive region 121, so that the pulse sequences generated by the two optical switches 2 respectively comprise pulses of 1/4 cycle of phase error. In the embodiment, the process of determining the zero pulse of the code wheel 1 and the above-mentioned two optical switches are respectively opposite to the edges of the two first non-transmissive regions 131, respectively, determining the zero pulse of the code wheel 1. The process is similar.

Embodiment 3

Referring to FIG. 8, a rotation system provided by an embodiment of the present invention includes a rotating member 3 and a position detecting device 200 for detecting a rotational position of the rotating member 3.

In some embodiments, the position detecting device 200 is the position detecting device 200 described in the first embodiment. In some embodiments, the position detecting device 200 is the position detecting device 200 described in the second embodiment. In some embodiments, the rotating system can simultaneously include the position detecting device 200 described in the first embodiment and the second embodiment.

In this embodiment, the code wheel 1 in the position detecting device 100 is in phase with the rotating member 3. The fixing is fixed to each other so that the code wheel 1 is rotated by the rotating member 3. Specifically, the code wheel 1 in the position detecting device 200 is sleeved on the outer side of the rotating member 3, so that the rotating plate 3 drives the code wheel 1 to rotate synchronously. In some embodiments, the rotating member 3 is a rotor of an electric machine. Alternatively, the rotating member 3 is an element that rotates in synchronism with the rotor of the motor, and in some embodiments, the rotating member 3 is integrally formed with the rotor of the motor.

In conjunction with Figures 9 and 10, in some embodiments, the rotating member 3 and the code wheel 1 are oriented such that the zero position of the rotating member 3 is aligned with the zero position of the code wheel 1, on the rotating member 3 The portion connected to the code wheel 1 is disposed on at least one of the platform faces 31, and the inner side wall of the opening 11 of the code wheel 1 is provided with at least one mounting surface 14 that cooperates with the at least one platform surface 31, respectively. Specifically, the code wheel 1 is engaged with the platform surface 31 of the rotating member 3 by the mounting surface 14 such that the second transparent area 122 or the second non-transparent on the code wheel 1 The light zone 132 is uniquely aligned with a specific position on the rotating member 3 (i.e., the zero position of the rotating member 3). Specifically, a specific area (for example, an intermediate shaft, an edge, and the like) in the second light transmitting area 122 or the second non-light transmitting area 132, which is the zero position of the code wheel 1, is aligned with the zero position of the rotating member 3, and passes the detection code. The zero position of the disk 1 is used to obtain the zero position of the rotating member 3. In some examples, the zero position of the rotating member 3 can be selected to be any position on one of the at least one platform face 31. In some examples, the zero position of the rotating member 3 can also be selected to be other positions on the rotating member 3 (i.e., at the position of the non-platform surface 31).

In some embodiments, the number of the platform faces 31 is one, the number of the mounting faces 14 is also one, and the platform face 31 and the mounting face 14 are correspondingly engaged to realize the rotating member 3 and the code. The disc 1 is oriented. However, the provision of a deck surface 31 causes the rotating member 3 to be in an unbalanced state, that is, the center of gravity of the rotating member 3 is not on its rotating shaft, resulting in poor stability when the rotating member 3 is rotated.

In some embodiments, in order to keep the rotating member 3 in a dynamic equilibrium state, the stability of the rotating member 3 during rotation is increased, and the number of the deck faces 31 is two. By adjusting the height and the distribution position of the two platform faces 31, the center of gravity of the rotating member 3 is located on its rotating shaft, thereby ensuring that the rotating member 3 is in a dynamic equilibrium state. Correspondingly, the number of the mounting faces 14 is also two. The two platform faces 31 respectively cooperate with the two mounting faces 14 to orient the rotating member 3 and the code wheel 1. However, the two platform faces 31 and the two mounting faces 14 may cause the code wheel 1 to be oriented with the rotating member 3 from two directions, resulting in inaccurate position mounting, thereby causing the zero position of the code wheel 1 to be related to the rotating member 3. The zero position is not aligned, and the absolute rotational position of the rotating member 3 cannot be detected by the code wheel 1.

In some embodiments, in order to keep the rotating member 3 in a dynamic balance state, the stability of the rotating member 3 during rotation is improved, and the position between the code wheel 1 and the rotating member 3 is prevented from being inaccurately installed. At least three, by adjusting the height and distribution position of the at least three platform faces 31, the center of gravity of the rotating member 3 is located on its rotating shaft, thereby ensuring that the rotating member 3 is in a dynamic balance state. Correspondingly, the number of the mounting faces 14 is also at least three, and at least three platform faces 31 respectively cooperate with at least three mounting faces 14 to orient the rotating member 3 and the code wheel 1. Preferably, the platform surface 31 is three, the structure is simple, and the rotating member 3 can be kept in a dynamic balance state, the stability of the rotating member 3 is improved, and the installation between the code wheel 1 and the rotating member 3 can be prevented. The location is wrong. In order to keep the center of gravity of the rotating member 3 on its rotating shaft, the position of the code wheel 1 and the rotating member 3 is prevented from being inaccurately installed. In some examples, the three deck faces 31 are identical (i.e., shape, size, etc.) and are non-uniformly distributed along the same circumferential direction of the rotating member 3. In some examples, one of the three deck faces 31 is different in size from the other two deck faces 31. In some examples, the three deck faces 31 are different in size.

Referring also to FIG. 9, the rotating member 3 further includes a receiving space 32 for receiving the load 4. In this embodiment, the load 4 is fixed in the accommodating space 32, that is, the load 4 and the rotating member 3 are synchronously rotated, that is, the rotating member 3 is in any state, and the load 4 and the rotating member 3 are both Relatively static.

In some examples, the inner side wall of the rotating member 3 is provided with a mounting portion on which the load 4 is mounted. Optionally, the mounting portion is engaged with the slot, and the load 4 is latched in the latching slot. In some examples, the load 4 is bonded to the inner side wall of the rotating member 3.

In some embodiments, in order to maintain the stability of the load 4, the circumference of the load 4 is mounted on the inner side wall of the rotating member 3.

In some embodiments, the load 4 is an optical element, and the rotating member 3 drives the optical element to rotate synchronously such that the optical element forms a designated optical path. Wherein the optical element is a prism or a lens.

In some embodiments, the prisms have different thicknesses in the radial direction, and the second transparent region 122 or the second non-transmissive region 132 on the code wheel 1 is used with the rotating member 3 The position at the minimum radial thickness of the mounting prism is uniquely aligned, that is, the position at which the radial minimum thickness of the prism is mounted on the rotating member 3 is the zero position of the rotating member 3, and the zero position of the code wheel 1 is utilized. The zero position of the rotating member 3 is calibrated to indirectly calibrate the radial minimum thickness of the prism such that the prism forms a designated optical path.

In some embodiments, the optical element has an asymmetrical shape to increase the richness of the optical path to meet user needs.

Referring to Figure 11, in some embodiments, the rotating member 3 includes two. The two rotating members 3 are disposed coaxially adjacent to each other, and the two rotating members 3 are respectively sleeved with a first code wheel 10 and a second code wheel 10', the first code wheel 10 and the second The code wheel 10' is used to detect the rotational positions of the two rotating members 3, respectively. Specifically, the first code wheel 10 and the second code wheel 10' are disposed in parallel, and the first code wheel 10 and the second code wheel 10' are respectively provided with corresponding first optical switch groups. 20 and a second optical switch group 20'. The rotational positions of the two rotating members 3 are detected by the first code wheel 10 and the second code wheel 10', respectively, to meet specific needs.

