Motor encoder and method for operating same

Abstract

A motor encoder and a method for operating same. The motor encoder comprises an encoder cylinder (1) coaxially connected to a motor output shaft (6) and rotating synchronously with a motor; an code table (2) arranged on the inner side wall of the encoder cylinder (1); a code plate (3) spaced apart from the encoder cylinder (1), wherein at least one reflective photocell is provided on the code plate (3) at a position corresponding to that of the code table (2), and the reflective photocell is configured to emit light to the code table (2), receive reflected light from the code table (2), and convert the received reflected light into a signal for output; and a controller, wherein an output end of the reflective photocell is connected to an input end of the controller, and the controller is configured to receive the signal outputted by the reflective photocell and acquire the state of the motor on the basis of the signal. The function of the encoder can still be achieved while removing an encoder disk occupying a large space, the occupied space is small, and the structure is more compact, so that the encoder can be widely applied in the field of door locks.

Description

Motor encoder and operation method thereof TECHNICAL FIELD

[0001] The present application relates to the technical field of door lock, in particular to a motor encoder and operation method thereof, which is applied to access control or door lock or gate. BACKGROUND

[0002] An encoder is a device that encodes signals (such as bit streams) or data into a signal form that can be used for communication, transmission, and storage. An encoder converts angular displacement or linear displacement into an electrical signal. The former is called a code disc, and the latter is called a code ruler. According to the reading mode, an encoder can be divided into contact type and non-contact type; according to the working principle, an encoder can be divided into incremental type and absolute type. Incremental encoders convert displacement into periodic electrical signals, and then convert the electrical signals into counting pulses, which represent the size of displacement. Each position of an absolute encoder corresponds to a specific digital code.

[0003] An optical encoder is composed of a light source, an encoding disc, and a photosensitive element. The encoding disc is connected to the shaft end of a motor. The volume of the encoding disc is large, so the overall space occupied by the optical encoder is large. However, the space of a door lock is limited, which makes the existing optical encoder unsuitable for use in a door lock. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is to overcome the defect that the existing optical encoder cannot be used in a door lock due to the presence of an encoding disc, thereby providing a motor encoder and an operation method thereof.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0006] A motor encoder, comprising:

[0007] An encoding cylinder, which is coaxially connected to a motor output shaft and rotates synchronously with the motor;

[0008] An encoding table, which is arranged on the inner side wall of the encoding cylinder, has a plurality of spaced-apart reflecting portions, and has a reflecting ability;

[0009] An encoding plate, which is spaced apart from the encoding cylinder and has at least one reflecting phototube corresponding to the position of the encoding table; the reflecting phototube is used to emit light to the encoding table, receive reflected light from the encoding table, and convert the received reflected light into a signal output;

[0010] A controller, the output end of the reflecting phototube is connected to the input end of the controller, and the controller is used to receive the signal output by the reflecting phototube and obtain the state of the motor based on the signal.

[0011] Further optimization technical solutions, the encoding table includes:

[0012] Incremental encoding table, the incremental encoding table includes a plurality of first reflection parts arranged uniformly in the circumferential direction on the inner side wall of the encoding cylinder, the first reflection part is a trigger bit;

[0013] Absolute encoding table, the absolute encoding table includes a plurality of second reflection part groups arranged along the axis of the encoding cylinder, each second reflection part group includes a plurality of second reflection parts arranged uniformly in the circumferential direction on the inner side wall of the encoding cylinder, the second reflection part is an absolute encoding bit.

[0014] Further optimization technical solutions, the encoding plate is provided with a trigger bit reflective photocell and a plurality of absolute encoding bit reflective photocells, the trigger bit reflective photocell corresponds to the position of the first reflection part, and each absolute encoding bit reflective photocell corresponds to the position of each second reflection part; the trigger bit reflective photocell and the incremental encoding table form an incremental encoder, and each absolute encoding bit reflective photocell and the absolute encoding table form an absolute encoder.

[0015] Further optimization technical solutions, further comprising a software control system, the software control system includes:

[0016] Incremental encoder trigger module, for powering the incremental encoder after receiving the unlocking signal fed back by the controller;

[0017] Absolute encoder trigger module, for controlling each absolute encoding bit reflective photocell to be powered when the trigger bit reflective photocell receives the light emitted by the first reflection part;

[0018] Absolute encoder power-off module, for controlling the absolute encoding bit reflective photocell to be powered off when the trigger bit reflective photocell does not receive the light emitted by the first reflection part, or after the absolute encoder detects data;

[0019] Incremental encoder power-off module, for controlling the incremental encoder to be powered off when the motor reaches the target position.

[0020] Further optimization technical solutions, the software control system further includes:

[0021] Timeout alarm module, for monitoring the time from when the incremental encoder is powered on to when the absolute encoder is triggered, and alarming in the timeout state;

[0022] And / or

[0023] The data correction module is configured to check the incremental data of the incremental encoder and the position data of the absolute encoder, and correct the incremental data of the incremental encoder by the position data of the absolute encoder when the obtained incremental encoder trigger signal is the initial trigger signal.

