Linear motor multi-rotor coding method

Abstract

The invention provides a linear motor multi-rotor coding method. The linear motor multi-rotor coding method comprises the steps that S1, two sets of coding stripes are laid at the bottom end of a linear motor in the length direction to form two stripe arrays; s2, erecting a stator track below the linear motor, and mounting two optical fiber sensing coding probes on the stator track to enable each optical fiber sensing coding probe to correspond to one stripe array; s3, the two optical fiber sensing coding probes are controlled to detect the two stripe arrays and output two high-low level pulses, one high-low level pulse serves as a clock signal, and the other high-low level pulse serves as a coding signal; and S4, when the rising edge or the falling edge of the clock signal arrives, detecting the real-time level state of the coded signal, and converting the high-low level pulse corresponding to the coded signal into binary coding to obtain coded information. The method has the beneficial effects that the coding cost can be reduced, the coding reliability is improved, and the complexity of linear motor multi-rotor coding and networking control is simplified.

Description

Technical Field

[0001] The present invention relates to the technical field of linear motors, and in particular to a linear motor multi-motor encoding method. Background Art

[0002] Linear motors occupy an important position in economic and social development. They are the core components of major equipment in the fields of mechanical processing, chip manufacturing, logistics and transportation. The logistics sorting and transportation system based on the multi-motor structure of linear motors is the current development direction to reduce logistics costs and cultivate emerging industrial chains. How to realize the networking control of multi-motor with high reliability and low cost is the key in this field, and multi-motor encoding is the prerequisite for networking control.

[0003] The current linear motor mover encoding method is generally implemented using a wireless transceiver, which uses a built-in chip to achieve encoding and control identification of each mover. This method has disadvantages such as high cost, susceptibility to environmental electromagnetic interference, and reliability deviations in network control. Summary of the invention

[0004] The technical problem to be solved by the present invention is to reduce the encoding cost, improve the reliability of encoding, and simplify the complexity of linear motor multi-motor encoding and networking control. In order to overcome the defects of the above-mentioned prior art (or related technology), the present invention provides a linear motor multi-motor encoding method.

[0005] The present invention provides a linear motor multi-motor encoding method, comprising:

[0006] Step S1, for the linear motor to be detected, two groups of coding stripes are laid at the bottom end of the linear motor along the length direction of the linear motor to form two stripe arrays;

[0007] Step S2, a stator track is set up below the linear motor, and two optical fiber sensing coding probes are installed on the stator track, so that each of the optical fiber sensing coding probes corresponds to one line of the fringe array;

[0008] Step S3, controlling the two optical fiber sensor coding probes to detect the two stripe arrays and output two high and low level pulses when the linear motor is running, wherein one high and low level pulse is used as a clock signal, and the other high and low level pulse is used as a coding signal;

[0009] Step S4, based on the clock signal, when the rising edge or falling edge of the clock signal arrives, detect the real-time level state of the coding signal, and convert the high and low level pulses corresponding to the coding signal into binary codes to obtain the coding information of the linear motor.

[0010] Compared with the prior art, this application has the following advantages:

[0011] In the present application, two groups of fiber optic sensing coding probes are installed on the stator track to sense two groups of coding stripes attached to the surface of the linear motor mover, generate two high and low level pulses, and process them to obtain the binary code of the linear motor mover. The output signals of the two groups of fiber optic sensing coding probes are encoded to ensure the reliability of the encoding method. The mature fiber optic sensing coding probes are used to significantly reduce the encoding cost, greatly simplify the linear motor multi-motor encoding process and improve the encoding reliability.

[0012] In a possible implementation, in the step S1, the phase interval between the two groups of the coding stripes is 90 degrees, and in the step S3, the phase difference between the two output high and low level pulses is 90 degrees.

[0013] In a possible implementation manner, the step S3 further includes:

[0014] The two optical fiber sensing coding probes are electrically connected to a digital signal processing module;

[0015] Then in the step S4, the real-time level state of the coded signal is detected by the digital signal processing module, and the high and low level pulses are converted into the binary code.