In some embodiments, referring to FIG. 12, in order to reduce the distance between the first code wheel 10 and the second code wheel 10' disposed in parallel, thereby reducing the length of the rotating system in the axial direction, the first In the optical switch group 20 and the second optical switch group 20', the transmitting tube or the receiving tube of each optical switch 2 is sequentially arranged in the same straight line between the first code wheel 10 and the second code wheel 10'. The cloth, that is, one of the transmitting tube and the receiving tube of each optical switch 2 is located at the first code wheel 10 and the second code wheel 10' Therefore, the center of the transmitting tube or the receiving tube between the first code wheel 10 and the second code wheel 10' in the optical switch 2 is located on the same straight line A-A. Preferably, the center line AA of the transmitting tube or the receiving tube of each optical switch 2 is parallel to the first code wheel 10 and the second code wheel 10' to further reduce the first code wheel 10 and the second code wheel arranged in parallel. The distance between 10', thereby reducing the length of the rotating system in the axial direction. In some examples, in the first optical switch group 20 and the second optical switch group 20', the transmitting tubes of all the optical switches 2 are located between the first code wheel 10 and the second code wheel 10', and all of the optical switches 2 The receiving tubes are located outside of the first code wheel 10 and the second code wheel 10'. In some examples, the receiving tubes of all the optical switches 2 are located between the first code wheel 10 and the second code wheel 10', and the transmitting tubes of all the optical switches 2 are located at the first code wheel 10 and the second code wheel 10' between. In some examples, in the first optical switch group 20 and the second optical switch group 20', a portion of the transmitting tubes of all the optical switches 2 is located between the first code wheel 10 and the second code wheel 10', and the other portion is located. The first code wheel 10 and the second code wheel 10' are outside. In some examples, the first optical switch group 20 and the second optical switch group 20' respectively include two optical switches 2, and two of the second optical switch groups 20' are respectively disposed on The two sides of the two optical switches 2 in the first optical switch group 20 reduce the distance between the first code wheel 10 and the second code wheel 10' disposed in parallel to reduce the size of the system.

Referring also to Fig. 11, the rotating system further includes a first fixing member 5 and a second fixing member 5 which are respectively fixed to the two rotating members 3. Referring to Figures 10 and 11, the first code wheel 10 and the second code wheel 10' further include a first fixing portion 15 and a second fixing portion 15', respectively. The first fixing portion 15 is a partial region of the first code wheel 10 between the plurality of transparent regions 12 and the opening 11, and the second fixing portion 15' is the second code wheel 10 A portion of the upper portion between the plurality of light transmissive regions 12 and the opening 11. That is, the first fixing portion 15 and the second fixing portion 15' are a circle region between the corresponding opening 11 on the code wheel and the circumference for arranging the light transmitting region 12 and the non-light transmitting region 13. In this embodiment, the first fixing portion 15 is fixed on the first fixing member 5, and the second fixing portion 15' is fixed on the second fixing member 5', so as to further the first code The disk 10 and the second code wheel 10' are fixed to prevent the first code wheel 10 and the second code wheel 10' from being shaken The measurement is not accurate.

In some embodiments, to further fix the first code wheel 10 and the second code wheel 10', between the first fixing portion 15 and the first fixing member 5, the second fixing The portion 15' and the second fixing member 5' are respectively provided with an adhesive layer. Optionally, the area of the bonding layer connecting the first fixing portion 15 to the first fixing member 5 is equal to the area of the first fixing portion 15, thereby increasing the bonding area of the first fixing portion 15, so that The first code wheel 10 is more stable. Optionally, the area of the bonding layer connecting the second fixing portion 15' to the second fixing member 5' is equal to the area of the second fixing portion 15', thereby increasing the viscosity of the second fixing portion 15'. The area of the connection makes the second code wheel 10' more stable.

In some embodiments, the area of the bonding layer may not be equal to the area of the first fixing portion 15 and the second fixing portion 15'. In an embodiment, the adhesive layer connected to the first fixing portion 15 includes a plurality of bonding regions, and the plurality of bonding regions are evenly distributed on the first fixing portion. In one embodiment, the bonding layer connected to the second fixing portion 15' includes a plurality of bonding regions, and the plurality of bonding regions are evenly distributed on the first fixing portion.

Referring again to Figure 11, in some embodiments, to further secure the code wheel 1, the rotating system further includes a first magnetic member 6 and a second magnetic member 6'. Wherein the first magnetic member 6 and the second magnetic member 6' are respectively engaged with the first fixing member 5 and the second fixing member 5'. Specifically, the first fixing portion 15 is interposed between the first fixing member 5 and the first magnetic member 6, and the first fixing member 5 is attracted to the first magnetic member 6 to be The first fixing portion 15 abuts on the first fixing member 5 . The first fixing portion 15 of the first code wheel 10 is fixed to the first fixing member 5 by the gravitational force between the first magnetic member 6 and the first fixing member 5 to maintain the stability of the first code wheel 10. . The second fixing portion 15' is sandwiched between the second fixing member 5' and the second magnetic member 6', and the second fixing member 5' is attracted to the second magnetic member 6'. The second fixing portion 15' is abutted on the second fixing member 5'. The second fixing portion 15' of the second code wheel 10' is fixed to the second fixing member 5' by the gravitational force between the second magnetic member 6' and the second fixing member 5' to maintain the second code. The stability of the disc 10'.

To further stabilize the stability of the first code wheel 10 and the second code wheel 10', the first fixing member 5, the second fixing member 5', the first magnetic member 6, and the second magnetic member 6' is respectively sleeved on the corresponding rotating member 3. In some examples, the area of the first fixing member 5 and the first magnetic member 6 is slightly smaller than or equal to the area of the first fixing portion 15, so that the stability of the first code wheel 10 is better. In some examples, the area of the second fixing member 5' and the second magnetic member 6' is slightly smaller than or equal to the area of the second fixing portion 15', thereby stabilizing the second code wheel 10'. Better sex.

Referring again to FIG. 11, the first magnetic member 6 and the second magnetic member 6' are disposed adjacent to each other, and the first magnetic member 6 and the second magnetic member 6' are repelled, thereby making the first The magnetic member 6 can more firmly adsorb the first fixing portion 15 on the first fixing member 5, and enables the second magnetic member 6' to more firmly adsorb the second fixing portion 15' The stability of the first code wheel 10 and the second code wheel 10' is further maintained on the second fixing member 5'.

Referring also to FIG. 11, the first bearing 7 and the second bearing 7' are respectively sleeved on the two rotating members 3, and the first fixing member 5 and the second fixing member 5' are located at the first bearing 7 and the Between the second bearings 7', the two rotating members 3 are respectively fixed by the first bearing 7 and the second bearing 7' such that the centers of rotation of the two rotating members 3 are respectively located on the respective rotating shafts.

In an embodiment, the rotating member is a motor rotor, and the motor includes a rotor assembly and a stator assembly that cooperate with each other. The stator assembly is used to drive the rotor assembly such that the rotor assembly rotates about the motor axis of rotation.

In this embodiment, the rotor assembly has a hollow cylindrical shape as a whole, and has an accommodating space 31 formed by an annular inner wall for accommodating a load. It will be appreciated that the stator assembly is fixed (i.e., stationary) relative to the axis of rotation of the motor without movement relative to the axis of rotation, while the rotor assembly is movable relative to the stator assembly.