[0024] And / or

[0025] The pulse number monitoring module is configured to monitor the number of pulses output by the incremental encoder, and when the data correction module monitors that the actual number of pulses output by the incremental encoder is less than or equal to half of the theoretical number of pulses, the data correction module monitors to feed back absolute encoding bit error information to the controller.

[0026] In the further optimization technical solution, light barriers are arranged between the first reflection portions, between the second reflection portions, and / or between the first reflection portions and the second reflection portions.

[0027] And / or

[0028] The trigger bit corresponds to the middle part of the absolute encoding bit in the axial direction of the encoding drum.

[0029] In the further optimization technical solution, the encoding plate is provided with an encoding plate control circuit, the reflective photoelectric tube is arranged on the encoding plate control circuit, the reflective photoelectric tube includes a reflection tube and a receiving tube, the encoding plate control circuit includes a reflection tube control circuit for controlling the on-off of the reflection tube and a receiving tube control circuit for controlling the on-off of the receiving tube, the controlled end of the reflection tube control circuit is connected to the output end of the controller, and the output end of the receiving tube control circuit is connected to the input end of the controller.

[0030] In the further optimization technical solution, the encoding plate control circuit is further provided with a driving circuit.

[0031] In the further optimization technical solution, the region of the encoding drum where no encoding table is arranged is connected to the motor output shaft through a cantilever.

[0032] And / or

[0033] The encoding plate is positioned on the PCBA support.

[0034] The method for operating the motor encoder includes the following steps:

[0035] S1. When the lock needs to be opened, the motor encoder is controlled to start, the motor drives the encoding drum to rotate, the reflective photoelectric tube emits light to the encoding table and receives the reflected light of the encoding table, and the received reflected light is converted into a signal output.

[0036] S2. The signal output by the reflective photoelectric tube is received by the controller, and the motor state is obtained based on the signal.

[0037] Further optimize the technical scheme, the step S1 specifically includes the following steps:

[0038] S11. The incremental encoder trigger module controls the incremental encoder to be powered after receiving the unlocking signal fed back by the controller;

[0039] S12. Determine whether the incremental encoder is triggered; when the incremental encoder is not triggered, control the motor to move to the target position until the incremental encoder trigger signal is detected; when the incremental encoder is triggered, control the absolute encoder to be powered and obtain the position data of the absolute encoder, and then control the absolute encoder to be powered off;

[0040] S13. Control the encoding cylinder to continue to rotate, and when the trigger signal of the next incremental encoder is obtained, repeat steps S11 and S12 until the target position is reached.

[0041] Further optimize the technical scheme, when the incremental encoder is triggered, the step of checking the incremental data of the incremental encoder and the position data of the absolute encoder is further included:

[0042] When the obtained incremental encoder trigger signal is the initial trigger signal, the incremental data of the incremental encoder is corrected through the position data of the absolute encoder;

[0043] When the obtained incremental encoder trigger signal is a non-initial trigger signal, each time the incremental encoder is detected to be incremented by 1 or decremented by 1, the position data of the absolute encoder is checked at the same time.

[0044] The technical scheme of the present application has the following advantages:

[0045] 1. The motor encoder provided by the present application adopts a drum-type encoding table, the encoding table is attached to the inner cylinder wall of the encoding cylinder, the encoding plate is arranged near the inner wall of the encoding cylinder and has a small gap with the encoding table, the encoding cylinder is coaxially connected with the motor, and then the motor drives the encoding cylinder to rotate, the information of the encoding table is recognized by the reflective photoelectric tube on the encoding plate, so as to realize the acquisition of the motor state, the encoding data can be fed back in real time, so that the present application can realize the function of the encoder while canceling the encoding disc which occupies a large space, the occupied space is small, the structure is more compact, and the encoder can be widely applied in the field of door locks.

[0046] The application adopts a reflective photoelectric tube, the volume of the reflective photoelectric tube is small, and thus the code plate can be made small in volume to achieve the purpose of compact structure. In addition, the photoelectric tube is arranged in a reflective mode on the door lock, the transmitting tube and the receiving tube are arranged on the inner side of the cylinder wall of the code cylinder instead of being arranged at both ends of the cylinder wall of the code cylinder, and thus the occupied space can be reduced. The code plate is close to the cylinder wall of the code cylinder as much as possible, the light loss is reduced, the power consumption is reduced, and the reflective photoelectric tube on the code plate is not in contact with the code table, and the reliability is high.

[0047] 2. The motor encoder provided by the application simultaneously uses an incremental encoder and an absolute encoder to obtain the running state of the motor, the incremental encoder and the absolute encoder have a fixed corresponding relationship in position, and thus the incremental encoder and the absolute encoder can be mutually checked to ensure the accuracy of the obtained motor state.

