Coding-based motor state detection method, device, equipment and medium

Abstract

The invention discloses a motor state detection method, device and equipment based on coding and a medium, and belongs to the technical field of manipulators. The method comprises the following steps: receiving an electric pulse signal in real time; wherein the electric pulse signal is obtained by converting an optical signal passing through the light shielding plate; generating a detection code according to the electric pulse signal; determining a target phase according to the detection code and a pre-constructed association relationship between a phase code and a motor phase; wherein the number of the phase codes is at least two; and determining the running state of the motor according to the target phase. According to the technical scheme, the motor phase information is converted into the phase codes capable of being accurately recognized, the signal distortion situation caused by mechanical vibration, oil stain shielding and other factors can be effectively resisted, higher detection precision, higher anti-interference capacity and more flexible expansibility are achieved, and reliable guarantee is provided for intelligent and accurate operation of the mechanical arm.

Description

Technical Field

[0001] This application belongs to the technical field of manipulators, and particularly relates to a method, device, equipment and medium for detecting the state of a motor based on coding. Background Art

[0002] The stepping motor has high control accuracy and fast response speed, and is the core component of the manipulator. Whether it is material grasping on the industrial production line, precision part assembly, or the precise operation of the medical surgical manipulator, the power output stability and phase accuracy of the stepping motor directly determine the processing accuracy and operation reliability of the manipulator. Therefore, it is very necessary to detect the running state of the stepping motor in real time.

[0003] The existing common detection method is photoelectric signal detection: the motor rotating shaft drives a gear-shaped light shielding plate to rotate, and the protruding part of the light shielding plate gear periodically blocks the light source, causing the photoelectric detector to generate periodic pulse signals to monitor the motor power output. However, this method cannot determine the specific phase interval in which the motor rotates subsequently without providing a precise initial phase reference, and when the motor encounters elastic resistance or abnormal vibration, even if the power shaft gets stuck or rotates reversely, the light shielding plate may still continue to rotate slightly due to inertia or vibration, resulting in the photoelectric detector continuing to output normal pulse signals, unable to truly reflect the actual running state of the motor.

[0004] Therefore, how to achieve precise detection of the motor phase and feedback the true running state of the motor is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] This application provides a method, device, equipment and medium for detecting the state of a motor based on coding, aiming to improve the detection accuracy of the motor phase, enhance the anti-interference ability and scalability of the detection method, and provide a reliable guarantee for the intelligent and precise operation of the manipulator.

[0006] In a first aspect, this application provides a method for detecting the state of a motor based on coding. The motor is connected to a light shielding plate, and the rotation of the light shielding plate is driven by the operation of the motor; a light transmission hole is provided on the light shielding plate, and the light transmission hole is used to represent phase coding; the method includes: Receiving an electrical pulse signal in real time; wherein, the electrical pulse signal is obtained by converting the optical signal passing through the light shielding plate; Generating a detection code according to the electrical pulse signal; Determining a target phase according to the detection code and the pre-constructed correlation between the phase coding and the motor phase; wherein, the number of the phase codings is at least two; Determining the running state of the motor according to the target phase.

[0007] In a second aspect, the present application provides an encoding-based motor status detection device. The motor is connected to a light shielding plate, and the rotation of the light shielding plate is driven by the operation of the motor. The light shielding plate is provided with light-transmitting holes, and the light-transmitting holes are used to represent phase encoding. The device includes: A signal receiving module, configured to receive an electrical pulse signal in real time; wherein, the electrical pulse signal is obtained by converting an optical signal passing through the light shielding plate; An encoding generation module, configured to generate a detection encoding according to the electrical pulse signal; A phase determination module, configured to determine a target phase according to the detection encoding and a pre-established association relationship between the phase encoding and the motor phase; wherein, the number of the phase encodings is at least two; A status determination module, configured to determine the operating status of the motor according to the target phase.

[0008] In a third aspect, the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the method described in the first aspect are implemented.