The stator assembly includes at least two stators that are axially symmetric with each other in position or rotationally symmetric about the rotational axis, and are disposed around the outer side of the rotor, that is, the frame of the inner rotor of the present embodiment. Structure.

The positioning assembly is located outside the accommodating space 31 for restricting the position of the rotor assembly in the direction of the rotation axis, that is, restricting the movement of the rotation axis direction when the rotor assembly is rotated about the rotation axis. It should be noted that the rotating shaft is not an element that exists physically, but a virtual concept of the center of rotation of the rotor assembly. Therein, the positioning assembly has at least two positioning members that are axially symmetric with each other in position or rotationally symmetrically disposed about the rotational axis.

In this embodiment, the rotating system further includes a processor (not shown), wherein the processor is configured to: acquire a pulse sequence output by the at least one optical switch 2 in the position detecting device 100; A pulse sequence is used to determine the rotational position of the code wheel 1.

Referring also to FIG. 11, the rotating system further includes a circuit board (not shown), and the first optical switch group 20 and the second optical switch group 20' are respectively fixed to the circuit board, for example, the first The optical switches 2 of the optical switch group 20 and the second optical switch group 20' are soldered to the circuit board. The processor is also disposed on the circuit board, and each of the first optical switch group 20 and the second optical switch group 20' is electrically connected to the processor, so that the respective outputs are Sending a pulse sequence to the processor, and determining, by the processor, the first code wheel 10 and the pulse according to a pulse sequence output by each optical switch 2 in the first optical switch group 20 and the second optical switch group 20' Determining the zero position of the second code wheel 10' and the absolute rotational position of the first code wheel 10 and the second code wheel 10', thereby determining the corresponding correspondence between the first rotating member 3 and the second rotating member 3 The zero position and the respective absolute rotational position ultimately cause the first rotating member 3 and the second rotating member 3 to rotate in accordance with the desired rotational strategy.

In some embodiments, the rotating system can be a laser measuring device, such as a laser radar. The laser measurement also includes a laser emitter and a light receiver. Wherein, after the light emitted by the laser emitter passes through the prism, the prism rotates due to the rotation of the rotating member 3, and the lithography emitted by the prism is emitted to the target from different angle directions, and the optical receiver receives the light reflected from the target, thereby obtaining The position of the target (such as distance, angle, etc.).

In some examples, the laser measuring device includes a rotating member 3 and a prism housed in the rotating member 3, and by rotating the rotating speed of the rotating member 3, the prism is rotated to a desired position to form a specific The light path.

In some examples, the laser measuring device includes two rotating members 3 and prisms respectively accommodated in the two rotating members 3, and by controlling the rotational speed of the two rotating members 3, the corresponding prisms are rotated. Go to the desired location to form a specific light path. In some examples, the rotational speeds of the two rotating members 3 are different.

The laser measuring device of the embodiment of the present invention can be applied to a mobile platform, which can be mounted on a platform body of a mobile platform. A mobile platform with a laser measuring device can measure the external environment, for example, measuring the distance between the mobile platform and the obstacle for obstacle avoidance, and performing two-dimensional or three-dimensional mapping of the external environment. In certain embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a car, and a remote control car. When the laser measuring device is applied to an unmanned aerial vehicle, the platform body is the body of the unmanned aerial vehicle. When the laser measuring device is applied to a car, the platform body is the body of the car. When the laser measuring device is applied to a remote control car, the platform body is the body of the remote control car.

Embodiment 4

Referring to FIG. 13, an embodiment of the present invention provides a position detecting method for detecting a rotational position of a rotating member 3 in a rotating system according to the third embodiment. The method may include:

Step S101: Acquire a pulse sequence output by at least one of the position detecting devices in the rotating system;

In this embodiment, the optical switch 2 outputs a pulse sequence with alternating high and low levels. In some examples, the duration of each high level in the pulse sequence is determined by the rotational speed of the rotating member 3 and the width of the transparent region 12, and the duration of each low level in the pulse sequence is determined by the rotational speed of the rotating member 3 and is impervious. The width of the light zone 13 is determined in common. In some examples, the duration of each low level in the pulse sequence is determined by the rotational speed of the rotating member 3 and the width of the light transmitting region 12, and the duration of each high level in the pulse sequence is determined by the rotational speed of the rotating member 3 and is impervious. The width of the light zone 13 is determined in common.

Step S102: determining a rotational position of the rotating member 3 according to the pulse sequence.

In the embodiment of the present invention, the zero position of the rotating member 3 is detected according to the code disc 1 of a specific structure, and the rotational speed of the rotating member is determined according to the pulse sequence to determine the rotational position, thereby enabling the zero position and the distance zero position. The rotational position determines the absolute rotational position of the rotating member 3, and the structure is simple and the use range is wider.

In some embodiments, determining the rotational position of the code wheel 1 according to a pulse sequence output by the optical switch 2 in the position detecting device includes: according to a pulse sequence output by the optical switch 2, and or an operation, The rotational position of the code wheel 1 is determined by at least one of an operation, an exclusive OR operation, and a non-operation. In an embodiment, the optical switch 2 is two. Referring to FIG. 5, the pulse sequences of the two two switches output are S1 and S2, respectively. 5, the process of determining the rotational position of the code wheel 1 is: first, S1 and S2 are ORed to obtain a continuous pulse sequence S3, and if the second light transmission area 122 of the code wheel 1 is rotated to the position of the optical switch 2 corresponding to S1. At zero position, the zero pulse S4 can be obtained by X2 operation between S2 and S3, ie

In some embodiments, the plurality of light transmissive regions 12 include a plurality of first light transmissive regions 121 having the same width, and a second light transmissive region 122 having a width different from the width of the first light transmissive regions 121. a specific area of the second transparent area 122 corresponds to the zero position of the rotating member 3, and a specific area of the second transparent area 122 on the code wheel 1 is used as the zero position of the code wheel 1, and the optical switch 2 detects To a specific area in the second light transmitting area 122, that is, the current rotational position of the rotating member 3 is the zero position of the rotating member 3. Optionally, a specific one of the second transparent regions 122 is an intermediate axis or an edge of the second transparent region 122, so that the intermediate axis or edge of the second transparent region 122 is used as the zero of the code wheel 1. Bit, the zero position of the rotating member 3 is calibrated.

In some embodiments, the plurality of non-transmissive regions 13 include a plurality of first non-transmissive regions 131 having the same width, and a second non-width different from the width of the first non-transmissive regions 131. a light-transmitting region 132, a specific region of the second non-light-transmitting region 132 corresponding to the zero position of the rotating member 3, A specific area in the second non-transparent area 132 on the code wheel 1 is taken as a zero position of the code wheel 1, and the optical switch 2 detects a specific area in the second non-light transmissive area 132, that is, The current rotational position of the rotating member 3 is the zero position of the rotating member 3. Optionally, a specific one of the second non-transmissive regions 132 is an intermediate axis or an edge of the second non-transmissive region 132.

