Position monitoring device, system and method

Abstract

The invention provides a position monitoring device, system and method, and relates to the technical field of industrial digitization, and the device comprises an encoder which is connected with mechanical equipment and is used for monitoring the movement condition of the mechanical equipment and transmitting code values representing the movement condition every target time period; and the processor is used for jointly determining the target displacement of the mechanical equipment according to a first code value and a second code value, the first code value is a code value sent by the encoder in a current target time period, and the second code value is a code value sent by the encoder in a previous target time period.

Description

Technical Field

[0001] The present invention relates to the field of industrial digitalization technology, and in particular to a position monitoring device, system and method. Background Art

[0002] During the movement of mechanical equipment, it is often necessary to determine its position. An absolute encoder, connected to the mechanical equipment's transmission components via a coupling, generates a digital signal that identifies the position during the movement of the machine. This is widely used to detect the position, angle, and distance of mechanical movement. Each position of an absolute encoder corresponds to a specific digital code.

[0003] In existing technology, calculations are typically performed directly on the encoder's code value, with the result used as the displacement of the mechanical device to determine its position. However, due to the long-term operation of absolute encoders or improper initialization of the encoder during installation, the encoder's zero point may enter the actual measurement range, causing the encoder to experience discontinuous code value changes when detecting the mechanical device's displacement. This further causes the calculated displacement to exhibit discontinuous changes, failing to truly reflect the actual position of the mechanical device. Summary of the Invention

[0004] The present invention provides a position monitoring device for solving the problem in the related art that the displacement of a mechanical device obtained by directly calculating the code value of an encoder is inaccurate and cannot reflect the actual position of the mechanical device.

[0005] In a first aspect, an embodiment of the present invention provides a position monitoring device, comprising:

[0006] An encoder connected to the mechanical device, configured to monitor movement of the mechanical device and transmit a code value representing the movement at target time intervals;

[0007] A processor is used to determine the target displacement of the mechanical device based on a first code value and a second code value, and to determine the target position of the mechanical device based on the target displacement, wherein the first code value is the code value sent by the encoder in the current target time period, and the second code value is the code value sent by the encoder in the previous target time period.

[0008] Optionally, the processor is configured to:

[0009] Acquire first data and second data, where the first data is a result of decimal processing of the first code value, and the second data is a result of decimal processing of the second code value;

[0010] outputting an overflow signal according to a first difference value, wherein the first difference value is a difference between the first data and the second data, and the overflow signal indicates whether a code value of the encoder periodically overflows within a current target time period;

[0011] A target displacement of the mechanical device is determined according to the first difference and the overflow signal.

[0012] Optionally, the overflow signal includes an overflow signal, a non-overflow signal, and an underflow signal, and the processor is configured to:

[0013] When the first difference is less than a first threshold, outputting an overflow signal;

[0014] outputting the non-overflow signal when the first difference is not less than the first threshold and not greater than a second threshold, and the first threshold is less than the second threshold;

[0015] When the first difference is greater than a second threshold, an underflow signal is output.

[0016] Optionally, the processor is configured to:

[0017] When the overflow signal is output, the target displacement is determined according to the sum of the first difference value and the modulus of the encoder.

[0018] Optionally, the processor is configured to:

[0019] When the non-overflow signal is output, the target displacement is determined according to the first difference.

[0020] Optionally, the processor is configured to:

[0021] When the underflow signal is output, the target displacement is determined according to the difference between the first difference and the modulus of the encoder.

[0022] Optionally, the position monitoring device further includes:

[0023] A calibration switch provided on the track of the mechanical equipment, configured to send a position signal when detecting that the mechanical equipment passes through the calibration switch;

[0024] The processor is further configured to:

[0025] A target position of the mechanical device is determined based on the position signal.

[0026] In a second aspect, an embodiment of the present invention provides a position monitoring system, the position monitoring system comprising:

[0027] Mechanical equipment that moves relative to the track;

[0028] The device is the position monitoring device as described in the first aspect.

[0029] In a third aspect, an embodiment of the present invention provides a location monitoring method, which is applied to the location monitoring system as described in the second aspect. The location monitoring method includes:

[0030] Obtain a first code value and a second code value, where the first code value is a code value sent by the encoder in a current target time period, and the second code value is a code value sent by the encoder in a previous target time period;

[0031] A target position of the mechanical equipment is determined according to the first code value and the second code value.