[0048] 3. The motor encoder provided by the application uses the absolute encoder trigger module to supply power only when the absolute encoder trigger module is triggered, and controls the absolute code bit reflective photoelectric tube to be powered off when the first reflective part of the absolute code bit reflective photoelectric tube does not receive the emitted light rays, that is, in a non-working state, and thus the power consumption is reduced, and the average power consumption of the photoelectric encoder is reduced.

[0049] 4. The motor encoder provided by the application, the software control system further comprises a timeout alarm module, the timeout alarm module is used for monitoring the time interval without triggering of the incremental encoder after the incremental encoder is powered on, and alarms in a timeout state, and thus the operator can obtain the abnormal state of the motor in time. For example, the incremental encoder trigger module is triggered, and the motor is in a stuck state, and thus the timeout alarm is performed.

[0050] 5. The motor encoder provided by the application, the software control system further comprises a data correction module, the data correction module is used for checking the incremental data of the incremental encoder and the position data of the absolute encoder, and correcting the incremental data of the incremental encoder by the position data of the absolute encoder when the obtained incremental encoder trigger signal is an initial trigger signal, so as to ensure that no abnormal data occurs, and the data needs to be sequentially detected. According to the direction of the lock, the judgment of counterclockwise or clockwise is performed; that is, the data is sequentially detected when the lock rotates counterclockwise, and the data is sequentially detected when the lock rotates clockwise.

[0051] 6. The motor encoder provided by the application, a light barrier is arranged between each first reflective part and / or between each second reflective part and / or between the first reflective part and the second reflective part, and thus the light interference between the reflective parts can be prevented, and the detection accuracy is ensured.

[0052] 7. The motor encoder provided by the application has the trigger bit corresponding to the middle part of the absolute encoding bit along the axis direction of the encoding drum, and the trigger bit is in the middle of the absolute encoding bit, so that the absolute encoder cannot be misread by falling on the boundary of the data bit, and the detection accuracy is ensured.

[0053] 8. The motor encoder provided by the application has a driving circuit added on the encoding plate control circuit, which is amplified by Darlington or triode or operational amplifier comparator circuit or Schmidt trigger circuit, so that the reflective photoelectric tube can also work under a small current. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced below. Obviously, the drawings described below are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0055] Fig. 1 is a structural schematic diagram of the motor encoder provided by the application;

[0056] Fig. 2 is a structural schematic diagram of the encoding drum of the motor encoder provided by the application;

[0057] Fig. 3 is a schematic diagram of the positional relationship between the encoding plate and the encoding drum of the motor encoder provided by the application;

[0058] Fig. 4 is a schematic diagram of the connection between the encoding plate and the PCBA support of the motor encoder provided by the application;

[0059] Fig. 5 is a schematic diagram of the circuit structure of the motor encoder provided by the application;

[0060] Fig. 6 is an encoding schematic diagram of the motor encoder provided by the application;

[0061] Fig. 7 is a circuit connection diagram of the reflective photoelectric tube of the motor encoder provided by the application;

[0062] Fig. 8 is a flowchart of the operation method of the motor encoder provided by the application.

[0063] Fig. 1 is a structural schematic diagram of the motor encoder provided by the application; DETAILED DESCRIPTION

[0064] Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure can be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. It should be noted that the form of the present application in which the code table is attached to the inner wall of the code drum is only a preferred embodiment of the motor encoder of the present application and is not a limitation on the scope of protection of the motor encoder.

[0065] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "including" and "having" are inclusive and therefore specify the presence of stated features, elements, components, and / or steps, but do not preclude the presence or addition of one or more other features, elements, components, steps, and / or groups thereof.

[0066] Although the terms first, second, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first", "second", and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. In addition, in the description of the present application, unless otherwise clearly specified and limited, the terms "set", "connected" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be directly connected, or indirectly connected through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0067] For the sake of description, spatial relative terms can be used herein for describing one element's or feature's relationship to another element or feature as illustrated in the figures, such as "front", "back", "middle", "inner", "longitudinal", "lateral", "side", "vertical", "outer", and the like. Such spatial relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The device can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0068] Encoder is the device that compiles signal (such as bit stream) or data into signal form that can be used for communication, transmission and storage. Encoder converts angular displacement or linear displacement into electrical signal, the former is called code disc, and the latter is called code ruler. According to the reading mode, encoder can be divided into contact type and non-contact type; according to the working principle, encoder can be divided into incremental type and absolute type. Incremental encoder converts displacement into periodic electrical signal, and then converts the electrical signal into counting pulse, and the number of pulses represents the size of displacement. Absolute encoder corresponds to a certain digital code for each position.

[0069] Optoelectronic encoder is composed of light source, encoding disc and photosensitive element, the encoding disc is connected with the shaft end of motor, the volume of the encoding disc is large, so the space occupied by the optoelectronic encoder as a whole is large, and the space of the door lock is limited, so the existing optoelectronic encoder cannot be applied in the door lock.

[0070] Based on this, the motor encoder is designed, the encoding table is arranged on the inner wall of the rotating encoding cylinder to replace the encoding disc, so that the space occupied by the motor encoder is small, and the motor encoder can be applied in the field of door lock.