In an embodiment, determining the rotational position of the rotating member 3 according to at least one of the pulse sequence, and or the operation, the AND operation, the exclusive OR operation, and the non-operation, including: according to the pulse a sequence, and/or an operation, an AND operation, an exclusive OR operation, and a non-operation, determining a specific time, wherein the specific time is one of the optical switches 2 of the at least one optical switch 2 detected last time The time of the specific area; the rotational position of the rotating member 3 is determined according to the specific time. In this embodiment, the specific area is set to the zero position of the rotating member 3, and one of the optical switches 2 obtains the zero time of the rotating member 3 according to the time when the specific area is detected last time, so that the rotating part can be obtained according to the rotating part The zero time of 3 determines the absolute rotational position of the rotating member 3. Specifically, the angle at which the rotating member 3 rotates during the period from the zero time to the current time is calculated according to the zero time of the rotating member 3. Since the position of the zero position of the rotary member 3 is known, the current rotational position of the rotary member 3 can be determined based on the position of the zero position and the angle at which the rotary member 3 is rotated during this period.

In some embodiments, the determining the rotational position of the rotating member 3 according to the specific time comprises: determining a number of complete signal periods that occur in the pulse sequence in the pulse sequence at a current time; a target rotation angle, the angle of rotation of the code wheel 1 between the rising edge/falling edge time of the pulse currently detected by the optical switch 2 at the current distance; according to the complete signal period The angle at which the code wheel 1 rotates determines the rotational position of the rotating member 3. By obtaining the number of complete transparent regions 12 and non-transmissive regions 13 that have been detected by the optical switch 2 from the last time to the current position, due to a complete transparent region 12 and a complete non-transparent region The central angle of the code wheel 1 corresponding to the area is determined, and the rotation of the rotating member 3 in the complete signal period is calculated according to the central angle of the code wheel 1 corresponding to the transparent area 12 and the non-transmissive area 13. angle. And by obtaining the target rotation angle, The angle corresponding to the current period (non-complete signal period) passed by the code wheel 1 is the angle of rotation of the rotating member 3 in the number of complete signal periods plus the target rotation angle, that is, the last time the rotating member 3 is from the optical switch 2 The angle at which the rotating member 3 rotates during the period from the zero position to the current time. In one embodiment, a complete signal period refers to the length of time between the rising edge/falling edge of the pulse corresponding to two adjacent first light transmitting regions 121 on the code wheel 1. In one embodiment, a complete signal period is the length of time between the rising edge/falling edge of the pulse corresponding to two adjacent first non-transmissive regions 131 on the code wheel 1. Which complete signal period is used depends on the position of the zero position of the code wheel.

In an embodiment, the number of complete signal periods that occur at the specific time from the current time is n, and the angles corresponding to each signal period in the n signal periods are A1, A2, ..., An, respectively, and n signal periods The corresponding rotation angle A0=A1+A2+...+An.

In some embodiments, the acquiring the target rotation angle comprises: acquiring a first duration, where the first duration is between a rising edge/falling edge time of a pulse that is detected last time by the optical switch 2 The length of time; the rotation speed of the current period of the rotating member 3 is obtained; and the target rotation angle is determined according to the first duration and the rotation speed of the current period of the rotating member 3. Wherein, the first duration is the rising edge or the falling edge of the pulse detected by the optical switch 2 last time, depending on whether the complete signal period used in the calculation starts from a rising edge or a falling edge, if the complete signal period is rising from At the beginning, the first duration is the rising edge. If the complete signal period starts from the falling edge, the first duration is the falling edge.

In an embodiment, the rotation angle corresponding to the number of complete signal periods occurring at the current time is A0, and the rising edge/falling edge time of the last detected pulse of the optical switch 2 is T0, the current time For t, the first duration is (t-T0), and the rotational speed of the current period of the rotating member 3 is W, and the angle A(t) of the rotational position of the code wheel 1 is calculated as follows:

A(t)=A0+(t-T0)*W.

In some embodiments, the rotational speed of the current period of the rotating member 3 is a preset rotational speed, in which case the rotating member 3 is rotated at a constant speed. Taking the rotating member 3 as an example of a motor, when the motor rotates at a high speed, there is a strong rotational inertia, and the time constant of the motor rotation is long (usually on the order of 100 ms or more), and the driving force is short without changing the driving force. During the time, the rotational speed W of the motor is relatively stable, and the position of the code wheel 1 is calculated by the rotational speed W of the motor, so that the rotational position of the code wheel 1 can be obtained more accurately. However, after long-term rotation, the rotational speed W of the motor may change due to external factors such as wear of the motor shaft.

In some embodiments, in order to overcome the change in the rotational speed W of the motor due to external factors, thereby obtaining the rotational position of the code wheel 1 more accurately, it is necessary to calculate the rotational speed of the current period of the rotary member 3. Optionally, the obtaining the rotation speed of the current period of the rotating member 3 comprises: determining, according to a pulse sequence of a plurality of signal periods output by one of the optical switches 2 of the at least one optical switch 2 before the current time The rotational speed of the current period of the rotating member 3. In one embodiment, a complete signal period refers to the length of time between the rising edge/falling edge of the pulse corresponding to two adjacent first light transmitting regions 121 on the code wheel 1. In one embodiment, a complete signal period means that the duration between the rising/falling edges of the pulses corresponding to the adjacent two first non-transmissive regions 131 represents a complete signal period.

In some examples, determining, according to a pulse sequence of a plurality of signal periods output by one of the optical switches 2 of the optical switch 2 before the current time, determining a rotational speed of the current period of the rotating member 3, including: calculating An angle and a duration corresponding to each of the plurality of signal periods; calculating a sum of an angle of the plurality of signal periods and a duration; determining the rotation according to a sum of the angles and the duration The rotational speed of the current cycle of piece 3. Specifically, the number of the plurality of signal periods is n, and the angles of each of the n signal periods are A1, A2, ..., An, and the duration of each signal period is T1, T2, ..., respectively. Tn; the sum of the angles of the plurality of signal periods A=(A1+A2+...+An), the sum of the durations T=(T1+T2+...+Tn), the rotational speed of the current moment t of the rotating member 3 W=A/T . In this embodiment, the rotational speed of the rotating member 3 corresponding to each signal period in the plurality of signal periods before the current time is directly directly The averaging is performed to obtain a more accurate real-time rotational speed of the rotating member 3 to obtain a more precise rotational position of the rotating member 3, which is suitable for a scene in which the rotating member 3 rotates at a constant speed.

In some examples, determining, according to a pulse sequence of a plurality of signal periods output by one of the optical switches 2 of the optical switch 2 before the current time, determining a rotational speed of the current period of the rotating member 3, including: calculating An angle and a duration corresponding to each of the plurality of signal periods; a weighting coefficient is set for each signal period; and an angle corresponding to the signal period is weighted according to a weighting coefficient corresponding to each signal period; The sum of the durations of the plurality of signal periods and the sum of the angles of the plurality of signal periods after the weighting process; determining the rotational speed of the current period of the rotating member 3 based on the sum of the durations and the sum of the angles. Specifically, the number of the plurality of signal periods is n, and the angles of each of the n signal periods are A1, A2, ..., An, and the weighting coefficients of each signal period are W1, W2, ..., Wn, where W1+W2+...+Wn=1, the duration of each signal period is T1, T2, ..., Tn, respectively; then the weighting process for each signal period is separately performed W1*A1, W2*A2, ..., Wn*An, the sum of the angles of the weighted multiple signal periods A=(W1*A1+W2*A2+...+Wn*An), the sum of the durations T=(T1+T2+...+Tn), the rotating member 3 is currently The rotational speed at time t is W=A/T. Wherein, the weighting coefficient can be determined according to the rotation speed of the rotating member 3 in each signal period, thereby obtaining a more accurate real-time rotation speed of the rotating member 3, so as to obtain a more precise rotational position of the rotating member 3, which is suitable for The rotating member 3 shifts the rotating scene in accordance with the regular rotational speed.