[0009] In a fourth aspect, the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0010] In the present application, an electrical pulse signal is received in real time; wherein, the electrical pulse signal is obtained by converting an optical signal passing through the light shielding plate; a detection encoding is generated according to the electrical pulse signal; a target phase is determined according to the detection encoding and a pre-established association relationship between the phase encoding and the motor phase; wherein, the number of the phase encodings is at least two; the operating status of the motor is determined according to the target phase. The above encoding-based motor status detection method converts the motor phase information into a phase encoding that can be accurately identified, can effectively resist signal distortion caused by factors such as mechanical vibration and oil stain occlusion, has higher detection accuracy, stronger anti-interference ability, and more flexible scalability, and provides a reliable guarantee for the intelligent and precise operation of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic flowchart of an encoding-based motor status detection method provided in Embodiment 1 of the present application; Figure 2 is a schematic structural diagram of an encoding-based motor status detection system provided in Embodiment 1 of the present application; Figure 3 is a schematic structural diagram of a light shielding plate provided in Embodiment 1 of the present application; Figure 4 It is an exemplary diagram of an electric pulse signal provided in the first embodiment of the present application; Figure 5 It is a schematic flowchart of a method for detecting the state of a motor based on coding provided in the second embodiment of the present application; Figure 6 It is a schematic flowchart of a method for detecting the state of a motor based on coding provided in the third embodiment of the present application; Figure 7 It is a schematic structural diagram of a device for detecting the state of a motor based on coding provided in the fourth embodiment of the present application; Figure 8 It is a schematic structural diagram of an electronic device provided in the fifth embodiment of the present application. Detailed implementation manners

[0012] In order to make the objectives, technical solutions and advantages of the present application clearer, the following further describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the sake of convenience of description, only parts related to the present application are shown in the drawings rather than all the content. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operations are completed, but there can also be additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0013] The following will clearly describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0014] The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually of one category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the associated objects before and after.

[0015] The following will combine the accompanying drawings and, through specific embodiments and their application scenarios, elaborate in detail on the encoding-based motor status detection method, device, equipment, and medium provided by the embodiments of this application.

[0016] Embodiment 1 Figure 1 is a flowchart of the encoding-based motor status detection method provided by Embodiment 1 of this application. As Figure 1 shown, it specifically includes the following steps: S101, receive electrical pulse signals in real time; wherein, the electrical pulse signals are obtained by converting optical signals passing through the light-shielding plate; First, this application is applicable to scenarios where it is necessary to detect the operating status of a motor to ensure the stable operation of a manipulator. Based on the above usage scenarios, it can be understood that the execution entity of this application can be a microprocessor. Specifically, the determination of the target phase and the determination of the operating status of the motor, etc. can be executed by the microprocessor. Detecting the operating status of the motor can help warn of potential faults, thereby improving the operating safety and stability of the motor.

[0017] Figure 2 is a structural diagram of the encoding-based motor status detection system provided by Embodiment 1 of this application. As Figure 2 shown, the encoding-based motor status detection system includes a microcontroller, a motor, a light-shielding plate, a light source, a photoelectric sensor, and a triode.

[0018] The microcontroller can be a single-chip integrated circuit chip integrating functional modules such as a central processing unit (CPU), a memory (ROM / RAM), an input / output interface (I / O), a timer / counter, and an analog-to-digital converter (such as ADC).

[0019] An electric motor is a device that converts electrical energy into mechanical energy. It drives the rotor to rotate through electromagnetic induction or other physical effects, thereby driving a mechanical load. A microcontroller can be used to control the operation of the electric motor. In this solution, the electric motor can specifically refer to a stepper motor. Specifically, a stepper motor is an electric motor that converts electrical pulse signals into precise mechanical motion.

[0020] When VCC (Volt Current Condenser, power supply voltage) is not 0, the triode conducts, and the light source can emit a light signal. Among them, the light source can use an LED (Light Emitting Diode), and GND represents the ground terminal.

[0021] The light-shielding plate can be a key functional component for converting the mechanical motion (rotation state) of the electric motor into a change in the light signal. The light-shielding plate can be circular. The light-shielding plate is provided with light-transmitting holes, and the light-transmitting holes allow the light signal to pass through, while the solid part of the light-shielding plate does not allow the light signal to pass through.

[0022] Figure 3 It is a structural example diagram of the light-shielding plate provided in the first embodiment of this application. As Figure 3 shown, the light-shielding plate is circular. The gray circular ring area is the area where the light-transmitting holes can be set. The white square is the light-transmitting hole, and the black square is the solid part within the area where the light-transmitting holes can be set.