[0016] In a possible implementation, a signal conditioning circuit is further included between the two optical fiber sensing coding probes and the digital signal processing module, the input end of the signal conditioning circuit is electrically connected to the two optical fiber sensing coding probes, and the output end of the signal conditioning circuit is electrically connected to the digital signal processing module, then before executing step S4, the following is also included:

[0017] The signal conditioning circuit processes the two paths of high and low voltage pulses so that the two paths of high and low voltage pulses meet the input level requirements of the digital signal processing module.

[0018] In a possible implementation, in step S3, the digital signal processing module used is a DSP, an FPGA, or a single-chip microcomputer.

[0019] In a possible implementation, in step S3, the digital signal processing module used is a TMS28335DSP chip.

[0020] In a possible implementation, in step S3, the two optical fiber sensor coding probes are controlled to detect positions of stripes with different transmittances on two stripe arrays based on an optical detection method to obtain two high and low level pulses.

[0021] In a possible implementation, in the step S1, the two groups of coded stripes laid are black stripes and white stripes sequentially spaced apart along the length direction of the linear motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a flow chart of the steps of the present invention;

[0023] Figure 2 It is a structural principle diagram of the present invention;

[0024] Figure 3 Schematic diagram of waveforms of clock signals and coded signals of the present invention;

[0025] Figure 4 It is a schematic diagram of the coding information of the present invention;

[0026] Explanation of the reference numerals: 1. Linear motor; 2. Coding stripes; 3. Stator track; 4. Fiber optic sensor coding probe; 5. Digital signal processing module; 6. Signal conditioning circuit. DETAILED DESCRIPTION

[0027] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the embodiments of the present application, and are not intended to limit the protection scope of the embodiments of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0028] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] See also Figure 1 and Figure 2 , the embodiment of the present application discloses a linear motor multi-motor encoding method, comprising:

[0030] Step S1, for the linear motor 1 to be detected, two groups of encoding stripes 2 are laid at the bottom end of the linear motor 1 along the length direction of the linear motor 1 to form two stripe arrays;

[0031] Step S2, a stator track 3 is set up below the linear motor 1, and two optical fiber sensor coding probes 4 are installed on the stator track 3, so that each optical fiber sensor coding probe 4 corresponds to one fringe array;

[0032] Step S3, controlling the two optical fiber sensor coding probes 4 to detect the two fringe arrays and output two high and low level pulses when the linear motor 1 is running, wherein one high and low level pulse is used as a clock signal, and the other high and low level pulse is used as a coding signal;

[0033] Step S4, based on the clock signal, when the rising edge or falling edge of the clock signal arrives, the real-time level state of the coding signal is detected, and the high and low level pulses corresponding to the coding signal are converted into binary codes to obtain the coding information of the linear motor 1.

[0034] Continue to see Figure 2 The coding stripes 2 include two groups of stripes, which are 90 degrees apart in phase and attached to the surface of the linear motor 1 to form two stripe arrays that can be detected by the optical fiber sensor coding probe 4. The stripe width and number are determined according to the length of the linear motor 1 and the total number of codes.

[0035] Continue to see Figure 2 The coding stripes 2 can be made of different materials and processes, different stripe colors, etc.; the optical fiber sensing coding probe 4 realizes the position detection of stripes with different transmittances based on the optical detection method, and outputs a voltage signal, which may include different structural sensor types, such as laser sensors, etc.; the signal conditioning circuit 6 has filtering, amplitude reduction, and inversion processing functions, which can be realized by a chip with these functions, or by an operational amplifier or a voltage divider circuit, etc.; the digital signal processing module 5 has the functions of converting analog signals to digital signals, programming and processing digital signals, etc., including DSP, FPGA, single-chip microcomputer and other forms.

[0036] Continue to see Figure 1 In view of the fact that the existing linear motor mover encoding method requires the use of additional communication modules, the present invention proposes a low-cost, highly reliable multi-motor encoding method based on optical detection. The core of the method is to detect the encoding stripes 2 attached to the mover surface through multiple groups of optical fiber sensor encoding probes 4, output high and low level pulse voltage signals, and use digital signal processing to realize the conversion of high and low level pulses into linear motor mover encoding.

[0037] Continue to see Figure 2 The present invention uses NX-D type ordinary double beam detector as the optical fiber sensor coding probe 4, and two of them are installed side by side on the stator track 3. The length of the linear motor 1 mover is 260mm, and the bottom is flat to paste two groups of coding stripes 2. The coding stripes 2 are composed of black and white colors. The width of a single black or white stripe is 3mm. The phase difference between the two groups of coding stripes 2 is 90 degrees (that is, the difference between the black and white stripes is 1.5mm). After the coding stripes 2 are pasted on the linear motor 1 mover, Figure 2 shown.

