Motor sensor, speed and position measurement method and device, and medium

Abstract

The embodiments of the present disclosure provide a motor sensor, a speed and position measurement method and device, and a computer-readable storage medium, which belong to the field of sensor technology. The sensor includes: a main coil disk, which is used to fix the main coil and is fixed relative to the housing of the motor; N main coils, which are fixed to the main coil disk, where N is an integer greater than or equal to 3; a secondary coil disk, which is arranged on the shaft of the motor and rotates synchronously with the shaft of the motor; 2 secondary coils, which are fixed to the secondary coil disk; N current sensors, which are respectively connected to the main coils of the N main coils, and are used to measure the current in the N main coils. The sensor disclosed in the present disclosure can determine the speed and / or shaft position of the motor based on the current of the main coil.

Description

Technical Field

[0001] The present disclosure relates to the field of sensor technology, and in particular, to a motor sensor, a rotation speed and position measurement method and device, and a computer-readable storage medium. Background Art

[0002] The speed and position closed-loop control system of the motor has been widely used in CNC machine tools, industrial robots and other electromechanical equipment to ensure processing accuracy and operating efficiency. Among them, the measurement of motor speed and position is the key to achieving high-precision motor closed-loop control performance.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The embodiments of the present disclosure provide a motor sensor, a rotation speed and position measurement method and device, and a computer-readable storage medium, which can determine the rotation speed and / or shaft position of the motor based on the current of the main coil.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0006] According to one aspect of the present disclosure, there is provided a motor sensor for measuring the rotation speed and / or shaft position of a motor, comprising: a main coil disk for fixing a main coil, the position of which is fixed relative to a housing of the motor; N main coils fixed to the main coil disk, wherein N is an integer greater than or equal to 3; a secondary coil disk, arranged on the shaft of the motor, and rotating synchronously with the shaft of the motor; two secondary coils fixed to the secondary coil disk; and N current sensors, respectively connected to the main coils of the N main coils, for measuring the currents in the N main coils.

[0007] In one embodiment, the sensor further includes: a controller, configured to receive currents in the N main coils from the N current sensors, and determine the rotation speed and / or the shaft position of the motor according to the currents in the N main coils.

[0008] In one embodiment, the center of the main coil disk, the center of the auxiliary coil disk, and the axis of the rotating shaft of the motor are located on the same straight line.

[0009] In one embodiment, the N main coils have the same size and shape and are all circular, the distance between the center of each main coil and the center of the main coil disk is equal, and the angle between the center of each two adjacent main coils and the center of the main coil disk is equal.

[0010] In one embodiment, the two secondary coils have the same size and shape and are both circular. The distance between the center of each secondary coil and the center of the secondary coil disk is equal, and the angle between the center of the two secondary coils and the center of the secondary coil disk is equal to 1.5 multiplied by 360 divided by N.

[0011] In one embodiment, the sensor further includes: a spacing between the primary coil disk and the secondary coil disk is greater than or equal to 1 mm and less than or equal to 2 mm.

[0012] In one embodiment, the sensor further includes: N main coil capacitors respectively connected to the N main coils.

[0013] In one embodiment, the sensor further includes: two secondary coil capacitors, respectively connected to the two secondary coils.

[0014] In one embodiment, the sensor further includes: a DC power supply for supplying power to the N main coils; and an inverter for converting the current of the DC power supply into AC power and then supplying the AC power to the N main coils.

[0015] In one embodiment, the sensor further includes: a rectifier connected to the two auxiliary coils, configured to convert the alternating current in the two auxiliary coils into direct current and supply power to the controller.

[0016] In one embodiment, the N main coils include a first main coil, a second main coil, a third main coil and a fourth main coil, wherein an angle between the centers of adjacent main coils and a line connecting the centers of the main coil disks is equal to 90 degrees.

[0017] In one embodiment, the angle between the center of the two secondary coils and the center of the main coil disk is equal to 135 degrees.

[0018] According to one aspect of the present disclosure, a method for measuring motor speed is provided, wherein the motor sensor is a sensor as in any one of the above embodiments, and the method comprises: obtaining the real-time current in each of N main coils; obtaining the time T when the current in each main coil drops from a maximum to a minimum; obtaining the angle rotated by two auxiliary coils within the time T; and obtaining the motor speed based on the time T and the angle rotated by the two auxiliary coils within the time T.