[0023] The electric motor and the light-shielding plate can be connected through a transmission device, so that the operation of the electric motor can drive the light-shielding plate to rotate. It can be understood that the mechanical motion (rotation state) of the electric motor is synchronized with the rotation state of the light-shielding plate. Among them, the transmission device can use a belt or a gear, etc., and no excessive limitation is made here.

[0024] A photoelectric sensor is a device that can convert a light signal into an electrical signal. The position of the light source remains fixed, so that the light signal emitted by the light source is transmitted to a relatively fixed position on the area where the light-transmitting holes of the light-shielding plate can be set. During the rotation of the light-shielding plate, when the relatively fixed position is the light-transmitting hole, the light signal can pass through the light-transmitting hole and be transmitted to the photoelectric sensor to be converted into an electrical signal; when the relatively fixed position is the solid part of the light-shielding plate, the light signal cannot pass through the light-transmitting hole, and at this time, the photoelectric sensor has no electrical signal output.

[0025] The electrical pulse signal can be an electrical signal that suddenly changes in a short period of time. Figure 4 It is an example diagram of the electrical pulse signal provided in the first embodiment of this application. As Figure 4 shown, as time goes by (that is, as the light-shielding plate rotates), whether the light signal is transmitted to the photoelectric sensor or not, the electrical signal is also generated or not generated accordingly, forming an electrical pulse signal.

[0026] The optoelectronic sensor can send the converted electrical pulse signal to the analog-to-digital converter, and the analog-to-digital converter receives the electrical pulse signal in real time.

[0027] S102, generate a detection code according to the electrical pulse signal; The analog-to-digital converter is an electronic device that converts a continuously changing analog signal (such as the electrical pulse signal in this solution) into a discrete digital signal. The discrete digital signal obtained by converting the electrical pulse signal in this solution through the analog-to-digital converter is the detection code.

[0028] S103, determine the target phase according to the detection code and the pre-constructed correlation between the phase code and the motor phase; where the number of the phase codes is at least two; The phase code can be a set of discrete digital signals that can represent the motor phase. Among them, the motor phase can refer to the mechanical position angle of the motor rotor, which describes the spatial position of the motor rotor during rotation.

[0029] The phase code can be binary, quaternary, octal, hexadecimal, etc., and no excessive limitation is made here.

[0030] The correlation between the phase code and the motor phase can refer to the one-to-one mapping relationship between the phase code and the motor phase. For example Figure 3 As shown, if the phase code is "010100110", its associated motor phase is 0 to π / 2; if the phase code is "010110010", its associated motor phase is π / 2 to π; if the phase code is "010110001", its associated motor phase is π to 3π / 2; if the phase code is "010100101", its associated motor phase is 3π / 2 to 2π.

[0031] It can be understood that the motor phases associated with each phase code should be able to be combined into a complete 2π; the coding length of the phase code is positively correlated with the motor phase resolution.

[0032] The target phase is the motor phase corresponding to the current detection code. According to the detection code and the pre-constructed correlation between the phase code and the motor phase, the method for determining the target phase can be to determine the motor phase associated with the phase code that successfully matches the detection code as the target phase.

[0033] S104, determine the operating state of the motor according to the target phase.

[0034] The operating state of the motor can be a set of data used to describe the current working characteristics of the motor, and can include the rotational speed and the total number of turns, etc.

[0035] The method for determining the operating state of the motor according to the target phase may adopt determining the rotational speed according to the target phase determined in real time, and accumulating and summing the target phase to obtain the total number of turns.

[0036] In the embodiment of the present application, an electrical pulse signal is received in real time; wherein, the electrical pulse signal is converted from an optical signal passing through the light shielding plate; a detection code is generated according to the electrical pulse signal; according to the detection code and the pre-constructed association relationship between the phase code and the motor phase, a target phase is determined; wherein, the number of the phase codes is at least two; the operating state of the motor is determined according to the target phase. In the above-mentioned motor state detection method based on coding, the motor phase information is converted into a phase code that can be accurately recognized, which can effectively resist signal distortion caused by factors such as mechanical vibration and oil stain occlusion, and has higher detection accuracy, stronger anti-interference ability and more flexible scalability, providing a reliable guarantee for the intelligent and precise operation of the manipulator.

