CN113589258A - Radar system capable of monitoring motor rotation speed, implementation method thereof and radar equipment - Google Patents
Radar system capable of monitoring motor rotation speed, implementation method thereof and radar equipment Download PDFInfo
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- CN113589258A CN113589258A CN202110778493.1A CN202110778493A CN113589258A CN 113589258 A CN113589258 A CN 113589258A CN 202110778493 A CN202110778493 A CN 202110778493A CN 113589258 A CN113589258 A CN 113589258A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a radar system capable of monitoring the rotating speed of a motor, an implementation method thereof and radar equipment. The method simultaneously monitors the time difference of the rising edge and the falling edge in the feedback pulse sequence during speed measurement so as to calculate the rotating speed of the motor, and can reduce the speed measurement error caused by the machining error of the hole opening of the code disc to the maximum extent. The radar apparatus includes the radar system. By using the radar system, the motor rotating speed in the laser radar system can be monitored more accurately and efficiently, and the stable and reliable operation of the laser radar system can be ensured. The invention can be widely applied to the technical field of radars.
Description
Technical Field
The invention relates to the technical field of radars, in particular to a radar system capable of monitoring the rotating speed of a motor, an implementation method thereof and radar equipment.
Background
The laser radar technology is a radar system that detects a characteristic amount of a target, such as a position, a velocity, and the like, by emitting a laser beam. Compared with the conventional common microwave radar, the laser radar uses laser beams, and the working frequency is much higher than that of microwaves, so that the advantages of high resolution, good concealment, strong active interference resistance, small size, light weight and the like are brought. The existing laser radar technology is mainly applied to industries such as robot equipment, automobile assistant driving and unmanned aerial vehicles. At present, the laser emitting and receiving technology and the communication technology design between the rotating end and the control module are mature day by day, and related products gradually enter the daily life of people, such as a sweeping robot, an automatic positioning and navigation unmanned automobile and the like, so that a great deal of convenience is brought to people.
Among the above-mentioned application product of current, laser radar often sets up on rotatable motor, drives laser radar through the operation of motor and realizes that 360 rotatory scans survey external environment, therefore real time monitoring laser radar's motor speed is very important to realizing whole radar system's normal work. In the existing laser radar design, a common photoelectric gate and a matched code disc realize rotating speed monitoring, a single edge of feedback pulse of a receiving end of the photoelectric gate is used for timing when speed is measured, and then the rotating speed is measured through the specification of the code disc.
However, the speed measurement mode of the photoelectric gate has the following disadvantages: the photoelectric gate emitting light has a large divergence angle, so that the edge of the generated feedback pulse is relatively slow, the edge monitoring precision is not high, the condition that the emitting light simultaneously passes through two gaps on the code disc is easy to occur, and timing errors are caused. In addition, the mechanical processing error of the code disc can also influence the occurrence time point of the feedback pulse edge of the photoelectric gate, so that the accuracy of pulse edge timing and speed measurement is reduced. However, in the application of the existing laser radar technology, no technical scheme aiming at the problems is provided.
Disclosure of Invention
To solve the above technical problem, an embodiment of the present invention aims to: the radar system capable of monitoring the rotating speed of the motor, the implementation method of the radar system and the radar equipment are provided, the rotating speed of the motor in the radar system can be accurately detected and controlled, and the radar system can operate more stably and efficiently.
The technical scheme adopted by the embodiment of the invention is as follows:
in a first aspect, an embodiment of the present invention provides a radar system capable of monitoring a rotation speed of a motor, including:
the detection device is used for transmitting and receiving laser signals;
the motor device is used for bearing the detection device and realizing the rotary transmission and reception of laser signals;
the speed measuring device is used for detecting the rotating speed of the motor device and sending rotating speed information to the control device;
a control device for controlling the rotational speed of the motor device;
the speed measuring device comprises a coded disc, a diaphragm and a photoelectric gate, wherein the photoelectric gate comprises a light-emitting side and a receiving side, the light-emitting side of the photoelectric gate is used for emitting speed measuring laser, and the receiving side of the photoelectric gate is used for receiving a feedback pulse sequence formed by the speed measuring laser;
the outer ring of the coded disc is arranged between the receiving side and the light-emitting side of the photoelectric door;
the diaphragm is arranged on the light emitting side of the photoelectric gate.