[0032] Optionally, the position monitoring method further includes:

[0033] Acquiring a position signal, wherein the position signal is a signal sent by the calibration switch when detecting the mechanical device passing by;

[0034] A target position of the mechanical device is determined based on the position signal.

[0035] The present invention provides a position monitoring device, which includes an encoder connected to a mechanical device, configured to monitor the movement of the mechanical device and send a code value representing the movement every target time period; and a processor, configured to determine the target displacement of the mechanical device based on a first code value and a second code value, and to determine the target position of the mechanical device based on the target displacement, wherein the first code value is the code value sent by the encoder in the current target time period, and the second code value is the code value sent by the encoder in the previous target time period. In this way, the processor can confirm the relative displacement between two measurements of the mechanical device through the code values ​​of two adjacent target time periods, further confirm the target displacement of the mechanical device, and determine the target position of the mechanical device based on the target displacement. This can reduce the influence of the encoder error to a certain extent, improve the accuracy of the target displacement, and further improve the accuracy of the target position obtained, thereby solving the problem in the related art that the displacement of the mechanical device obtained by directly calculating the encoder code value is inaccurate and cannot reflect the actual position of the mechanical device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1The structural concept of a position monitoring device according to some embodiments of the present invention is shown;

[0038] Figure 2 shows the overflow signal principle according to some embodiments of the present invention;

[0039] Figure 3 1. The calculation concept of target displacement according to some embodiments of the present invention is shown;

[0040] Figure 4 Shows the structural concept of the position monitoring device according to other embodiments of the present invention;

[0041] Figure 5 FIG. 1 shows a signal processing concept of target displacement according to some embodiments of the present invention;

[0042] Figure 6 The present invention shows the structural concept of a position monitoring system according to some embodiments of the present invention;

[0043] Figure 7 The structural concept of the position monitoring system according to other embodiments of the present invention is shown. DETAILED DESCRIPTION

[0044] As described in the background, determining the position of mechanical equipment is often necessary during its movement. Absolute encoders, connected to the mechanical equipment's transmission components via couplings, generate digital signals that can identify the position of the machine during its movement. These encoders are widely used to detect the position, angle, and distance of mechanical motion. Each position in an absolute encoder corresponds to a specific digital code.

[0045] In existing technology, an absolute encoder detects the current position of a mechanical device in real time and sends the code value corresponding to the physical position (in binary or Gray code) to a controller. The controller converts the absolute encoder code value into a decimal value and calculates the actual displacement value based on the pulse equivalent corresponding to each encoder pulse. When using an absolute encoder to detect mechanical position, the actual position of the mechanical device is usually calculated based on the encoder code value and the pulse equivalent corresponding to each encoder pulse, which is prone to low accuracy.

[0046] To this end, the present invention provides a position monitoring device, which includes an encoder connected to a mechanical device, used to monitor the movement of the mechanical device and send a code value representing the movement every target time period; a processor, used to determine the target displacement of the mechanical device based on a first code value and a second code value, and determine the target position of the mechanical device based on the target displacement, wherein the first code value is the code value sent by the encoder in the current target time period, and the second code value is the code value sent by the encoder in the previous target time period. In this way, the processor can confirm the relative displacement between two measurements of the mechanical device through the code values ​​of two adjacent target time periods, further confirm the target displacement of the mechanical device, and determine the target position of the mechanical device based on the target displacement. To a certain extent, the error influence of the encoder can be reduced, the accuracy of the target displacement can be improved, and the accuracy of the obtained target position can be improved, thereby solving the problem in the related art that the displacement of the mechanical device obtained by directly calculating the code value of the encoder is inaccurate and cannot reflect the actual position of the mechanical device.