[0037] Embodiment 2 Figure 5 FIG. is a schematic flowchart of the motor state detection method based on coding provided in Embodiment 2 of the present application. This solution makes a better improvement to the above embodiment. The specific improvement is that the phase code includes a start code sequence, a phase determination code sequence, and a detection and error correction code sequence.

[0038] As Figure 5 shown, it specifically includes the following steps: S501, receiving an electrical pulse signal in real time; wherein, the electrical pulse signal is converted from an optical signal passing through the light shielding plate; S502, generating a detection code according to the electrical pulse signal; S503, determining a target phase according to the detection code and the pre-constructed association relationship between the phase code and the motor phase; wherein, the number of the phase codes is at least two, and the phase code includes a start code sequence, a phase determination code sequence, and a detection and error correction code sequence; The start code sequence can be a code sequence used to identify the start of a complete phase code and help extract the effective detection code from the detection code.

[0039] The phase determination code sequence can be a code sequence used to identify the motor phase.

[0040] The detection and error correction code sequence can be a code sequence used to help identify whether the extracted effective detection code is correct and effective.

[0041] Generally, the coding length of the phase determination code sequence should be greater than the coding length of the detection and error correction code sequence.

[0042] In this technical solution, optionally, the starting coding sequences of each phase coding are the same, and the phasing coding sequence and the detection and error correction coding sequence do not include coding sequences that are the same as the starting coding sequence.

[0043] The starting coding sequences of each phase coding being the same can quickly and uniformly identify the starting positions of the effective detection codings for detection and matching. For example, the starting coding sequences of each phase coding are all "0101".

[0044] The phasing coding sequence and the detection and error correction coding sequence do not include coding sequences that are the same as the starting coding sequence, which may mean that no coding sequence the same as the starting coding sequence can be extracted from the phasing coding sequence and the detection and error correction coding sequence, that is, the starting coding sequence only appears once in the entire phase coding and has uniqueness.

[0045] The advantage of setting the scheme in this way is that it can quickly extract the effective detection coding through the unified starting coding sequence, and at the same time, it can avoid misjudging the effective detection coding through the uniqueness constraint, improving the parsing accuracy of the detection coding.

[0046] In this technical solution, optionally, the phasing coding sequences of each phase coding are different, and each phasing coding sequence of each phase coding corresponds to a motor phase.

[0047] For example, if the phasing coding sequence is "0011", the corresponding motor phase is 0 to π / 2; if the phasing coding sequence is "1001", the corresponding motor phase is π / 2 to π; if the phasing coding sequence is "1000", the corresponding motor phase is π to 3π / 2; if the phasing coding sequence is "0010", the corresponding motor phase is 3π / 2 to 2π.

[0048] The advantage of setting the scheme in this way is that the phasing coding sequences of each phase coding are different, and each phasing coding sequence of each phase coding corresponds to a motor phase, ensuring that each phase coding only corresponds to a unique motor phase and avoiding decoding ambiguity.

[0049] S504. Determine the operating state of the motor according to the target phase.

[0050] The advantage of setting the scheme in this way is that the phase coding includes a starting coding sequence, a phasing coding sequence, and a detection and error correction coding sequence, which can efficiently identify the effective detection coding and improve the determination speed and accuracy of the target phase.

[0051] Embodiment III Figure 6 It is a schematic flowchart of a method for detecting the state of a motor based on coding provided in Embodiment III of this application. This scheme makes a better improvement on the above embodiment. The specific improvement is that the phase coding uses binary.

[0052] As shown in Figure 6 the figure, it specifically includes the following steps: S601, receiving an electrical pulse signal in real time; wherein, the electrical pulse signal is obtained by converting an optical signal passing through the light shielding plate; S602, generating a detection code according to the electrical pulse signal; S603, determining a target phase according to the detection code and a pre - constructed correlation between phase encoding and motor phase; wherein, the number of the phase encodings is at least two, the phase encodings include a starting encoding sequence, a phase - determining encoding sequence, and a detection and error - correction encoding sequence, and the phase encodings adopt binary; Binary is a counting system with a base of 2 and is also the basis for data storage and operation at the bottom layer of a computer. Binary represents numerical values using only two symbols, 0 and 1, and the weight of each bit is a power of 2. That is, in this solution, each encoding sequence only includes encoding 0 and encoding 1.