[0019] According to one aspect of the present disclosure, a method for measuring the position of a motor shaft is provided, wherein the motor sensor is a sensor as in any one of the above embodiments, and the method comprises: obtaining a real-time current in each of N main coils; obtaining the shaft position of the motor according to the real-time current in each of the N main coils; wherein different motor shaft positions correspond to different real-time currents in each of the N main coils.

[0020] According to one aspect of the present disclosure, a device for measuring motor speed is provided, wherein the motor sensor is a sensor as in any one of the above embodiments, and the device includes: a first acquisition unit, used to acquire the real-time current in each of N main coils; the first acquisition unit, also used to acquire the time T when the current in each main coil drops from a maximum to a minimum; the first acquisition unit, also used to acquire the angle rotated by the two auxiliary coils within the time T; and a first determination unit, used to acquire the motor speed based on the time T and the angle rotated by the two auxiliary coils within the time T.

[0021] According to one aspect of the present disclosure, a device for measuring the position of a motor shaft is provided, wherein the motor sensor is a sensor as in any one of the above embodiments, and the method comprises: a second acquisition unit, used to acquire the real-time current in each of N main coils; a second determination unit, used to acquire the position of the motor shaft according to the real-time current in each of the N main coils; wherein the shaft positions of different motors correspond to different real-time currents in each of the N main coils.

[0022] According to one aspect of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method of the above embodiment is implemented.

[0023] The motor sensor of the present application has a main coil disk for fixing the main coil, which is fixed in position relative to the motor housing, and a secondary coil disk for fixing the secondary coil, which rotates synchronously with the motor shaft. When alternating current is passed through the main coil, the current in the main coil will change regularly as the secondary coil rotates, and the motor speed and / or shaft position can be determined based on the current in the main coil.

[0024] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The following drawings describe certain illustrative embodiments of the present invention, wherein like reference numerals represent like elements. These described embodiments are intended to be exemplary embodiments of the present disclosure and are not intended to be limiting in any way.

[0026] Figure 1 A schematic diagram of the structure of a motor sensor according to an embodiment of the present application is shown;

[0027] Figure 2 is a top view of a main coil disk according to an embodiment of the present application;

[0028] Figure 3 is a top view of a secondary coil disk according to an embodiment of the present application;

[0029] Figure 4 This application is related to Figure 1 A circuit structure diagram of an embodiment corresponding to the motor sensor;

[0030] Figure 5 This application Figure 1 The first main coil L of the motor sensor p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 The current i p1 ,i p2 ,i p3 and i p4 Experimental diagram of current change when the motor shaft rotates one circle (360 degrees);

[0031] Figure 6 Yes Figure 5 The first main coil L is obtained by fitting the current experimental data p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 The current i p1 ,i p2 ,i p3 and i p4 The fitting diagram of

[0032] Figure 7 A flow chart showing a method for measuring the motor speed according to an embodiment of the present disclosure is shown;

[0033] Figure 8 A flow chart showing a method for measuring the motor shaft position according to an embodiment of the present disclosure;

[0034] Fig. 9 A device for measuring the motor speed according to an embodiment of the present disclosure is shown;

[0035] Fig.10 A device for measuring the position of a motor shaft according to an embodiment of the present disclosure is shown;

[0036] Fig.11 It is a structural diagram of a computer device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more comprehensive and complete and will fully convey the concept of the example embodiments to those skilled in the art.

[0038] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.

[0039] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0040] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0041] The encoder is a device that directly measures the speed and position of a rotating motor. Encoders are divided into photoelectric encoders and magnetic grating encoders. Although the encoder can meet the accuracy requirements, its high cost limits its wide application. Therefore, considering the production cost, the speed and position sensors of the motor have been proposed and widely studied. According to the principle, the speed and position sensors of the motor can be divided into eddy current sensors, rotary transformers and inductive sensors. The traditional inductive sensor consists of a static main excitation coil and a secondary coil that rotates with the motor. The speed and position of the motor are measured by detecting the coupling between the main coil and the secondary coil. The traditional inductive sensor has the advantages of low cost, small calculation amount and small size. However, the traditional inductive sensor cannot measure the absolute position of the motor and cannot reasonably utilize the energy of the excitation magnetic field. Among them, the absolute position refers to the rotation position of the motor shaft.