[0071] At present, the motor control on the door lock is basically in the form of limit switch, this form cannot know the position of the motor, cannot monitor the running state of the motor, only when the limit switch is touched, the position of the motor, i.e. the position of the lock, can be known, the flexibility is poor. Magnetic encoder needs calibration and stable magnetic field environment, and the magnetic encoder cannot be complicated in structure because the magnetic circuit simulation is needed. Contact type encoder needs lubricating oil, and the possibility of mechanical failure is high.

[0072] Based on this, the application adopts the scheme of the photoelectric encoder, uses the combination of the incremental encoder and the absolute encoder, effectively solves the problem of obtaining the motor position, can obtain the absolute position and the incremental position, can effectively control the running state, the speed and the position of the motor, and optimizes the power consumption. The motor encoder provided by the application includes a circuit, a structure and a software control system, and has the characteristics of compact structure, high reliability and low power consumption.

[0073] The specific embodiments of the application will be described in detail below in combination with the motor encoder of the first aspect of the application.

[0074] As shown in FIGS. 1 to 7, the embodiment discloses a motor encoder, which comprises an encoding cylinder 1, an encoding table 2, an encoding plate 3 and a controller (MCU). The encoding cylinder 1 is coaxially connected with the motor output shaft and synchronously rotates with the motor, and is arranged on the periphery of the motor output shaft. The encoding table 2 is arranged on the inner side wall of the encoding cylinder 1, and is made of a material with large color difference and light reflection capability. The encoding table 2 has a plurality of spaced-apart reflection parts (encoding bits), and the reflection parts have light reflection capability, and the non-reflection parts do not have light reflection capability, so that the encoding table 2 forms an intermittent light reflection encoding table. The encoding plate 3 is arranged in a spaced-apart manner with the encoding cylinder 1, and the encoding plate 3 is provided with at least one reflection type photoelectric tube corresponding to the position of the encoding table 2. The reflection type photoelectric tube is used for emitting light to the encoding table 2, receiving the reflected light of the encoding table 2, and converting the received reflected light into a signal output. The output end of the reflection type photoelectric tube is connected to the input end of the controller, and the controller is used for receiving the signal output by the reflection type photoelectric tube and obtaining the motor state based on the signal.

[0075] The motor encoder described above adopts a drum type encoding table, the encoding table is attached to the inner cylinder wall of the encoding cylinder 1, the encoding plate 3 is arranged near the inner wall of the encoding cylinder 1 and has a small spacing with the encoding table, the encoding cylinder 1 is coaxially connected with the motor, and then the motor drives the encoding cylinder 1 to rotate, the reflection type photoelectric tube on the encoding plate 3 identifies the encoding table information, so as to realize the acquisition of the motor state, so that the application can realize the function of the encoder while canceling the large-space-occupying encoding disc, saves the structural space, has a more compact structure, utilizes small space, and makes the encoder can be widely applied in the field of door locks.

[0076] It should be noted that the "signal" in the embodiment is an analog signal or a digital signal, but is not limited to an analog signal or a digital signal. The coding barrel 1 is a lock shell of the door lock. Since the embodiment adopts a reflective phototube, the reflective phototube has a small volume, and thus the coding plate 3 can have a small volume to achieve a compact structure. Moreover, since the embodiment is applied to the door lock, the phototube is arranged in a reflective manner, and the transmitting tube and the receiving tube are arranged on the inner side of the barrel wall of the coding barrel 1, and thus the occupied space can be reduced. The coding plate 3 is arranged close to the barrel wall of the coding barrel to reduce light loss and power consumption.

[0077] In some embodiments, referring to FIG. 4, the coding plate 3 is positioned on the PCBA support 4, and the PCBA support 4 is fixed in position.

[0078] In some embodiments, referring to FIGS. 1 and 2, the coding table 2 includes an incremental coding table 21 and an absolute coding table 22. The incremental coding table 21 includes a plurality of first reflective portions that are uniformly and circumferentially spaced on the inner wall of the coding barrel 1, and the first reflective portions are trigger bits. The absolute coding table 22 includes a plurality of second reflective portion groups that are arranged along the axis of the coding barrel 1, and each second reflective portion group includes a plurality of second reflective portions that are circumferentially spaced on the inner wall of the coding barrel 1, and the second reflective portions are absolute coding bits.

[0079] In the embodiment, when the light emitted by the reflective phototube irradiates the first reflective portion, the first reflective portion can reflect the light back to the reflective phototube, thereby achieving the trigger function; when the light emitted by the reflective phototube irradiates the second reflective portion, the second reflective portion can reflect the light back to the reflective phototube, and the reflective phototube collects the waveform and feeds back the information to the controller.