In some examples, determining a rotational speed of the current period of the rotating member 3 according to a pulse sequence of a plurality of signal periods output by one of the optical switches 2 of the optical switch 2 before the current time, including: When the rotating members 3 are respectively rotated at different rotational speeds, respectively acquiring pulse sequences of the plurality of signal periods of the code wheel 1 at different rotational speeds, and predicting the rotation at the current rotational speed according to the pulse sequence of the plurality of signal periods The rotational speed of the current cycle of piece 3. Specifically, a certain rotation speed of the rotating member 3 is pre-analyzed to establish a prediction model n=f(R) for determining the relationship between the number n of signal periods and the rotational speed W of the current period of the rotating member 3, wherein , R is the target speed, and n is the speed required to predict the rotation speed of the current period. The number of signal cycles. Specifically, at R speed, data of a large number of signal periods is analyzed (eg, training, learning, fitting, etc.), and a calculation model of n signal periods and W is determined: W=(A1...Ai...An, T1... Ti...Tn), where Ai is the angle corresponding to the ith signal period, Ti is the duration corresponding to the ith signal period, 1 ≤ i ≤ n, and n is a natural number.

In some embodiments, the acquiring the target rotation angle comprises: acquiring a first duration, where the first duration is between a rising edge/falling edge time of a pulse that is detected last time by the optical switch 2 The second duration is the estimated total duration of the current period, wherein one period continues from the rising edge/falling edge of one pulse in the pulse sequence to the rising edge/falling edge of the next pulse And determining a target rotation angle according to the first duration and the second duration, and a central angle of the code wheel 1 corresponding to the cycle. Determining, in the complete signal period of the current time, the proportion of the current time to the estimated total duration of the complete signal period of the current time, so that the percentage of the code wheel 1 corresponding to a complete signal period can be driven according to the ratio The target rotation angle obtains a more accurate rotational position of the rotating member 3. Optionally, the central angle of the code wheel 1 corresponding to each cycle is fixed, for example, 35 transparent areas 12, 35 non-transmissive areas 13, and the width of the second transparent area 122 is the first transparent area. The width of the first light-transmitting region 121 is equal to the width of the non-light-transmitting region 13 or the width of the second non-light-transmitting region 132 is three times the width of the first non-light-transmitting region 131, and the light-transmitting region 12 is three times. The width of the first non-transmissive region 131 is equal to the width of the first non-transmissive region 131, and it can be determined that the central angle of the code wheel 1 corresponding to each complete signal period is 20°.

In some examples, the estimated total length of each signal period is a fixed period of time, but after the long-term rotation of the rotating member 3, the rotational speed W of the motor may change due to external factors (such as wear of the motor shaft, etc.), thereby This can result in changes in the rotation time of each cycle.

In order to obtain the estimated total duration of the current cycle more accurately. In some examples, the obtaining the estimated total duration of the current period includes: determining an estimated total of the current period according to a pulse sequence of the plurality of signal periods output by the one of the at least one optical switch 2 of the optical switch 2 before the current period. duration.

In some embodiments, determining, according to a pulse sequence of a plurality of signal periods output by one of the optical switches 2 of the at least one optical switch 2 before the current period, determining an estimated total duration of the current period, including: calculating the plurality of Calculating a total duration of each signal period in each signal period, calculating a sum of total durations of the plurality of signal periods; determining an estimated total duration of the current period based on the sum of the total durations and the number of signal periods. Specifically, the number of the plurality of signal periods is n, and the total duration of each signal period in the n signal periods is T1, T2, ..., Tn, and the sum of the total durations of the plurality of signal periods T = (T1 +T2+...+Tn), the estimated total duration T(t) of the current period of the rotating member 3 is T/n, where t represents the current time. In this embodiment, the total duration corresponding to each signal period in the plurality of signal periods before the current time is directly averaged, thereby obtaining a more accurate estimated total duration of the current period, so as to obtain a more precise rotational position of the rotating member 3, which is suitable for The scene in which the rotating member 3 rotates at a constant speed. The total duration of each signal period can be counted, for example, from the rising edge of the current signal period to the rising edge of the next signal period, and the total number of counts can be used as the total duration of the current signal period.

In some embodiments, determining, according to a pulse sequence of a plurality of signal periods output by one of the optical switches 2 of the at least one optical switch 2 before the current period, determining an estimated total duration of the current period, including: calculating the plurality of The total duration of each signal period in each signal period; a weighting coefficient is set for each signal period; the total duration corresponding to the signal period is weighted according to the weighting coefficient corresponding to each signal period; and the weighting process is calculated The sum of the total durations of the subsequent plurality of signal periods; determining the estimated total duration of the current period based on the sum of the total durations of the plurality of signal periods after the weighting process and the number of the signal periods. Specifically, the number of the plurality of signal periods is n, and the total duration of each signal period in the n signal periods is T1, T2, ..., Tn, and the weighting coefficients of each signal period are W1, W2, ... And Wn, where W1+W2+...+Wn=1, respectively weighting the total duration of each signal period by W1*T1, W2*T2, ..., Wn*Tn, and the angles of the plurality of weighted signal periods And T = (W1 * T1 + W2 * T2 + ... + Wn * Tn), the estimated total duration T(t) of the current period of the rotating member 3 is T / n, where t represents the current time. Wherein the weighting coefficient can be based on the rotating member 3 at each signal week The rotation time of the period is determined by the ratio of the length of time required for the code wheel 1 to rotate the full turn, thereby obtaining a more precise rotational position of the rotary member 3, and is suitable for a scene in which the rotary member 3 is rotationally rotated at a regular rotational speed. The total duration of each signal period can be counted, for example, from the rising edge of the current signal period to the rising edge of the next signal period, and the total number of counts can be used as the total duration of the current signal period.

In some embodiments, determining, according to a pulse sequence of a plurality of signal periods output by one of the at least one optical switch 2 of the optical switch 2 before the current period, determining an estimated total duration of the current period, including: in the rotating When the pieces 3 are respectively rotated at different rotation speeds, respectively acquire pulse sequences of the plurality of signal periods of the code wheel 1 at different rotation speeds, and predict the current period prediction at the current rotation speed according to the pulse sequence of the plurality of signal periods Total length. Specifically, a certain rotation speed of the rotating member 3 is pre-analyzed to establish a prediction model n=f(R) for determining the relationship between the number n of signal periods and the estimated total duration of the current period of the rotating member 3, wherein , R is the target rotational speed, and n is the number of signal cycles required to predict the estimated total duration of the current cycle at the rotational speed R. Specifically, at R rotational speed, data of a large number of signal periods is analyzed (eg, training, learning, fitting, etc.), and a calculation model of the estimated total duration T(t) of the n signal periods and the current period is determined: T ( t)=(T1...Ti...Tn,n), where Ti is the total duration corresponding to the ith signal period, 1≤i≤n, and n is a natural number. The total duration of each signal period can be counted, for example, from the rising edge of the current signal period to the rising edge of the next signal period, and the total number of counts can be used as the total duration of the current signal period.