[0042] Figure 1 A schematic structural diagram of a motor sensor according to an embodiment of the present application is shown.

[0043] refer to Figure 1The motor sensor 100 includes a main coil disk 101 and a secondary coil disk 102. The main coil disk 101 is used to fix the main coil, and its position relative to the housing of the motor 200 is fixed. The secondary coil disk 102 is used to fix the secondary coil, and is arranged on the rotating shaft 201 of the motor 200, and rotates synchronously with the rotating shaft of the motor. The main coil disk can be fixed relative to the housing of the motor by fixing the main coil disk on the housing of the motor, or by fixing the main coil disk relative to the housing of the motor by other devices.

[0044] The main coil disk 101 is provided with a first main coil 1011 , a second main coil 1012 , a third main coil 1013 and a fourth main coil 1014 . The auxiliary coil disk 102 is provided with a first auxiliary coil 1021 and a second auxiliary coil 1022 . Figure 1 The number of the main coils is 4, but the present disclosure is not limited thereto. The number of the main coils can be N, where N is an integer greater than or equal to 3.

[0045] The first main coil 1011, the second main coil 1012, the third main coil 1013 and the fourth main coil 1014 are respectively connected to a current sensor for measuring the current in the first main coil 1011, the second main coil 1012, the third main coil 1013 and the fourth main coil 1014. The current sensor is, for example, a Hall current sensor. When there are N main coils, the number of current sensors is also N.

[0046] The center of the main coil disk 101 , the center of the auxiliary coil disk 102 and the axis of the rotating shaft 201 are located on the same straight line.

[0047] The center of the main coil disk 101 and the center of the secondary coil disk 102 refer to the geometric centers of the main coil disk 101 and the secondary coil disk 102. When the main coil disk 101 and the secondary coil disk 102 are circular, the center of the main coil disk 101 and the center of the secondary coil disk 102 refer to the centers of the circles of the main coil disk 101 and the secondary coil disk 102.

[0048] The axis of the rotating shaft 201 refers to the center around which the rotating shaft 201 rotates. When the rotating shaft 201 is cylindrical, the axis of the rotating shaft 201 may be the center of a circle of a cross section of the rotating shaft 201 .

[0049] In one embodiment, the distance between the primary coil disk 101 and the secondary coil disk 102 is greater than or equal to 1 mm and less than or equal to 2 mm.

[0050] This application Figure 1 The motor sensor has a main coil disk for fixing the main coil, which is fixed relative to the motor housing, and a secondary coil disk for fixing the secondary coil, which rotates synchronously with the motor shaft. When alternating current is passed through the main coil, the current in the main coil will change regularly as the secondary coil rotates.

[0051] Figure 2 1 is a top view of a main coil disk according to an embodiment of the present application.

[0052] refer to Figure 2 , the main coil disk 101 is provided with a first main coil 1011, a second main coil 1012, a third main coil 1013 and a fourth main coil 1014. The first main coil 1011, the second main coil 1012, the third main coil 1013 and the fourth main coil 1014 have the same size and shape and are all circular, and the distance between the center of each main coil and the center of the main coil disk 101 is equal. The angle between the center of the adjacent main coils and the center of the main coil disk 101 is equal to 90 degrees. For example, the angle between the line connecting the center of the first main coil 1011 and the center of the main coil disk 101 and the line connecting the center of the second main coil 1012 and the center of the main coil disk 101 is equal to 90 degrees. When there are N main coils, the N main coils have the same size and shape and are all circular, and the distance between the center of each main coil and the center of the main coil disk is equal, and the angle between the center of each two adjacent main coils and the center of the main coil disk is equal.

[0053] Figure 3 1 is a top view of a secondary coil disk according to an embodiment of the present application.

[0054] refer to Figure 3 A first secondary coil 1021 and a second secondary coil 1022 are arranged on the secondary coil disk.