[0053] In this technical solution, optionally, the light - transmitting holes include small holes, and the small holes are used to represent encoding 1; Correspondingly, the non - hole positions on the light - shielding plate are used to represent encoding 0; Or, the light - transmitting holes further include long holes, and the long holes are used to represent encoding 0.

[0054] As shown in Figure 3 the figure, the white square is a small hole, representing encoding 1; the black square is a non - hole position, representing encoding 0.

[0055] It can be understood that the length of the long hole should be greater than the length of the small hole, and the length of the long hole can be a preset multiple of the length of the small hole.

[0056] The advantage of setting the solution in this way is that small holes are used to represent encoding 1, and non - hole positions or long holes are used to represent encoding 0, which can improve signal reliability by using significant light intensity differences or duration differences, simplify the decoding logic to improve processing efficiency, and enhance the anti - interference ability by means of physical structure characteristics.

[0057] In this technical solution, optionally, the detection and error - correction encoding sequence is used to represent the parity of the number of encoding 1 or encoding 0 in the phase - determining encoding sequence of the same group of phase encodings.

[0058] The detection and error - correction encoding sequence is used to represent the parity of the number of encoding 1 (or encoding 0) in the phase - determining encoding sequence of the same group of phase encodings. The detection and error - correction encoding sequence being 0 indicates that the phase - determining encoding sequence includes an even number of encoding 1 (or encoding 0), and the detection and error - correction encoding sequence being 1 indicates that the phase - determining encoding sequence includes an odd number of encoding 1 (or encoding 0).

[0059] For example, the error detection and correction coding sequence is used to represent the parity of the number of coding 1s in the phase - setting coding sequence among the same - group phase codings. If the phase - setting coding sequence is "0011", its corresponding error detection and correction coding sequence is 0. If the phase - setting coding sequence is "1001", its corresponding error detection and correction coding sequence is 0. If the phase - setting coding sequence is "1000", its corresponding error detection and correction coding sequence is 1. If the phase - setting coding sequence is "0010", its corresponding error detection and correction coding sequence is 1.

[0060] The advantage of this solution is that the error detection and correction coding sequence is used to represent the parity of the number of coding 1s or coding 0s in the phase - setting coding sequence among the same - group phase codings. It can quickly identify whether there is an error in the phase - setting coding sequence parsed from the detection coding through the parity - check mechanism, while maintaining the simplicity and real - time performance of the coding system. It is especially suitable for motor control scenarios with certain requirements for the bit error rate but limited resources.

[0061] S604. Determine the operating state of the motor according to the target phase.

[0062] The advantage of this solution is that the phase coding uses binary, which can flexibly adjust the motor phase resolution by using the combination characteristics of binary and is directly compatible with the computer system, simplifying the data transmission and processing process and reducing the hardware design complexity and anti - interference ability.

[0063] Embodiment 4 Figure 7 It is a schematic structural diagram of an encoding - based motor state detection device provided by Embodiment 4 of the present application. As Figure 7 shown, the device includes: A signal receiving module 710, configured to receive electrical pulse signals in real time; wherein, the electrical pulse signals are obtained by converting optical signals passing through the light - shielding plate. An encoding generation module 720, configured to generate detection codings according to the electrical pulse signals. A phase determination module 730, configured to determine a target phase according to the detection codings and the pre - constructed association relationship between the phase codings and the motor phases; wherein, the number of the phase codings is at least two. A state determination module 740, configured to determine the operating state of the motor according to the target phase.

[0064] In the embodiment of the present application, a signal receiving module is configured to receive an electrical pulse signal in real time; wherein, the electrical pulse signal is obtained by converting an optical signal passing through the light shielding plate; an encoding generation module is configured to generate a detection code according to the electrical pulse signal; a phase determination module is configured to determine a target phase according to the detection code and a pre-established association relationship between the phase code and the motor phase; wherein, the number of the phase codes is at least two; a state determination module is configured to determine the operating state of the motor according to the target phase. The above-mentioned encoding-based motor state detection device converts the motor phase information into phase codes that can be accurately identified, can effectively resist signal distortion caused by factors such as mechanical vibration and oil stain occlusion, has higher detection accuracy, stronger anti-interference ability and more flexible scalability, and provides a reliable guarantee for the intelligent and precise operation of the manipulator.