[0047] In actual use, when mechanical equipment moves within its full range, the decimal code value of an absolute encoder should vary between a minimum and maximum code value. However, the measurement range of an absolute encoder can be divided into a linear measurement range and a nonlinear measurement range. In the linear measurement range, the decimal code value of an absolute encoder varies continuously, accurately measuring the displacement of the mechanical equipment. However, in the nonlinear measurement range, because overflow of the absolute encoder involves recounting, the decimal code value of the absolute encoder may exhibit discontinuous changes. Specifically, when the absolute encoder overflows past the maximum code value, the code value changes directly from the maximum code value to the minimum code value; when the absolute encoder underflows past the minimum code value, the code value changes directly from the minimum code value to the maximum code value. For example, a multi-turn absolute encoder has a measuring range of [0, 16777215]. When measuring the displacement of a mechanical equipment, the encoder's linear measurement range [k1, k2] is within the measuring range [0, 16777215]. The nonlinear measurement range of the encoder contains the maximum code value and the minimum code value, that is, the measurement range can be divided into two parts: (k2, 16777215] and [0, k1), so that the zero point of the encoder enters the counting range.

[0048] Furthermore, prolonged operation of an absolute encoder or improper initialization during installation can cause the encoder's zero point to enter the actual measurement range, placing the encoder in a nonlinear measurement range. This can lead to discontinuous changes in the code value when detecting mechanical equipment displacement. Because existing absolute encoder numerical processing systems and methods directly operate on code values, when the encoder operates within the nonlinear measurement range, the calculated mechanical position value will also exhibit discontinuous changes, failing to truly reflect the actual position.

[0049] In an embodiment of the present invention, the processor is configured to: obtain first data and second data, wherein the first data is the result of decimal processing of the first code value, and the second data is the result of decimal processing of the second code value; output an overflow signal based on a first difference, wherein the first difference is the difference between the first data and the second data, and the overflow signal indicates whether the first data overflows the linear measurement range; and determine the target displacement of the mechanical device based on the first difference and the overflow signal. Based on the overflow condition, the processor determines whether the first data exceeds the linear measurement range and whether there is a discontinuous change in the code value, and performs corresponding processing based on the discontinuous change in the code value, thereby making the final target displacement more accurate. This, to a certain extent, addresses the problem in the related art that when the encoder operates in a nonlinear measurement range, the calculated mechanical position value also exhibits discontinuous changes and fails to truly reflect the actual position.

[0050] In addition, in the related art, factors such as the manufacturing accuracy, assembly accuracy, and mechanical wear of mechanical parts will also affect the measurement results of the absolute encoder. In order to improve the detection accuracy of the mechanical position, the position monitoring device provided in the embodiment of the present invention also includes a calibration switch arranged on the mechanical equipment track (that is, the operating track of the mechanical equipment), which is used to send a position signal when the mechanical equipment is detected passing through the calibration switch, so that the processor determines the target position of the mechanical equipment based on the position signal. The calibration switch is installed on the operating track of the mechanical equipment to calibrate the detected position to avoid the cumulative error from having a significant impact on the measurement accuracy.

[0051] The following describes in detail the technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems using specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of the present invention are described in conjunction with the accompanying drawings.

[0052] Figure 1 FIG. 2 shows the structural concept of a position monitoring device according to some embodiments of the present invention. Figure 1 As shown, the position monitoring device provided by the embodiment of the present invention includes:

[0053] An encoder connected to the mechanical device, configured to monitor movement of the mechanical device and transmit a code value representing the movement at target time intervals;

[0054] A processor is used to determine the target displacement of the mechanical device based on a first code value and a second code value, and to determine the target position of the mechanical device based on the target displacement, wherein the first code value is the code value sent by the encoder in the current target time period, and the second code value is the code value sent by the encoder in the previous target time period.

[0055] In an embodiment of the present invention, the mechanical device can be any movable device, such as a wheel running on a predetermined track, or a mechanical arm that can be extended and retracted back and forth. The encoder can be an absolute-value encoder that records and measures multiple positions of the mechanical device through an external circle recording device. The output of the absolute-value encoder (i.e., the code value) can directly reflect the absolute angle within a 360° range. Furthermore, the encoder can be connected to the rotating part of the mechanical device through a rotating shaft structure to monitor the movement of the mechanical device and record the position of the mechanical device.

[0056] In the embodiment of the present invention, the target time period may be a scanning cycle of the controller. In each scanning cycle, the processor receives a code value representing the movement of the mechanical device, and the code value may be in binary form or in Gray code.

[0057] In an embodiment of the present invention, the processor may be a programmable logic controller (PLC) electrically connected to the encoder, and may be a single electronic device or multiple electronic devices working together to execute the operation. The electronic device may be a server, such as an independent physical server, a server cluster consisting of multiple servers, or a cloud server capable of cloud computing.