[0055] The first secondary coil 1021 and the second secondary coil 1022 have the same size and shape, and are both circular. The distances from the centers of the first secondary coil 1021 and the second secondary coil 1022 to the center of the secondary coil disk are equal. The angle between the centers of the first secondary coil 1021 and the second secondary coil 1022 and the center of the secondary coil disk is equal to 1.5 times 360 divided by 4, which is equal to 135 degrees. When there are N main coils, the two secondary coils have the same size and shape, and are both circular, and the distances from the centers of each secondary coil to the center of the secondary coil disk are equal, and the angle between the centers of the two secondary coils and the center of the secondary coil disk is equal to 1.5 times 360 divided by N.

[0056] Figure 4 This application is related to Figure 1 A circuit structure diagram of an embodiment corresponding to the motor sensor.

[0057] refer to Figure 1 and Figure 4 , the first main coil 1011 and L p1 Correspondingly, the second main coil 1012 and L p2 Correspondingly, the third main coil 1013 and L p3 Correspondingly, the fourth main coil 1014 and Lp4 The first secondary coil 1021 and L s1 Correspondingly, the second secondary coil 1022 and L s2 correspond. Figure 4 In the figure, 402 is a transmitter consisting of a main coil.

[0058] refer to Figure 4 , the first main coil L p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 , respectively with capacitor C p1 , C p2 , C p3 , and C p4 When there are N main coils, the corresponding N main coil capacitors are connected to the N main coils respectively. s1 and the second secondary coil L s2 Respectively with capacitor C s1 and C s2 connect. Figure 4 In the figure, 403 is a receiver composed of a secondary coil.

[0059] refer to Figure 4 , DC power supply V dc The DC power provided is converted by the converter 401 to convert the DC power into AC power, and then supplied to the first main coil L p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 When there are N main coils, a DC power supply supplies power to the N main coils.

[0060] refer to Figure 4 , in the first main coil L p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 After power is turned on, the first secondary coil L s1 and the second secondary coil L s2 When it rotates, it will be in the first secondary coil L s1 and the second secondary coil L s2 Current is generated in the first secondary coil L s1 and the second secondary coil L s2 The current generated in the converter can be converted by the rectifier 404 to convert the AC power into DC power, which can supply power to the load 405 on the motor side.

[0061] Figure 4 Not shown, but in the first main coil L p1 , the second main coil Lp2 , the third main coil L p3 and the fourth main coil L p4 A current sensor can be connected to each of them to measure the first main coil L in real time. p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 The current in.

[0062] refer to Figure 4 The motor sensor also includes a controller MCU (Microprogrammed Control Unit) for receiving the first main coil L from the four current sensors. p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 The current i p1 ,i p2 ,i p3 and i p4 , and according to i p1 ,i p2 ,i p3 and i p4 Determine the speed and / or shaft position of the motor. When the number of main coils is N, the controller is used to receive the current in the N main coils from the N current sensors, and determine the speed and / or shaft position of the motor according to the current in the N main coils. The specific technical details of determining the speed and / or shaft position of the motor according to the current in the main coils can be referred to in the following Figure 5 and Figure 6 The corresponding description of .

[0063] This application Figure 1 and Figure 4 The motor sensor has a main coil disk for fixing the main coil, which is fixed relative to the motor housing, and a secondary coil disk for fixing the secondary coil, which rotates synchronously with the motor shaft. When alternating current is passed through the main coil, the current in the main coil will change regularly with the rotation of the secondary coil. The motor speed and / or shaft position can be determined based on the current in the main coil, thereby realizing the measurement of the motor speed and / or shaft position.

[0064] Figure 5 This application Figure 1 The first main coil L of the motor sensor p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 The current i p1 ,i p2 ,i p3 and ip4 Experimental diagram of current change when the motor shaft rotates one circle (360 degrees).

[0065] refer to Figure 5 It can be found that when the motor shaft drives the first secondary coil L s1 and the second secondary coil L s2 During the rotation process, the current i p1 ,i p2 ,i p3 and i p4 There are regular changes. That is, the current i p1 ,i p2 ,i p3 and i p4 The specific value corresponds to the specific rotation position of the motor shaft, which can be obtained by the current i p1 ,i p2 ,i p3 and i p4 The specific value of determines the specific position of the motor shaft.