[0065] The encoding-based motor state detection device in the embodiment of the present application can be a device, or a component, an integrated circuit, or a chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a notebook computer, a handheld computer, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc., which are not specifically limited in the embodiment of the present application.

[0066] The encoding-based motor state detection device in the embodiment of the present application can be a device with an operating system. The operating system can be an Android operating system, an IOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0067] The encoding-based motor state detection device provided in the embodiment of the present application can implement each process implemented in the above-mentioned Embodiments 1 to 3. To avoid repetition, it will not be elaborated here.

[0068] Embodiment 5 As Figure 8As shown in the figure, an embodiment of the present application further provides an electronic device 800, including a processor 801, a memory 802, and a program or instruction stored on the memory 802 and executable on the processor 801. When the program or instruction is executed by the processor 801, it implements each process of the above-mentioned embodiment of the method for detecting the state of a motor based on coding, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0069] It should be noted that the electronic device in the embodiment of the present application includes the above-mentioned mobile electronic device and non-mobile electronic device.

[0070] Embodiment Six An embodiment of the present application further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, it implements each process of the above-mentioned embodiment of the method for detecting the state of a motor based on coding, and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0071] Wherein, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disc, etc.

[0072] It should be noted that in this article, the term "including", "comprising", or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article, or device including that element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described method may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0073] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0074] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0075] The above is only the preferred embodiment of the present application and the technical principles applied. The present application is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments and substitutions that can be made by those skilled in the art will not depart from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the concept of the present application, it can also include more other equivalent embodiments, and the scope of the present application is determined by the scope of the claims.

Claims

1. A coding-based method for detecting the state of an electric motor, characterized in that, The motor is connected to the light shield, and the operation of the motor drives the light shield to rotate; a light-transmitting hole is provided on the light shield, and the light-transmitting hole is used to represent a phase code; the method includes: Receiving an electrical pulse signal in real time; wherein, the electrical pulse signal is obtained by converting an optical signal passing through the light shield; Generating a detection code according to the electrical pulse signal; Determining a target phase according to the detection code and a pre-established association relationship between the phase code and the motor phase; wherein, the number of the phase codes is at least two; Determining the operating state of the motor according to the target phase.

2. The method for detecting the state of a motor based on coding according to claim 1, wherein The phase code includes a start code sequence, a phase-determining code sequence, and a detection and error-correction code sequence.

3. The method for detecting the state of an electric motor based on coding according to claim 2, wherein The start code sequences of each phase code are the same, and the phase-determining code sequence and the detection and error-correction code sequence do not include a code sequence identical to the start code sequence.

4. The method for detecting the state of an electric motor based on coding according to claim 2, characterized in that, The phase-determining code sequences of each phase code are different, and each phase-determining code sequence of each phase code corresponds to a motor phase.

5. The method for detecting the state of a motor based on coding according to claim 2, wherein, The phase code uses binary.

6. The method for detecting the state of an electric motor based on coding according to claim 5, wherein The light-transmitting hole includes a small hole, and the small hole is used to represent the code 1; Correspondingly, the position without a hole on the light shield is used to represent the code 0; Or, The light-transmitting hole further includes a long hole, and the long hole is used to represent the code 0.

7. The method for detecting the state of an electric motor based on coding according to claim 5, characterized in that, The detection and error-correction code sequence is used to represent the parity of the number of the code 1 or the code 0 in the phase-determining code sequence of the same group of phase codes.

8. An encoding-based motor status detection device, characterized in that, The motor is connected to the light shield, and the operation of the motor drives the light shield to rotate; a light-transmitting hole is provided on the light shield, and the light-transmitting hole is used to represent a phase code; the apparatus includes: A signal receiving module, configured to receive an electrical pulse signal in real time; wherein, the electrical pulse signal is obtained by converting an optical signal passing through the light shield; A code generating module, configured to generate a detection code according to the electrical pulse signal; A phase determining module, configured to determine a target phase according to the detection code and a pre-established association relationship between the phase code and the motor phase; wherein, the number of the phase codes is at least two; A state determining module, configured to determine the operating state of the motor according to the target phase.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the encoding-based motor state detection method according to any one of claims 1-7 are implemented.

10. A readable storage medium, characterized in that, A program or instruction is stored on the readable storage medium. When the program or instruction is executed by the processor, the steps of the encoding-based motor state detection method according to any one of claims 1-7 are implemented.

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