[0058] In an embodiment of the present invention, after each target displacement is obtained, the target displacement can be accumulated and the position of the mechanical device can be determined by the accumulated value. For example, the accumulated value is directly used as the mechanical position value of the mechanical device to determine the target position of the mechanical device.

[0059] The present invention provides a position monitoring device, which includes an encoder connected to a mechanical device, configured to monitor the movement of the mechanical device and send a code value representing the movement every target time period; and a processor, configured to determine the target displacement of the mechanical device based on a first code value and a second code value, and to determine the target position of the mechanical device based on the target displacement, wherein the first code value is the code value sent by the encoder in the current target time period, and the second code value is the code value sent by the encoder in the previous target time period. In this way, the processor can confirm the relative displacement between two measurements of the mechanical device through the code values ​​of two adjacent target time periods, further confirm the target displacement of the mechanical device, and determine the target position of the mechanical device based on the target displacement. This can reduce the influence of the encoder error to a certain extent, improve the accuracy of the target displacement, and further improve the accuracy of the target position obtained, thereby solving the problem in the related art that the displacement of the mechanical device obtained by directly calculating the encoder code value is inaccurate and cannot reflect the actual position of the mechanical device.

[0060] In an embodiment of the present invention, the processor may perform decimal processing after receiving the first code value and / or the second code value, and use the first code value after decimal processing as the first data, and the second code value after decimal processing as the second data. Subsequently, the first difference value may be obtained by subtracting the second data from the first data, and an overflow signal may be output based on the first difference value. The overflow signal indicates whether the code value of the encoder overflows in the current target time period. For example, the range of an encoder is [0, 16777215], where the linear measurement range is [0, 16777215]. Then (12, 16777215] and [0, 12) belong to the nonlinear measurement range. If the first data is 1 and the second data is 16777210, the code value of the encoder in the target time period has a change trend of 16777210→16777215→1, i.e., an overflow occurs. Correspondingly, the first difference is 1-16777210=-16777209. Based on the comparison between -16777209 and the preset value, it can be determined whether the code value of the encoder overflows in the current target time period.

[0061] Specifically, in an embodiment of the present invention, the overflow signal includes an overflow signal, a non-overflow signal, and an underflow signal. The overflow signal can indicate that in the measurement of the current target time period, the code value of the encoder increases to a maximum value and then overflows to zero, that is, similar to the example above. The non-overflow signal can indicate that in the measurement of the current target time period, the code value of the encoder does not exceed the measurement range. The underflow signal can indicate that in the measurement of the current target time period, the code value of the encoder decreases to 0 and then jumps to a maximum value. In the specific process of outputting the overflow signal according to the first difference, the processor is used to: output the overflow signal when the first difference is less than a first threshold; output the non-overflow signal when the first difference is not less than the first threshold and not greater than the second threshold; output the underflow signal when the first difference is greater than the second threshold. Figure 2 FIG. 4 shows the overflow signal principle according to some embodiments of the present invention. Figure 2 As shown, the first data and the second data are input into the processor, and the processor obtains the first difference. And the first threshold ( Figure 2 -K) input processor, when the first difference is less than the first threshold, outputs the overflow signal, the output process of the underflow signal can refer to the overflow signal, which will not be repeated here.

[0062] In an embodiment of the present invention, the values ​​of the first threshold and the second threshold can be determined based on the range of the encoder. For example, when the code value range of the encoder is [0, 1677215], the first threshold can be half of the range, that is, -8388608, and the second threshold can be 8388608. In the above example, when the first difference is -8988608, which is less than the first threshold (-8388608), an overflow signal is output.

[0063] In order to better understand the calculation process of the target displacement provided by the embodiment of the present invention, an example is now given. Figure 3 The calculation concept of target displacement according to some embodiments of the present invention is shown as follows: Figure 3 As shown, in an embodiment of the present invention, when the processor outputs an overflow signal, the processor can determine the target displacement based on the sum of the first difference and the modulus of the encoder. For example, when the code value range of the encoder is [0, 1677215], the first threshold is -8388608, the first data is 1, the second data is 16777214, and the first difference is -16777213, (1-16777214)+16777216=3, that is, the actual change in the code value during the current target time period is 3. When the actual change in the code value is a positive number, it can be understood that the mechanical position of the mechanical device in the current target time period is larger than the mechanical position of the previous target time period, that is, the movement distance of the mechanical device in the current target time period is also a positive value. In order to further obtain the target displacement, the actual change in the code value can be multiplied by the pulse equivalent corresponding to each pulse of the encoder, and the product is used as the target displacement of the mechanical device during the target time period.