[0066] Figure 6 Yes Figure 5 The first main coil L is obtained by fitting the current experimental data p1 , the second main coil L p2 , the third main coil L p3 and the fourth main coil L p4 The current i p1 ,i p2 ,i p3 and i p4 The fitting diagram of . Figure 6 The current value in the figure refers to the peak current. The peak current is Figure 5 The maximum value of the current edge in the experimental figure.

[0067] refer to Figure 5 and Figure 6 , due to the current i p1 ,i p2 ,i p3 and i p4 The specific value of corresponds to the specific rotation position of the motor shaft, so the current i p1 ,i p2 ,i p3 and i p4 The specific value of the motor is used to obtain the rotation position of the motor shaft.

[0068] According to this application Figure 5 and Figure 6As can be seen from the current diagram, the current in the main coil will change regularly with the rotation of the secondary coil. The speed and / or shaft position of the motor can be determined based on the current in the main coil, thereby realizing the measurement of the speed and / or shaft position of the motor.

[0069] Figure 7 A flow chart of a method for measuring motor speed according to an embodiment of the present disclosure is shown. Figure 7 The execution subject can be Figure 4 The MCU in the embodiment may also be other terminals or servers with computing functions, and the present disclosure is not limited thereto. Figure 7 The motor sensor of the measuring method may be any sensor in the above embodiments.

[0070] refer to Figure 7 , the motor speed measurement methods include:

[0071] In step 710, the real-time current in each of the N main coils is obtained;

[0072] In step 720, the time T for the current in each main coil to decrease from the maximum to the minimum is obtained;

[0073] refer to Figure 6 , when there are 4 main coils, time T is t i .

[0074] In step 730, the angles rotated by the two secondary coils within the time T are obtained;

[0075] refer to Figure 6 When there are 4 main coils, the angle rotated by the secondary coil within the time T is 45 degrees.

[0076] In step 740 , the motor speed is obtained according to the time T and the angles that the two auxiliary coils rotate during the time T.

[0077] When there are four main coils, the motor speed can be calculated according to formula (1):

[0078]

[0079] Where V is the motor speed and time T is t i , the angle that the secondary coil rotates through in time T is 45 degrees.

[0080] Figure 7 The motor speed measurement method can obtain the motor speed according to the real-time current in the main coil.

[0081] Figure 8 A flow chart of a method for measuring the motor shaft position according to an embodiment of the present disclosure is shown. Figure 8 The execution subject can be Figure 4 The MCU in the embodiment may also be other terminals or servers with computing functions, and the present disclosure is not limited thereto. Figure 8 The motor sensor of the measuring method may be any sensor in the above embodiments.

[0082] refer to Figure 8 , the measurement methods of the motor shaft position include:

[0083] In step 810, the real-time current in each of the N main coils is obtained;

[0084] In step 820, the shaft position of the motor is obtained according to the real-time current in each of the N main coils;

[0085] Among them, different motor shaft positions correspond to different real-time currents in each of the N main coils.

[0086] Figure 8 The motor shaft position measurement method can obtain the motor speed according to the real-time current in the main coil.

[0087] Fig. 9 A device for measuring the motor speed according to an embodiment of the present disclosure is shown. Fig. 9 , the motor speed measuring device 900 comprises:

[0088] A first acquisition unit 910 is used to acquire the real-time current in each of the N main coils;

[0089] The first acquisition unit 910 is further used to acquire the time T in which the current in each main coil decreases from the maximum to the minimum;

[0090] The first acquisition unit 910 is further used to acquire the angles rotated by the two secondary coils within the time T;

[0091] The first determining unit 920 is used to obtain the motor speed according to the time T and the angles rotated by the two auxiliary coils within the time T.

[0092] Fig. 9 The motor speed measuring device can obtain the motor speed according to the real-time current in the main coil.

[0093] Fig.10 A device for measuring the position of a motor shaft according to an embodiment of the present disclosure is shown. Fig.10 , the motor shaft position measuring device 1000 comprises:

[0094] The second acquisition unit 1010 is used to acquire the real-time current in each of the N main coils;

[0095] A second determining unit 1020, configured to obtain a motor shaft position according to a real-time current in each of the N main coils;

[0096] Among them, different motor shaft positions correspond to different real-time currents in each of the N main coils.

[0097] Fig.10 The device is used to measure the motor shaft position and can obtain the motor speed according to the real-time current in the main coil.