[0080] In some embodiments, the coding plate 3 is provided with one trigger bit reflective phototube and a plurality of absolute coding bit reflective phototubes, the trigger bit reflective phototube corresponds to the position of the first reflective portion, and each absolute coding bit reflective phototube corresponds to the position of each second reflective portion; the trigger bit reflective phototube and the incremental coding table 21 form an incremental encoder, and each absolute coding bit reflective phototube and the absolute coding table 22 form an absolute encoder.

[0081] In the embodiment, the incremental encoder and the absolute encoder are used to obtain the running state of the motor, and the incremental encoder and the absolute encoder have a fixed corresponding relationship in position, and thus the incremental encoder and the absolute encoder can be checked with each other to ensure the accuracy of obtaining the state of the motor.

[0082] As a specific embodiment, the reflective photocell is provided with 5, of which 4 are data bits, which are absolute encoding bits, and 1 is a reading signal trigger bit, which is also an incremental number reading bit. The trigger bit reflective photocell is always powered on during the door lock opening to the motor reaching the target position; the other 4 absolute encoding bit reflective photocells are powered only when triggered.

[0083] In some embodiments, the motor encoder further comprises a software control system, which comprises an incremental encoder trigger module, an absolute encoder trigger module, an absolute encoder power-off module and an incremental encoder power-off module. The incremental encoder trigger module is used to power the incremental encoder after receiving the unlock signal fed back by the controller. The absolute encoder trigger module is used to control the power supply of the absolute encoding bit reflective photocell when the trigger bit reflective photocell receives the light emitted by the first reflecting part. The absolute encoder power-off module is used to control the absolute encoding bit reflective photocell to be powered off when the trigger bit reflective photocell does not receive the light emitted by the first reflecting part, or after the absolute encoder detects data. The incremental encoder power-off module is used to control the incremental encoder to be powered off when the motor reaches the target position.

[0084] In this embodiment, the absolute encoder is powered only when triggered by the incremental encoder trigger module, and the absolute encoding bit reflective photocell is powered off when the trigger bit reflective photocell does not receive the light emitted by the first reflecting part, i.e. when the incremental encoder trigger module changes from the triggered state to the non-triggered state. Alternatively, the absolute encoder is powered off after detecting data. In this way, the absolute encoding bit reflective photocell can be powered on in the working state and powered off in the non-working state, effectively reducing power consumption.

[0085] In some embodiments, the software control system further comprises a timeout alarm module, which is used to monitor the time interval of the incremental encoder without triggering after being powered on, and alarms in the timeout state, so that the operator can timely obtain the abnormal state of the motor. For example, the incremental encoder trigger module is triggered, and the motor is in a stuck state, which will trigger a timeout alarm.

[0086] In some embodiments, the door lock control system is provided with a current and voltage monitoring module, which is used to monitor the voltage and current of the motor encoder in real time, to determine whether overcurrent, undervoltage or overvoltage conditions occur, so as to timely monitor the abnormal state of the motor.

[0087] The data of the incremental encoder and the data of the absolute encoder are consistent, and the data of the incremental encoder and the data of the absolute encoder cannot be misaligned, in order to avoid errors in one party, leading to the use of incorrect data by the MCU. In some embodiments, the software control system further comprises a data correction module, the data correction module is used for checking the incremental data of the incremental encoder and the position data of the absolute encoder, and correcting the incremental data of the incremental encoder by the position data of the absolute encoder when the obtained incremental encoder trigger signal is the initial trigger signal, so as to ensure that there is no abnormal data and the data needs to be detected in sequence. According to the direction of the lock, the judgment of counterclockwise or clockwise is made; that is, if the lock rotates counterclockwise, the data is detected in ascending order; if the lock rotates clockwise, the data is detected in descending order.

[0088] For example, the trigger bit number data of the incremental encoder is directly from "4" to "6", at this time, an abnormal state will be entered, and the software control system will report an error. Because the data is written in sequence, there is a predicted value for the data, and when the data is inconsistent with the predicted value, an error will be reported. When the data of the incremental encoder and the data of the absolute encoder are misaligned, the software control system will also report an error.

[0089] In some embodiments, the software control system further comprises a pulse quantity monitoring module, the pulse quantity monitoring module is used for monitoring the pulse quantity output by the incremental encoder: when the data correction module monitors that the actual pulse quantity output by the incremental encoder is less than or equal to half of the theoretical output pulse quantity, the data correction module monitors to feed back absolute encoding bit error information to the controller, the software control system reports an error, and the controller obtains the absolute encoding bit error information, then determines that a bit in the absolute encoder is damaged, so that the user can timely find that the motor encoder is damaged.

[0090] As shown in FIG. 6, the output pull-up = 1; the normal "white = pull to GND = 0; black = pull to high = 1".

[0091] When one of the photocells is damaged: Bit = 0, drive breakdown; bit = 1, no reflection is obtained;

[0092] For example, absolute encoding bit error -> one bit error

[0093] The correct one should be: 0-15; 15-0

[0094] For the error of the last bit (this is the most serious error example):

[0095] For the above table:

[0096] For the scheme of the encoder, it is assumed that the 4-bit encoder is a circle, and the count of the pulses should be 16. The absolute encoder operation (current value ~ target value) must determine whether there is an abnormal value (heavy number value, discontinuous value).