[0064] In an embodiment of the present invention, when the processor outputs a non-overflow signal, the processor may use the product of the first difference and the pulse equivalent corresponding to each pulse of the encoder as the target displacement.

[0065] In an embodiment of the present invention, when the processor outputs an underflow signal, the processor is configured to determine the target displacement based on the difference between the first difference and the encoder modulus. For example, when the encoder code value range is [0, 1677215], the second threshold is 8388608, the first data is 16777214, the second data is 1, and the first difference is 16777213, (16777214-1)-16777216=-3, meaning that the actual change in the code value during the current target time period is -3. When the actual change in the code value is negative, it can be understood that the mechanical position of the mechanical device during the current target time period is smaller than the mechanical position during the previous target time period, meaning that the distance moved by the mechanical device during the current target time period is also negative. To further obtain the target displacement, the actual change in the code value can be multiplied by the pulse equivalent corresponding to each encoder pulse, and the product is used as the target displacement of the mechanical device during the target time period.

[0066] In an embodiment of the present invention, factors such as wear of the mechanical equipment, detection accuracy of the encoder, and installation accuracy may cause measurement errors. In an embodiment of the present invention, the position monitoring device further comprises: a calibration switch provided on the track of the mechanical equipment, for sending a position signal when the mechanical equipment is detected to have passed through the calibration switch. The calibration switch may be provided in the middle of the track of the mechanical equipment, and when the mechanical equipment passes through the calibration switch, the switch may be triggered to send a position signal to the processor. The processor may use the position value corresponding to the calibration switch as the mechanical position value of the mechanical equipment based on the position signal, thereby correcting the mechanical position value obtained by the target displacement and eliminating measurement errors.

[0067] Figure 4 The structural concept of the position monitoring device according to other embodiments of the present invention is shown. Figure 4 As shown, the position monitoring device provided by the embodiment of the present invention includes an absolute encoder S0, a PLC controller S1, and a calibration switch S2. The PLC controller is equivalent to the processor described above and specifically includes a data processing module S10, an overflow direction detection module S11, a current scanning cycle mechanical equipment movement distance calculation module S12, a position calculation module S13, and a calibration module S14.

[0068] The absolute encoder S0 is installed on the mechanical equipment and connected to the rotating part of the equipment through the rotating shaft to detect the position of the mechanical equipment in real time and transmit the data to the PLC controller S1;

[0069] The PLC controller S1 collects the code value of the absolute encoder S0 once during each scan cycle (i.e., each target time period). The data processing module S10, overflow direction detection module S11, current scan cycle mechanical equipment movement distance calculation module S12, position calculation module S13, and calibration module S14 are executable program function modules within the PLC controller.

[0070] The data processing module S10 processes the binary code value or Gray code value output by the absolute value encoder S0, converts it into a decimal code value, and outputs the first data and / or the second data.

[0071] The overflow direction detection module S11 is used to detect whether the decimal code value of the absolute value encoder S0 overflows.

[0072] The overflow direction detection module S11 is also used to Figure 2 The overflow signal output principle shown in the figure outputs an overflow signal. When the difference between the first and second data (i.e., the first difference) is less than the overflow setting value -k (i.e., the first threshold), the encoder code value overflow signal is output; when the first difference is greater than the underflow setting value k (i.e., the second threshold), the encoder code value underflow signal is output. k can be set to half the encoder modulus and is used to determine whether the encoder has entered the nonlinear measurement range.