[0098] See also Fig.11 , Fig.11 1 is a schematic diagram of the structure of a computer device 1100 provided in an embodiment of the present disclosure. Fig.11 As shown, the computer device in the embodiment of the present disclosure may include: one or more processors 1101, a memory 1102, and an input-output interface 1103. The processor 1101, the memory 1102, and the input-output interface 1103 are connected via a bus 1104. The memory 1102 is used to store a computer program, which includes program instructions. The input-output interface 1103 is used to receive data and output data, such as for data interaction between a host machine and a computer device, or for data interaction between various virtual machines in a host machine; the processor 1101 is used to execute the program instructions stored in the memory 1102.

[0099] The processor 1101 may perform the following operations:

[0100] Obtain the real-time current in each of the N main coils; obtain the time T when the current in each main coil drops from the maximum to the minimum; obtain the angle that the two auxiliary coils rotate within the time T; obtain the motor speed based on the time T and the angle that the two auxiliary coils rotate within the time T.

[0101] Alternatively, the processor 1101 may perform the following operations:

[0102] The real-time current in each of the N main coils is obtained; and the shaft position of the motor is obtained according to the real-time current in each of the N main coils; wherein different shaft positions of the motor correspond to different real-time currents in each of the N main coils.

[0103] In some feasible implementations, the processor 1101 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0104] The memory 1102 may include a read-only memory and a random access memory, and provide instructions and data to the processor 1101 and the input / output interface 1103. A portion of the memory 1102 may also include a non-volatile random access memory. For example, the memory 1102 may also store information about the device type.

[0105] In a specific implementation, the computer device can execute the implementation methods provided in the various steps in the above embodiments through its built-in functional modules. For details, please refer to the implementation methods provided in the various steps in the above embodiments, which will not be repeated here.

[0106] The embodiment of the present disclosure provides a computer device, including: a processor, an input and output interface, and a memory. The processor obtains a computer program in the memory, executes each step of the method shown in the above embodiment, and performs a transmission operation.

[0107] The present disclosure also provides a computer-readable storage medium, which stores a computer program. The computer program is suitable for being loaded by the processor and executing the methods provided in the various steps of the above embodiments. For details, please refer to the implementation methods provided in the various steps of the above embodiments, which will not be repeated here. In addition, the description of the beneficial effects of adopting the same method will not be repeated. For technical details not disclosed in the computer-readable storage medium embodiment involved in the present disclosure, please refer to the description of the method embodiment of the present disclosure. As an example, the computer program can be deployed to be executed on a computer device, or on multiple computer devices located in one location, or on multiple computer devices distributed in multiple locations and interconnected by a communication network.

[0108] The computer-readable storage medium may be the device provided in any of the aforementioned embodiments or the internal storage unit of the computer device, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the computer device. Further, the computer-readable storage medium may also include both the internal storage unit of the computer device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0109] The present disclosure also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the method provided in various optional modes in the above embodiments.

[0110] The terms "first", "second", etc. in the specification, claims, and drawings of the embodiments of the present disclosure are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product, or equipment that includes a series of steps or units is not limited to the listed steps or modules, but may optionally include steps or modules that are not listed, or may optionally include other step units inherent to these processes, methods, devices, products, or equipment.

[0111] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in this description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0112] The method and related apparatus provided by the embodiments of the present disclosure are described with reference to the method flow chart and / or structural diagram provided by the embodiments of the present disclosure. Specifically, each process and / or block in the method flow chart and / or structural diagram, as well as the combination of the processes and / or blocks in the flow chart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable transmission device to generate a machine, so that the instructions executed by the processor of the computer or other programmable transmission device generate instructions for implementing the process in the process. Figure 1 A process or multiple processes and / or structures Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable transmission device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or structures Figure 1 These computer program instructions can also be loaded onto a computer or other programmable transmission device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A flow or multiple flows and / or structures illustrate the steps of the functions specified in one block or multiple blocks.

[0113] The above disclosure is only a preferred embodiment of the present disclosure, which certainly cannot be used to limit the scope of rights of the present disclosure. Therefore, equivalent changes made according to the claims of the present disclosure are still within the scope of the present disclosure.