Embodiment 5

The position detecting method corresponding to the above-described fourth embodiment, referring to FIG. 14, further provides a position detecting device 200 for detecting the rotational position of the rotating member in the rotating system of the third embodiment. Wherein, the position detecting device comprises a processor 201.

The processor 201 is configured to:

Acquiring a pulse outputted by at least one of the position detecting devices in the rotating system Punch sequence

A rotational position of the rotating member is determined based on the pulse sequence.

Further, determining the rotational position of the rotating component according to the pulse sequence comprises:

The rotational position of the rotating member is determined according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation.

Further, the plurality of light transmissive regions include a plurality of first light transmissive regions having the same width, and a second light transmissive region having a width different from a width of the first light transmissive region, the second light transmissive region a specific area corresponding to the zero position of the rotating member; or, the plurality of non-light transmitting regions includes a plurality of first non-transmissive regions of the same width, and a width different from the first non-transmissive region a second non-transmissive region of the width, the specific region of the second non-transmissive region corresponding to the zero position of the rotating member;

Determining a rotational position of the rotating member according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation, including:

Determining a specific time according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation, the specific time being the last time one of the at least one optical switches is detected The time of a particular area;

The rotational position of the rotating member is determined according to the specific time.

Further, determining the rotational position of the rotating member according to the specific time comprises:

Determining, in the pulse sequence, the number of complete signal periods occurring between the current distances from the particular region, wherein between the rising edge/falling edge of the pulse corresponding to the adjacent two first light transmitting regions on the code wheel The duration, or the length between the rising edge/falling edge of the pulse corresponding to the two adjacent first non-transmissive regions, represents a complete signal period;

Obtaining a target rotation angle, wherein the target rotation angle is the current distance at the current distance of the optical switch The angle at which the code wheel rotates between the rising edge/falling edge time of the pulse detected nearly once;

Determining a rotational position of the rotating member according to the complete signal period and an angle at which the code wheel rotates.

Further, the acquiring the target rotation angle includes:

Obtaining a first duration, wherein the first duration is a duration between a rising edge/falling edge time of a pulse detected by the optical switch last time;

Obtaining a rotation speed of the current period of the rotating member;

The target rotation angle is determined according to the first duration and the rotational speed of the current period of the rotating member.

Further, the obtaining the rotation speed of the current period of the rotating member includes:

Determining a rotational speed of the current period of the rotating member according to a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches before the current time.

Further, determining, according to a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches before the current time, determining a rotational speed of the current period of the rotating member, including:

Calculating an angle and a duration corresponding to each of the plurality of signal periods;

Calculating a sum of an angle of the plurality of signal periods and a duration;

The rotational speed of the current period of the rotating member is determined according to the sum of the angles and the duration.

Setting a weighting coefficient for each signal period;

Weighting the angle corresponding to the signal period according to a weighting coefficient corresponding to each signal period;

Calculating a sum of durations of the plurality of signal periods and a sum of angles of the plurality of signal periods after the weighting process;

The rotational speed of the current period of the rotating member is determined according to the sum of the durations and the sum of the angles.

When the rotating members are respectively rotated at different rotational speeds, respectively acquiring pulse sequences of the plurality of signal periods of the code wheel at different rotational speeds, and predicting the rotating parts at the current rotational speed according to the pulse sequence of the plurality of signal periods The rotational speed of the current cycle.

Further, the acquiring the target rotation angle includes:

Obtaining a second duration, wherein the second duration is an estimated total duration of the current period, wherein one period continues from a rising edge/falling edge of one pulse in the pulse sequence to a rising edge/falling edge of the next pulse;

Determining a target rotation angle according to the first duration and the second duration, and a center angle of the code wheel corresponding to the period.

Further, the obtaining the estimated total duration of the current period includes:

Determining an estimated total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches prior to the current period.

Further, determining, according to a pulse sequence of a plurality of signal periods output by one of the at least one optical switch before the current period, determining an estimated total duration of the current period, including:

Calculating a total duration corresponding to each of the plurality of signal periods,

Calculating a sum of total durations of the plurality of signal periods;

The estimated total duration of the current period is determined based on the sum of the total durations and the number of signal periods.

Calculating a total duration corresponding to each of the plurality of signal periods;

Setting a weighting coefficient for each signal period;

Weighting the total duration corresponding to the signal period according to a weighting coefficient corresponding to each signal period;

Calculating a sum of total durations of the plurality of signal periods after the weighting process;

The estimated total duration of the current period is determined according to the sum of the total durations of the plurality of signal periods after the weighting process and the number of the signal periods.

When the rotating members are respectively rotated at different rotational speeds, respectively acquiring pulse sequences of the plurality of signal periods of the code wheel at different rotational speeds, and predicting the current period at the current rotational speed according to the pulse sequence of the plurality of signal periods Estimated total duration.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

In addition, an embodiment of the present invention further provides a computer storage medium having program instructions stored therein, wherein the computer storage medium stores program instructions, and the program executes the position detecting method described in the fourth embodiment.

It should be noted that, in this context, relational terms such as first and second are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply such entities or operations. There is any such actual relationship or order between them. The terms "including", "comprising" or "comprising" or "comprising" are intended to include a non-exclusive inclusion, such that a process, method, article, or device that comprises a plurality of elements includes not only those elements but also other items not specifically listed Elements, or elements that are inherent to such a process, method, item, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The position detecting device, the method and the rotating system provided by the embodiments of the present invention are described in detail. The principles and embodiments of the present invention are described in the following. The description of the above embodiments is only used to help understand the present invention. The method of the invention and its core idea; at the same time, for the person of ordinary skill in the art, according to the idea of the present invention, there are some changes in the specific embodiment and the scope of application. In summary, the content of the specification should not be understood. To limit the invention.

Claims

a position detecting device for detecting a rotating position of a rotating member, comprising: a code wheel having an opening and at least one optical switch, wherein the opening is for arranging the rotating member;

A plurality of light transmissive regions and a plurality of non-transparent regions alternately distributed along the same circumference are disposed on the code wheel;

The plurality of light transmissive regions include a plurality of first light transmissive regions having the same width, and a second light transmissive region having a width different from a width of the first light transmissive region; or the plurality of non-transparent regions The light region includes a plurality of first non-transmissive regions of the same width, and a second non-transparent region having a width different from a width of the first non-transmissive region;

Wherein the width is a circumferential width along the circumference;

At least one of the optical switches cooperates with the light transmissive region and the non-transmissive region for outputting a pulse sequence of pulse sequence output.
The position detecting device according to claim 1, wherein a width of the second light transmitting region is three times a width of the first light transmitting region, or a width of the second light transmitting region It is three times the width of the first non-light transmitting region.
The position detecting device according to claim 1, wherein the light transmitting region is a through hole.
The position detecting device according to claim 1, wherein the number of the optical switches is one.
The position detecting device according to claim 1, wherein the number of the optical switches is two.
The position detecting device according to claim 5, wherein the positions of the two optical switches are such that the pulse sequences respectively generated by the two optical switches include pulses having the same rising edge time.
The position detecting device according to claim 5, wherein the positions of the two optical switches are such that the pulse sequence respectively generated by the optical switch includes a phase error of 1/2 cycle or a phase error of 1/4 cycle pulse.
The position detecting device according to claim 1, wherein said optical switch is a slot type photoelectric switch.
The position detecting device according to claim 1, wherein the plurality of light transmitting regions are 35, or the plurality of non-light transmitting regions are 35.
A rotating system, comprising a rotating member, characterized by further comprising the position detecting device according to any one of claims 1 to 9, wherein a code wheel in the position detecting device and the rotating member are fixed to each other, The position detecting device is for detecting a rotational position of the rotating member.
The system according to claim 10, wherein the portion of the rotating member that is coupled to the code wheel is provided with at least one deck surface.