[0073] The working process of the mechanical equipment moving distance calculation module S12 in the current scanning period can refer to the following: Figure 3 The calculation process of the target displacement is shown. When the overflow direction detection module S11 outputs a non-overflow signal, the distance the mechanical device moves in the current target time period (i.e., the target displacement) is the product of the first difference and the pulse equivalent corresponding to each pulse of the encoder; when the overflow direction detection module S11 outputs an overflow signal, the distance the mechanical device moves in the current scanning cycle is the product of the first difference plus the encoder modulus and the pulse equivalent corresponding to each pulse of the encoder; when the overflow direction detection module S11 outputs an underflow signal, the distance the mechanical device moves in the current scanning cycle is the product of the first difference minus the encoder modulus and the pulse equivalent corresponding to each pulse of the encoder. When the decimal code value of the absolute value encoder overflows, the encoder modulus is added to eliminate the problem of discontinuity in the code value change when the encoder transitions from the maximum code value to the minimum code value; when the decimal code value of the absolute value encoder underflows, the encoder modulus is subtracted to eliminate the problem of discontinuity in the code value change when the encoder transitions from the minimum code value to the maximum code value.

[0074] The current scanning cycle mechanical equipment moving distance calculation module S12 is also used to calculate the displacement value of each scanning cycle according to the change in the decimal code value of the encoder in the current scanning cycle (i.e., the first difference), the pulse equivalent corresponding to each pulse of the encoder, and the code value overflow. When the encoder does not overflow, the change in the decimal code value of the encoder in the current scanning cycle is the difference between the decimal code value of the encoder in the current scanning cycle and the decimal code value of the encoder in the previous scanning cycle; when the encoder overflows, the change in the decimal code value of the encoder in the current scanning cycle is the difference between the decimal code value of the encoder in the current scanning cycle and the decimal code value of the encoder in the previous scanning cycle plus the modulus of the encoder; when the encoder underflows, the change in the decimal code value of the encoder in the current scanning cycle is the difference between the decimal code value of the encoder in the current scanning cycle and the decimal code value of the encoder in the previous scanning cycle minus the modulus of the encoder. Figure 5 FIG. 4 shows a signal processing concept of target displacement according to some embodiments of the present invention, as shown in FIG. Figure 5 As shown, the SEL module is a selection signal module that outputs information corresponding to 0 or 1 based on the state (0 or 1) of the control signal G. For example, the overflow signal SEL module inputs the first difference and the first difference and the encoder modulus sum. If the overflow signal is 0, the overflow signal SEL module outputs the first difference to the underflow signal SEL module, which further determines the result. If the underflow signal is 0, the SEL module outputs the first difference, and the target displacement of the current scanning cycle is calculated based on the first difference.

[0075] The position calculation module S13 accumulates the movement distance of the mechanical device in the current scanning cycle, and the accumulated value is the mechanical position value.

[0076] The calibration module S14 assigns the position value corresponding to the switch to the calculated mechanical position value after the calibration switch S2 is triggered, so as to correct the measured position value and eliminate the measurement error.

[0077] The calibration switch S2 is set on the motion track of the mechanical equipment. When the mechanical equipment passes by, the switch will be triggered and a trigger signal will be sent to the calibration module S14 of the PLC controller S2.

[0078] A position monitoring method provided by an embodiment of the present invention does not directly use the code value of an absolute value encoder, but instead uses the code value change of the absolute value encoder in each sampling cycle to participate in the position calculation of mechanical equipment. Based on the overflow state of the decimal code value of the absolute value encoder, the change in the decimal code value of the absolute value encoder is corrected to eliminate the influence of the code value change when the encoder passes through the zero point, so that the calculated mechanical position changes continuously and can accurately reflect the actual physical position without the problems of numerical jumps and inaccurate detection values. By correcting the change in the decimal code value when the absolute value encoder overflows, the calculated mechanical position value will not jump when the encoder passes through the zero point, avoiding the need to adjust the zero point to outside the effective measurement range when the absolute value encoder is installed.

[0079] Figure 6 The structural concept of the position monitoring system according to some embodiments of the present invention is shown as follows. Figure 6 As shown, the position monitoring system provided by the embodiment of the present invention includes:

[0080] Mechanical equipment that moves relative to the track;

[0081] Device, the device is as follows Figure 1 The position monitoring device.

[0082] In order to better understand the position monitoring system provided by the embodiment of the present invention, an example is now given. Figure 7 The structural concept of the position monitoring system according to other embodiments of the present invention is shown. Figure 7 As shown, the mechanical device moves relative to the track, and the encoder is mounted on the wheel of the mechanical device and can rotate with the rotation of the wheel to generate the first code value and / or the second code value. The processor can be electrically connected to the encoder, and the specific processing process can be referred to the above description.