[0038] See also Figure 3 After the optical fiber sensor coding probe 4 detects the coding stripe 2, it outputs a 15V voltage when it is a black stripe and a 0V voltage when it is a white stripe. The high and low level pulse signals output by the two optical fiber sensor coding probes 4 are as follows: Figure 3 shown.

[0039] Continue to see Figure 2The signal conditioning circuit 6 is composed of a high-frequency filtering circuit and a step-down circuit, which steps down the 15V pulse signal to 3.3V to meet the level input requirement of the digital signal processing system 5.

[0040] Continue to see Figure 2 ,The digital signal processing system 5 uses the TMS28335DSP chip, and two 3.3V high and low level pulse signals enter from the DSP’s general GIPO port, one as the clock signal, and the other as the coding signal. The conversion of the high and low level to binary coding is completed by reading the real-time level state of the coding signal. By setting the width and number of the coding stripes, the step-by-step coding function starting from 1 can be easily realized. The coding information is as follows Figure 4 shown.

[0041] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "in the present embodiment", "specific example", or "some examples" etc. means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0042] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A linear motor multi-motor encoding method, characterized in that: The following steps are involved: Step S1, for the linear motor (1) to be detected, two groups of coding stripes (2) are laid at the bottom end of the linear motor (1) along the length direction of the linear motor (1) to form two stripe arrays; Step S2, a stator track (3) is set up below the linear motor (1), and two optical fiber sensing coding probes (4) are installed on the stator track (3), so that each of the optical fiber sensing coding probes (4) corresponds to one line of the fringe array; Step S3, controlling the two optical fiber sensing coding probes (4) to detect the two stripe arrays and output two high and low level pulses when the linear motor (1) is running, wherein one high and low level pulse is used as a clock signal, and the other high and low level pulse is used as a coding signal; Step S4, based on the clock signal, when the rising edge or falling edge of the clock signal arrives, the real-time level state of the coding signal is detected, and the high and low level pulses corresponding to the coding signal are converted into binary codes to obtain the coding information of the linear motor (1).

2. The linear motor multi-motor encoding method according to claim 1, characterized in that: In the step S1, the phase interval between the two groups of the coding stripes (2) is 90 degrees, and in the step S3, the phase difference between the two output high and low level pulses is 90 degrees.

3. The linear motor multi-motor encoding method according to claim 1, characterized in that: The step S3 further includes: The two optical fiber sensing coding probes (4) are electrically connected to a digital signal processing module (5); Then in the step S4, the real-time level state of the coded signal is detected by the digital signal processing module (5), and the high and low level pulses are converted into the binary code.

4. The linear motor multi-motor encoding method according to claim 3, characterized in that: A signal conditioning circuit (6) is further provided between the two optical fiber sensing coding probes (4) and the digital signal processing module (5), the input end of the signal conditioning circuit (6) is electrically connected to the two optical fiber sensing coding probes (4), and the output end of the signal conditioning circuit (6) is electrically connected to the digital signal processing module (5), and before executing step S4, the following steps are further included: The signal conditioning circuit (6) processes the two paths of high and low voltage pulses so that the two paths of high and low voltage pulses meet the input level requirements of the digital signal processing module (5).

5. The linear motor multi-motor encoding method according to claim 3, characterized in that: In the step S3, the digital signal processing module (5) used is a DSP or FPGA or a single chip microcomputer.

6. The linear motor multi-motor encoding method according to claim 5, characterized in that: In the step S3, the digital signal processing module (5) used is a TMS28335DSP chip.

7. The linear motor multi-motor encoding method according to claim 1, characterized in that: In the step S3, the two optical fiber sensing coding probes (4) are controlled to detect the positions of stripes with different light transmittances on the two stripe arrays based on an optical detection method to obtain the two high and low level pulses.

8. The linear motor multi-motor encoding method according to claim 1, characterized in that: In the step S1, the two groups of coded stripes (2) laid are both black stripes and white stripes arranged in sequence and at intervals along the length direction of the linear motor (1).

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