[0097] For the 4-bit lock, the number of incremental pulses must be calculated, and the number of incremental pulses for unlocking must be > 8 (target value - current value), so as long as the number of incremental pulses is ≤ 8, the pulse number monitoring module reports an error to the controller.

[0098] In some embodiments, a light barrier is provided between each first reflecting portion and / or between each second reflecting portion and / or between the first reflecting portion and the second reflecting portion, thereby preventing light interference between the reflecting portions and ensuring the accuracy of the detection.

[0099] In some embodiments, the length of the absolute encoding bit is greater than the length of the trigger bit, and the trigger bit corresponds to the middle of the absolute encoding bit along the axis direction of the encoding drum 1, so that the trigger bit falls in the middle of the absolute encoding bit, ensuring that the absolute encoder will not fall on the boundary of the data bit and misread, and ensuring the accuracy of the detection.

[0100] In some embodiments, the absolute encoder is a 4-bit absolute encoder. First, the accuracy requirement of the encoder in the lock is not high, so a 4-bit absolute encoder is sufficient; if a 16-bit absolute encoder is used, the encoding drum will increase, which will increase the power consumption. Since the current of the 4-bit absolute encoder is smaller than that of the 6-bit, 8-bit, and 16-bit absolute encoders, the power consumption is beneficial to increase the running time of the lock. It should be noted that although the present embodiment discloses a 4-bit absolute encoder, the absolute encoder can also use an 8-bit or 16-bit encoder.

[0101] In some embodiments, referring to FIG. 7, the encoding plate 3 is provided with an encoding plate control circuit, and a reflective photoelectric tube is arranged on the encoding plate control circuit. The reflective photoelectric tube includes a reflecting tube and a receiving tube. The encoding plate control circuit includes a reflecting tube control circuit for controlling the on-off of the reflecting tube and a receiving tube control circuit for controlling the on-off of the receiving tube. The controlled end of the reflecting tube control circuit is connected to the output end of the controller, and the output end of the receiving tube control circuit is connected to the input end of the controller. In the present embodiment, the power switch of the reflective photoelectric tube needs to be controlled to ensure low-power operation.

[0102] The power supply, power supply switch and control pin are arranged on the reflection tube control circuit, the control pin is connected with the controller, and the control signal of the power supply is given by the MCU to the circuit. It should be noted that the power supply of the incremental encoder is controlled by the unlocking instruction. The power supply of the absolute encoder is controlled after the incremental encoder is triggered. More specifically, the incremental encoder will feed back the incremental encoder trigger signal to the MCU after being triggered, and the MCU will issue an absolute encoder power supply instruction to control the power supply of the absolute encoder to supply power. Or the incremental encoder directly issues a power supply instruction to the absolute encoder after being triggered to control the power supply of the absolute encoder to supply power.

[0103] In some embodiments, due to the small current setting of the photocell, the reaction time of the photocell is not fast enough and the level cannot be pulled low, so a driving circuit is added on the encoding board control circuit, which is amplified by Darlington or triode or operational amplifier comparator circuit or Schmidt trigger circuit, so that the reflective photocell can also work under a small current. The weak photoelectric signal is amplified by the amplification circuit, and a triode or Darlington tube with large amplification is used. The output is given to the IO port of the controller for threshold judgment.

[0104] In some embodiments, referring to FIG. 1, the area of the encoding cylinder 1 without the encoding table 2 is connected with the motor output shaft 6 through the cantilever 5. When the motor rotates, it can drive the cantilever 5 to rotate, and then drive the encoding cylinder 1 and the encoding table 2 to rotate. The encoding table 2 is printed or attached to the inner cylinder wall of the encoding cylinder 1. This embodiment cancels the encoding disc, uses the existing rotating arm, and uses the printed (also can use the film) way to attach the encoding table on the encoding cylinder shell, so the structure is compact.

[0105] The specific embodiments of the present application will be described in detail below in combination with the operation method of the motor encoder of the second aspect of the present application.

[0106] The present embodiment discloses an operation method of a motor encoder, comprising the following steps:

[0107] S1. The door lock is coaxially connected with the motor output shaft, and the state in which the door lock can act is always within the coverage range of the encoding table. The door lock can receive the trigger information of the reflective photocell when it rotates by a certain angle.

[0108] When the door lock needs to be opened (when someone opens the lock), the trigger bit reflective photocell is started first, the trigger bit is read, and the other 4bit data bits are not powered on, which is also to ensure low power consumption. When the trigger bit is read, the 4bit data bit is powered on, the MCU obtains the position of the motor rotation, reads the position data, and after reading, the current is continuously disconnected, and low power consumption is entered.

[0109] Reading mode: the emitting tube of the reflection photoelectric cell emits light, the intensity of the reflected light is obviously different according to the reflection coefficient of the encoding table, the receiving tube outputs signals according to the intensity of the received light, and the signals are sent to the controller after amplification.