The inner side wall of the opening of the code wheel is provided with at least one mounting surface that cooperates with the at least one platform surface.
The system of claim 11 wherein said code wheel engages said platform surface of said rotating member by said mounting surface such that said second light transmissive region or said said disc The second non-transmissive region is uniquely aligned with a particular location on the rotating member.
The system of claim 11 wherein at least one of said deck faces is three.
The system of claim 13 wherein:

The three deck surfaces are identical and non-uniformly distributed along the same circumferential direction of the rotating member;

Or, one of the three platform faces is different in size from the other two platform faces;

Or, the size of the three platform faces is different.
The system according to claim 10, wherein said rotating member comprises two, two rotating members are disposed coaxially adjacent to each other, and said two rotating members are respectively provided with a first code wheel and a second code a disc, respectively detecting a rotational position of the two rotating members;

The first code disc and the second code disc are disposed in parallel, and the first code disc and the second code disc are respectively provided with a corresponding first optical switch group and a second optical switch group.
The system according to claim 15, wherein in the first optical switch group and the second optical switch group, a transmitting tube or a receiving tube of each optical switch is sequentially in the first code wheel and The second code disks are arranged along the same straight line.
The system according to claim 16, wherein the first optical switch group and the second optical switch group respectively comprise two optical switches,

Two optical switches in the second optical switch group are respectively disposed on two sides of the two optical switches in the first optical switch group.
The system according to claim 15, further comprising first and second fixing members respectively fixed to the two rotating members.

The first code wheel and the second code wheel further include a first fixing portion and a second fixing portion between the plurality of light transmitting regions and the opening, respectively.

The first fixing portion is fixed on the first fixing member,

The second fixing portion is fixed to the second fixing member.
The system according to claim 18, further comprising first and second magnetic members respectively mated with the first and second fixing members,

The first fixing portion is interposed between the first fixing member and the first magnetic member, and the first fixing member is attracted to the first magnetic member to abut the first fixing portion On the first fixing member;

The second fixing portion is interposed between the second fixing member and the second magnetic member, and the second fixing member is attracted to the second magnetic member to abut the second fixing portion On the second fixing member.
The system according to claim 19, wherein the first fixing member, the second fixing member, the first magnetic member, and the second magnetic member are respectively sleeved on the corresponding rotating members.
The system according to claim 19, wherein said first magnetic member and said second magnetic member are disposed adjacent to each other, and said first magnetic member and said second magnetic member are repelled.
The system according to claim 21, wherein the two rotating members are respectively sleeved with a first bearing and a second bearing, and the first fixing member and the second fixing member are located at the first bearing and the Between the second bearing.
The system according to claim 18, wherein the first fixing portion and the first fixing member, the second fixing portion and the second fixing member are respectively provided with an adhesive layer.
The system of claim 10 wherein said rotating member is a rotor of an electric machine.
The system of claim 10 wherein said rotating member further comprises a receiving space for receiving a load.
The system of claim 25 wherein said load is an optical component.
The system of claim 26 wherein said optical element is a prism or a lens.
The system according to claim 27, wherein said prism has a thickness in a radial direction, said second light transmitting region or said second non-light transmitting region on said code wheel and said rotating member The position is uniquely aligned at the location where the radial minimum thickness of the prism is mounted.
The system of claim 26 wherein said optical element has an asymmetrical shape.
A system according to any one of claims 10 to 29, wherein the rotating system further comprises a processor, the processor for:

Acquiring a pulse sequence output by at least one of the position detecting devices;

A rotational position of the rotating member is determined based on the pulse sequence.
A position detecting method for detecting a rotational position of a rotating member in a rotating system according to any one of claims 10 to 30, characterized in that the method comprises:

Acquiring a pulse sequence of at least one optical switch output in the position detecting device in the rotating system;

A rotational position of the rotating member is determined based on the pulse sequence.
The method according to claim 31, wherein said determining a rotational position of said rotating member based on said sequence of pulses comprises:

The rotational position of the rotating member is determined according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation.
The method according to claim 32, wherein the plurality of light transmissive regions comprise a plurality of first light transmissive regions of the same width, and a second transmissive width different from a width of the first light transmissive region a light region, a specific one of the second light transmitting regions corresponds to a zero position of the rotating member; or, the plurality of non-light transmitting regions includes a plurality of first non-light transmitting regions having the same width, and a width difference a second non-transmissive region of the width of the first non-transmissive region, a specific region of the second non-transmissive region corresponding to a zero position of the rotating member;

Determining a rotational position of the rotating member according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation, including:

Determining a specific time according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation, the specific time being the last time one of the at least one optical switches is detected The time of a particular area;

The rotational position of the rotating member is determined according to the specific time.
The method according to claim 33, wherein the determining the rotational position of the rotating member according to the specific time comprises:

Determining, in the pulse sequence, the number of complete signal periods occurring between the current distances from the particular region, wherein between the rising edge/falling edge of the pulse corresponding to the adjacent two first light transmitting regions on the code wheel The duration, or the length between the rising edge/falling edge of the pulse corresponding to the two adjacent first non-transmissive regions, represents a complete signal period;

Obtaining a target rotation angle, the angle of rotation of the code wheel between a rising edge/falling edge time of a pulse currently detected by the optical switch at a current distance;

Determining a rotational position of the rotating member according to the complete signal period and an angle at which the code wheel rotates.
The method according to claim 34, wherein said obtaining a target rotation angle comprises:

Obtaining a first duration, wherein the first duration is a duration between a rising edge/falling edge time of a pulse detected by the optical switch last time;

Obtaining a rotation speed of the current period of the rotating member;

The target rotation angle is determined according to the first duration and the rotational speed of the current period of the rotating member.
The method of claim 35, wherein the obtaining the rotational speed of the current period of the rotating member comprises:

Determining a rotational speed of the current period of the rotating member according to a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches before the current time.
The method according to claim 36, wherein said determining a rotation of said current period of said rotating member based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current time Speed, including:

Calculating an angle and a duration corresponding to each of the plurality of signal periods;

Calculating a sum of an angle of the plurality of signal periods and a duration;

The rotational speed of the current period of the rotating member is determined according to the sum of the angles and the duration.
The method according to claim 36, wherein said determining a rotation of said current period of said rotating member based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current time Speed, including:

Calculating an angle and a duration corresponding to each of the plurality of signal periods;

Setting a weighting coefficient for each signal period;

Weighting the angle corresponding to the signal period according to a weighting coefficient corresponding to each signal period;

Calculating a sum of durations of the plurality of signal periods and a sum of angles of the plurality of signal periods after the weighting process;

The rotational speed of the current period of the rotating member is determined according to the sum of the durations and the sum of the angles.
The method according to claim 36, wherein said determining a rotation of said current period of said rotating member based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current time Speed, including:

When the rotating members are respectively rotated at different rotational speeds, respectively acquiring pulse sequences of the plurality of signal periods of the code wheel at different rotational speeds, and predicting the rotating parts at the current rotational speed according to the pulse sequence of the plurality of signal periods The rotational speed of the current cycle.
The method according to claim 34, wherein said obtaining a target rotation angle comprises:

Obtaining a first duration, wherein the first duration is a duration between a rising edge/falling edge time of a pulse detected by the optical switch last time;

Obtaining a second duration, wherein the second duration is an estimated total duration of the current period, wherein one period continues from a rising edge/falling edge of one pulse in the pulse sequence to a rising edge/falling edge of the next pulse;

Determining a target rotation angle according to the first duration and the second duration, and a center angle of the code wheel corresponding to the period.
The method according to claim 40, wherein the obtaining the estimated total duration of the current period comprises:

Determining an estimated total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches prior to the current period.
The method according to claim 41, wherein the determining a total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches before the current period comprises:

Calculating a total duration corresponding to each of the plurality of signal periods,

Calculating a sum of total durations of the plurality of signal periods;

The estimated total duration of the current period is determined based on the sum of the total durations and the number of signal periods.
The method according to claim 41, wherein the determining a total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches before the current period comprises:

Calculating a total duration corresponding to each of the plurality of signal periods;

Setting a weighting coefficient for each signal period;

Weighting the total duration corresponding to the signal period according to a weighting coefficient corresponding to each signal period;

Calculating a sum of total durations of the plurality of signal periods after the weighting process;

The estimated total duration of the current period is determined according to the sum of the total durations of the plurality of signal periods after the weighting process and the number of the signal periods.
The method according to claim 41, wherein the determining a total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches before the current period comprises:

When the rotating members are respectively rotated at different rotational speeds, respectively acquiring pulse sequences of the plurality of signal periods of the code wheel at different rotational speeds, and predicting the current period at the current rotational speed according to the pulse sequence of the plurality of signal periods Estimated total duration.
A position detecting device for detecting a rotational position of a rotating member in a rotating system according to claims 10 to 30, characterized in that the device comprises a processor,

The processor is configured to:

Acquiring a pulse sequence of at least one optical switch output in the position detecting device in the rotating system;

A rotational position of the rotating member is determined based on the pulse sequence.
The apparatus according to claim 45, wherein said determining a rotational position of said rotating member based on said sequence of pulses comprises:

The rotational position of the rotating member is determined according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation.
The device according to claim 46, wherein said plurality of light transmissive regions comprise a plurality of first light transmissive regions of the same width, and a second transmissive width different from a width of said first light transmissive region a light region, a specific one of the second light transmitting regions corresponds to a zero position of the rotating member; or, the plurality of non-light transmitting regions includes a plurality of first non-light transmitting regions having the same width, and a width difference a second non-transmissive region of a width of the first non-transmissive region, a specific region of the second non-transparent region The field corresponds to the zero position of the rotating member;

Determining a rotational position of the rotating member according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation, including:

Determining a specific time according to at least one of a pulse sequence, and an OR operation, an AND operation, an exclusive OR operation, and a non-operation, the specific time being the last time one of the at least one optical switches is detected The time of a particular area;

The rotational position of the rotating member is determined according to the specific time.
The device according to claim 47, wherein the determining the rotational position of the rotating member according to the specific time comprises:

Determining, in the pulse sequence, the number of complete signal periods occurring between the current distances from the particular region, wherein between the rising edge/falling edge of the pulse corresponding to the adjacent two first light transmitting regions on the code wheel The duration, or the length between the rising edge/falling edge of the pulse corresponding to the two adjacent first non-transmissive regions, represents a complete signal period;

Obtaining a target rotation angle, the angle of rotation of the code wheel between a rising edge/falling edge time of a pulse currently detected by the optical switch at a current distance;

Determining a rotational position of the rotating member according to the complete signal period and an angle at which the code wheel rotates.
The apparatus according to claim 48, wherein said obtaining a target rotation angle comprises:

Obtaining a first duration, wherein the first duration is a duration between a rising edge/falling edge time of a pulse detected by the optical switch last time;

Obtaining a rotation speed of the current period of the rotating member;

The target rotation angle is determined according to the first duration and the rotational speed of the current period of the rotating member.
The device according to claim 49, wherein the obtaining the rotational speed of the current period of the rotating member comprises:

According to at least one of the optical switches before the current time, the output of one of the optical switches is A pulse sequence of signal periods determining the rotational speed of the current period of the rotating member.
The apparatus according to claim 50, wherein said determining a rotation of said current period of said rotating member based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current time Speed, including:

Calculating an angle and a duration corresponding to each of the plurality of signal periods;

Calculating a sum of an angle of the plurality of signal periods and a duration;

The rotational speed of the current period of the rotating member is determined according to the sum of the angles and the duration.
The apparatus according to claim 50, wherein said determining a rotation of said current period of said rotating member based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current time Speed, including:

Calculating an angle and a duration corresponding to each of the plurality of signal periods;

Setting a weighting coefficient for each signal period;

Weighting the angle corresponding to the signal period according to a weighting coefficient corresponding to each signal period;

Calculating a sum of durations of the plurality of signal periods and a sum of angles of the plurality of signal periods after the weighting process;

The rotational speed of the current period of the rotating member is determined according to the sum of the durations and the sum of the angles.
The apparatus according to claim 50, wherein said determining a rotation of said current period of said rotating member based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current time Speed, including:

When the rotating members are respectively rotated at different rotational speeds, respectively acquiring pulse sequences of the plurality of signal periods of the code wheel at different rotational speeds, and predicting the rotating parts at the current rotational speed according to the pulse sequence of the plurality of signal periods The rotational speed of the current cycle.
The apparatus according to claim 48, wherein said obtaining a target rotation angle comprises:

Obtaining a first duration, wherein the first duration is a duration between a rising edge/falling edge time of a pulse detected by the optical switch last time;

Obtaining a second duration, wherein the second duration is an estimated total duration of the current period, wherein one period continues from a rising edge/falling edge of one pulse in the pulse sequence to a rising edge/falling edge of the next pulse;

Determining a target rotation angle according to the first duration and the second duration, and a center angle of the code wheel corresponding to the period.
The apparatus according to claim 54, wherein said obtaining an estimated total duration of the current period comprises:

Determining an estimated total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of the at least one of the optical switches prior to the current period.
The apparatus according to claim 55, wherein said determining a total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current period comprises:

Calculating a total duration corresponding to each of the plurality of signal periods,

Calculating a sum of total durations of the plurality of signal periods;

The estimated total duration of the current period is determined based on the sum of the total durations and the number of signal periods.
The apparatus according to claim 55, wherein said determining a total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current period comprises:

Calculating a total duration corresponding to each of the plurality of signal periods;

Setting a weighting coefficient for each signal period;

Weighting the total duration corresponding to the signal period according to a weighting coefficient corresponding to each signal period;

Calculating a sum of total durations of the plurality of signal periods after the weighting process;

a sum of total durations of the plurality of signal periods after the weighting process and the signal period The number of times to determine the estimated total duration of the current cycle.
The apparatus according to claim 55, wherein said determining a total duration of the current period based on a pulse sequence of a plurality of signal periods output by one of said at least one of said optical switches before said current period comprises:

When the rotating members are respectively rotated at different rotational speeds, respectively acquiring pulse sequences of the plurality of signal periods of the code wheel at different rotational speeds, and predicting the current period at the current rotational speed according to the pulse sequence of the plurality of signal periods Estimated total duration.