[0083] In addition, the embodiment of the present invention also provides a location monitoring method, which is applied to Figure 6 The position monitoring system shown in the figure, the position monitoring method includes: obtaining a first code value and a second code value, the first code value is the code value sent by the encoder in the current target time period, and the second code value is the code value sent by the encoder in the previous target time period, and determining the target position of the mechanical equipment based on the first code value and the second code value.

[0084] In an embodiment of the present invention, the position monitoring method can also determine the position of the mechanical device through a calibration switch, for example, by obtaining a position signal, wherein the position signal is a signal sent by the calibration switch when the mechanical device passes by, and the target position of the mechanical device is determined based on the position signal. When the calibration switch detects the mechanical device passing by, it sends a position signal to the position monitoring system, thereby using the position of the calibration switch as the target position of the mechanical device. The specific processing process can be referred to the description above and will not be repeated here.

[0085] While the above description does not provide detailed technical details regarding the patterning of each layer, those skilled in the art will appreciate that various technical means can be employed to form layers, regions, and the like in desired shapes. Furthermore, those skilled in the art may devise methods that differ from those described above to achieve the same structure. Furthermore, while each embodiment has been described separately, this does not mean that the measures in each embodiment cannot be advantageously combined.

[0086] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0087] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A position monitoring device, characterized in that: The position monitoring device comprises: An encoder connected to the mechanical device, configured to monitor movement of the mechanical device and transmit a code value representing the movement at target time intervals; A processor is used to determine the target displacement of the mechanical device based on a first code value and a second code value, and to determine the target position of the mechanical device based on the target displacement, wherein the first code value is the code value sent by the encoder in the current target time period, and the second code value is the code value sent by the encoder in the previous target time period.

2. The position monitoring device according to claim 1, characterized in that: The processor is configured to: Acquire first data and second data, where the first data is a result of decimal processing of the first code value, and the second data is a result of decimal processing of the second code value; outputting an overflow signal according to a first difference value, wherein the first difference value is a difference between the first data and the second data, and the overflow signal indicates whether a code value of the encoder periodically overflows within a current target time period; A target displacement of the mechanical device is determined according to the first difference and the overflow signal.

3. The position monitoring device according to claim 2, characterized in that: The overflow signal includes an overflow signal, a non-overflow signal, and an underflow signal, and the processor is configured to: When the first difference is less than a first threshold, outputting the overflow signal; outputting the non-overflow signal when the first difference is not less than the first threshold and not greater than a second threshold, and the first threshold is less than the second threshold; When the first difference is greater than a second threshold, the underflow signal is output.

4. The position monitoring device according to claim 3, characterized in that: The processor is configured to: When the overflow signal is output, the target displacement is determined according to the sum of the first difference value and the modulus of the encoder.

5. The position monitoring device according to claim 3, characterized in that: The processor is configured to: When the non-overflow signal is output, the target displacement is determined according to the first difference.

6. The position monitoring device according to claim 3, characterized in that: The processor is configured to: When the underflow signal is output, the target displacement is determined according to the difference between the first difference and the modulus of the encoder.

7. The position monitoring device according to claim 1, characterized in that: The position monitoring device further comprises: A calibration switch provided on the track of the mechanical equipment, configured to send a position signal when detecting that the mechanical equipment passes through the calibration switch; The processor is further configured to: A target position of the mechanical device is determined based on the position signal.

8. A position monitoring system, characterized in that: The position monitoring system comprises: Mechanical equipment that moves relative to the track; The device is a position monitoring device according to any one of claims 1 to 7.

9. A position monitoring method, applied to the position monitoring system according to claim 8, characterized in that: The position monitoring method comprises: Obtain a first code value and a second code value, where the first code value is a code value sent by the encoder in a current target time period, and the second code value is a code value sent by the encoder in a previous target time period; A target position of the mechanical equipment is determined according to the first code value and the second code value.

10. The position monitoring method according to claim 9, characterized in that: The position monitoring method further includes: Acquiring a position signal, wherein the position signal is a signal sent by a calibration switch when detecting the mechanical device passing by; A target position of the mechanical device is determined based on the position signal.

Images