[0110] S2. The signal output by the reflection photoelectric cell is received by the controller, and the motor state is obtained based on the signal.

[0111] As shown in FIG. 8, step S1 specifically includes the following steps:

[0112] S11. After receiving the unlocking signal fed back by the controller, the incremental encoder triggering module controls the incremental encoder to be powered.

[0113] S12. Determine whether the incremental encoder is triggered; when the incremental encoder is not triggered, control the motor to move a small step towards the target position until the incremental encoder trigger signal is detected; when the incremental encoder is triggered, control the absolute encoder to be powered and obtain the position data of the absolute encoder, and then control the absolute encoder to be powered off.

[0114] S13. Control the encoding cylinder 1 to continue rotating, and when the next incremental encoder trigger signal is obtained, repeat steps S11 and S12 until the target position is reached. When the target position is reached, the incremental encoder is powered off.

[0115] When the absolute encoder is triggered, it further includes the step of checking the incremental data of the incremental encoder and the position data of the absolute encoder:

[0116] When the obtained incremental encoder trigger signal is the initial trigger signal, correct the incremental data of the incremental encoder according to the absolute 4-bit data. At the beginning, since the encoding cylinder can be manually rotated, it cannot be guaranteed that the position stopped is the preset position, and the specific position cannot be obtained after the incremental encoder is triggered, so the position data of the absolute encoder is needed to correct the data of the incremental encoder. The data obtained by the absolute encoder is given to the incremental encoder in the program.

[0117] When the obtained incremental encoder trigger signal is a non-initial trigger signal, check it once every time the incremental encoder detects an increment of 1 or a decrement of 1. The incremental encoder detects the trigger position once every time, which increases or decreases by 1, ensuring that the data is updated (from small to large or from large to small). The absolute encoder reads the absolute encoding data after each trigger. At the same time, the incremental encoding data is checked with the absolute encoder data to ensure the accuracy of the position data and prevent data errors caused by component failure.

[0118] The application can output feedback motor state according to the code plate, can measure speed and position, and has low power consumption, only generates when the motor moves, has lower working power than common, and has low average power consumption.

[0119] When the position of the motor is acquired, referring to the code schematic diagram shown in Figure 6, when the incremental encoder and the absolute encoder work simultaneously, the corresponding binary code of the absolute encoder corresponding to the incremental encoder trigger bit number (for example, 4-bit lock, the incremental encoder trigger bit number is "0, 1, 2, 3... 15") can be found in the axial direction of the incremental encoder trigger bit, and then the position of the motor is acquired according to the binary code.

[0120] When the speed of the motor is measured according to time, based on the resolution of the incremental encoder and the number of pulses emitted, the displacement of the inner wall of the code cylinder can be obtained, and then the speed of the motor is calculated by the timer feedback timing of the encoder.

[0121] Referring to the code schematic diagram shown in Figure 6, the diagram mixes incremental encoding and absolute encoding, wherein the trigger bit is the white area, and the non-trigger bit is the black area. The incremental encoding also has the functions of triggering 4-bit absolute encoding power and reading data. The trigger bit falls in the middle of the absolute encoding bit, so that the absolute encoder cannot fall in the boundary of the data bit and misread. The data of the incremental encoder is compared with the data of the absolute encoder, so that data errors caused by some factors (such as damage of the photoelectric tube) are avoided. According to the calculation, the number of incremental encoder triggers is accumulated, and for 4-bit lock, the number of pulse accumulations needs to be greater than 8. If the number of pulse accumulations is less than or equal to 8, the next data will be read to avoid repetition of the absolute data.

[0122] Obviously, the above embodiments are only examples for clearly illustrating, and are not limitation to the embodiments. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments are not required to be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. Motor encoder, characterized in that, include: An encoding cylinder (1), the encoding cylinder (1) is coaxially connected to the motor output shaft and rotates synchronously with the motor; A coding table (2), the coding table (2) being arranged on the inner side wall of the coding cylinder (1), the coding table (2) having a plurality of reflective portions arranged at intervals, the reflective portions having a light-reflecting capability; A coding plate (3) is arranged at intervals from the coding cylinder (1), and the coding plate (3) is provided with at least one reflective photoelectric tube corresponding to the position of the coding table (2); the reflective photoelectric tube is used to emit light to the coding table (2), receive light reflected from the coding table (2), and then convert the received reflected light into a signal output; The controller includes an output end of the reflective photoelectric tube connected to an input end of the controller, and the controller is used to receive a signal output by the reflective photoelectric tube and obtain a motor state based on the signal.

2. The motor encoder according to claim 1, characterized in that: The coding table (2) includes: An incremental coding table (21), comprising a plurality of first reflecting portions evenly spaced circumferentially arranged on the inner side wall of the coding cylinder (1), wherein the first reflecting portions serve as trigger positions; An absolute coding table (22) includes a plurality of second reflection portion groups arranged along the axis of the coding cylinder, each second reflection portion group includes a plurality of second reflection portions arranged at circumferential intervals on the inner side wall of the coding cylinder (1), and the second reflection portions are absolute coding positions.