Claims

1. A motor sensor for measuring the rotation speed and / or shaft position of a motor, characterized in that: include: A main coil disk, used to fix the main coil, and fixed in position relative to the housing of the motor; N main coils are fixed to the main coil disk, wherein N is an integer greater than or equal to 3; the N main coils have the same size and shape and are all circular, the distance between the center of each main coil and the center of the main coil disk is equal, and the angle between the center of each two adjacent main coils and the center of the main coil disk is equal; A secondary coil disk is arranged on the rotating shaft of the motor and rotates synchronously with the rotating shaft of the motor; Two secondary coils are fixed to the secondary coil disk; the two secondary coils have the same size and shape and are both circular, the distance between the center of each secondary coil and the center of the secondary coil disk is equal, and the angle between the center of the two secondary coils and the center of the secondary coil disk is equal to 1.5 times 360 divided by N; N current sensors are respectively connected to the main coils of the N main coils and are used to measure the currents in the N main coils.

2. The sensor according to claim 1, characterized in that Also includes: The controller is used to receive the currents in the N main coils from the N current sensors, and determine the rotation speed and / or the shaft position of the motor according to the currents in the N main coils.

3. The sensor according to claim 1, characterized in that The center of the main coil disk, the center of the auxiliary coil disk and the axis of the rotating shaft of the motor are located on the same straight line.

4. The sensor according to claim 1, characterized in that Also includes: The distance between the main coil disk and the secondary coil disk is greater than or equal to 1 mm and less than or equal to 2 mm.

5. The sensor according to claim 1, characterized in that Also includes: N main coil capacitors are connected to the N main coils respectively.

6. The sensor according to claim 1, characterized in that Also includes: Two secondary coil capacitors are connected to the two secondary coils respectively.

7. The sensor according to claim 1, characterized in that Also includes: A DC power supply, used to supply power to the N main coils; The inverter is used to convert the current of the DC power supply into AC power, and then provide the AC power to the N main coils.

8. The sensor according to claim 2, characterized in that Also includes: A rectifier is connected to the two auxiliary coils and is used to convert the alternating current in the two auxiliary coils into direct current and supply power to the controller.

9. The sensor according to claim 1, characterized in that The N main coils include a first main coil, a second main coil, a third main coil and a fourth main coil, wherein an angle between the centers of adjacent main coils and a line connecting the centers of the main coil disks is equal to 90 degrees.

10. The sensor according to claim 9, characterized in that The angle between the centers of the two secondary coils and the center line of the main coil disk is equal to 135 degrees.

11. A method for measuring motor speed, wherein: The motor sensor is a sensor as claimed in any one of claims 1 to 10, and the method comprises: Acquire the real-time current in each of the N main coils; Obtain the time T when the current in each main coil drops from the maximum to the minimum; Obtaining the angles rotated by the two secondary coils within time T; The motor speed is obtained according to the time T and the angles rotated by the two auxiliary coils within the time T.

12. A method for measuring the position of a motor shaft, wherein: The motor sensor is a sensor as claimed in any one of claims 1 to 10, and the method comprises: Acquire the real-time current in each of the N main coils; Acquiring the shaft position of the motor according to the real-time current in each of the N main coils; Wherein, different positions of the rotating shaft of the motor correspond to different real-time currents in each of the N main coils.

13. A device for measuring motor speed, wherein: The motor sensor is a sensor as claimed in any one of claims 1 to 10, and the device comprises: A first acquisition unit, used to acquire the real-time current in each of the N main coils; The first acquisition unit is further used to acquire the time T in which the current in each main coil decreases from the maximum to the minimum; The first acquisition unit is further used to acquire the angles rotated by the two secondary coils within the time T; The first determining unit is used to obtain the motor speed according to the time T and the angles rotated by the two auxiliary coils within the time T.

14. A device for measuring the position of a motor shaft, wherein: The motor sensor is a sensor as claimed in any one of claims 1 to 10, and the device comprises: A second acquisition unit, used to acquire the real-time current in each of the N main coils; A second determination unit, configured to obtain a motor shaft position according to a real-time current in each of the N main coils; Wherein, different positions of the rotating shaft of the motor correspond to different real-time currents in each of the N main coils.

15. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to claim 11 or the method according to claim 12 is implemented.

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