3. The motor encoder according to claim 2, characterized in that: The coding plate (3) is provided with a trigger position reflective phototube and a plurality of absolute coding position reflective phototubes, wherein the trigger position reflective phototube corresponds to the position of the first reflective portion, and each of the absolute coding position reflective phototubes corresponds to the position of each second reflective portion; the trigger position reflective phototube and the incremental coding table (21) constitute an incremental encoder, and each of the absolute coding position reflective phototubes and the absolute coding table (22) constitute an absolute encoder.

4. The motor encoder according to claim 3, characterized in that: Also included is a software control system, the software control system comprising: The incremental encoder trigger module is used to power the incremental encoder after receiving the unlocking signal fed back by the controller; The absolute encoder trigger module is used to control the reflective phototubes of each absolute encoder position to supply power when the reflective phototube of the trigger position receives the light emitted by the first reflector; The absolute encoder power-off module is used to control the absolute encoder reflective phototube to be powered off when the trigger reflective phototube does not receive the light emitted by the first reflective part, or after the absolute encoder performs data detection; The incremental encoder power-off module is used to control the power off of the incremental encoder when the motor reaches the target position.

5. The motor encoder according to claim 4, characterized in that: The software control system further includes: The timeout alarm module is used to monitor the time interval when the incremental encoder is not triggered after the incremental encoder is powered on, and to alarm in the timeout state; and / or A data correction module is used to check the incremental data of the incremental encoder with the position data of the absolute encoder, and when the acquired incremental encoder trigger signal is an initial trigger signal, correct the incremental data of the incremental encoder by using the position data of the absolute encoder; and / or The pulse number monitoring module is used to monitor the number of pulses output by the incremental encoder: when the data correction module monitors that the actual number of pulses output by the incremental encoder is less than or equal to half of the theoretical number of pulses output, the data correction module monitors and feeds back absolute encoding bit error information to the controller.

6. The motor encoder according to claim 3, characterized in that: A light-isolating grating is provided between each of the first reflecting parts and / or between each of the second reflecting parts and / or between the first reflecting part and the second reflecting part; and / or The trigger position corresponds to the middle of the absolute encoding position along the axis direction of the encoding cylinder (1).

7. The motor encoder according to claim 1, characterized in that: The coding plate (3) is provided with a coding plate control circuit, the reflective phototube is provided on the coding plate control circuit, the reflective phototube comprises a reflective tube and a receiving tube, the coding plate control circuit comprises a reflective tube control circuit for controlling the on / off of the reflective tube and a receiving tube control circuit for controlling the on / off of the receiving tube, the controlled end of the reflective tube control circuit is connected to the output end of the controller, and the output end of the receiving tube control circuit is connected to the input end of the controller.

8. The motor encoder according to claim 7, characterized in that: The coding board control circuit is also provided with a driving circuit.

9. The motor encoder according to any one of claims 1 to 8, characterized in that: The area of ​​the encoding cylinder (1) where the encoding table (2) is not provided is connected to the motor output shaft (6) via a cantilever (5); and / or The coding plate (3) is positioned on the PCBA bracket (4).

10. The method for operating a motor encoder is characterized in that: The method is an operating method of a motor encoder according to any one of claims 1 to 9, comprising the following steps: S1. When the lock needs to be opened, the motor encoder is started, the motor drives the encoding cylinder (1) to rotate, the reflective photoelectric tube emits light to the receiving encoding table (2), and receives the reflected light from the encoding table (2), and converts the received reflected light into a signal output; S2. Receive the signal output by the reflective photoelectric tube through the controller, and obtain the motor status based on the signal.

11. The method for operating a motor encoder according to claim 10, characterized in that: The step S1 specifically includes the following steps: S11. After receiving the unlock signal from the controller, the incremental encoder trigger module controls the incremental encoder to supply power. S12. Determine whether the incremental encoder is triggered; when the incremental encoder is not triggered, control the motor to move toward the target position until the incremental encoder trigger signal is detected; when the incremental encoder is triggered, control the absolute encoder to be powered, obtain the position data of the absolute encoder, and then control the absolute encoder to be powered off; S13. Control the encoder cylinder (1) to continue rotating. When the trigger signal of the next incremental encoder is obtained, repeat steps S11 and S12 until the target position is reached.

12. The method for operating a motor encoder according to claim 11, characterized in that: When the incremental encoder is triggered, the step of checking the incremental data of the incremental encoder with the position data of the absolute encoder is also included: When the acquired incremental encoder trigger signal is an initial trigger signal, the incremental data of the incremental encoder is corrected by the position data of the absolute encoder; When the acquired incremental encoder trigger signal is not the initial trigger signal, it is incremented or decremented by 1 each time it is detected, and is checked against the position data of the read absolute encoder.

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