Furthermore, the detection device comprises a laser emitter, a condenser, a collimating mirror, a reflecting mirror and a rotating shaft;
the laser emitter is used for emitting downward laser;
the condenser lens is arranged below the laser transmitter and is used for converging the downward laser into a laser beam;
the collimating mirror and the reflecting mirror are arranged at the upper end of the rotating shaft and are arranged under the collecting mirror in a facing manner, and the collimating mirror and the reflecting mirror are used for converting the laser beam into emitted laser in the horizontal direction;
the rotating shaft is arranged on the motor device, and the motor device is used for driving the rotating shaft to rotate.
Furthermore, the coded disc is arranged in the middle section of the rotating shaft, and a plurality of rectangular holes with the same interval are arranged on the outer ring of the coded disc.
Further, the diaphragm is rectangular, the rectangular diaphragm is arranged between the outer ring of the coded disc and the light-emitting side of the photoelectric door, the length of the rectangular diaphragm is smaller than that of the rectangular hole in the outer ring of the coded disc, and the width of the rectangular diaphragm is smaller than that of the rectangular hole in the outer ring of the coded disc.
Further, the rectangular holes comprise a first rectangular hole and a plurality of second rectangular holes, the length and the width of each second rectangular hole are the same, and the width of the first rectangular hole is larger than the width of each second rectangular hole.
In a second aspect, an embodiment of the present invention provides a method for monitoring a rotation speed of a motor, for monitoring a rotation speed of a motor in any one of the radar systems, including the following steps:
operating a motor device in the radar system, and starting a speed measuring device after the motor device has stable rotating speed;
acquiring a feedback pulse sequence received by a receiving side of a photoelectric gate in the speed measuring device;
and calculating the rotation speed of the motor device according to the feedback pulse sequence.
Further, before the step of calculating the rotation speed of the motor device according to the feedback pulse sequence, a feedback pulse sequence processing step is provided, and the feedback pulse sequence processing step includes:
detecting the widths of all high levels in the feedback pulse sequence, and solving the width average value of all the high levels;
detecting an origin pulse in the feedback pulse sequence, wherein the origin pulse is a pulse with a high level width larger than the average width value;
in the detected feedback pulse sequence, the origin pulse is eliminated.
Further, the step of eliminating the origin pulse in the detected feedback pulse sequence specifically includes:
determining a position of the origin pulse in the detected feedback pulse sequence;
and eliminating a plurality of continuous pulses which comprise the origin pulse and are adjacent to the origin pulse by taking the origin pulse as a midpoint.
Further, the step of calculating the rotation speed of the motor device according to the feedback pulse sequence specifically includes:
detecting the feedback pulse sequence and recording a first time and a second time, wherein the first time is a time point when a rising edge appears in the feedback pulse sequence, and the second time is a time point when a falling edge appears in the feedback pulse sequence;
calculating a third time and a fourth time according to the first time and the second time, wherein the third time is a time point at a high-level central point in the feedback pulse sequence, and the fourth time is a time point at a low-level central point in the feedback pulse sequence;
and calculating the rotating speed of the motor device according to the time interval between the third time and the fourth time.
In a third aspect, an embodiment of the present invention provides a radar apparatus including any one of the radar systems.
One or more of the above-described embodiments of the present invention have the following advantages: according to the invention, the diaphragm is added on the light-emitting side of the photoelectric gate in the radar system speed measuring device, so that the divergence degree of the speed measuring laser beam emitted by the photoelectric gate is limited, and the obtained feedback pulse edge is steeper; and simultaneously, the rising edge and the falling edge in the feedback pulse sequence and the time difference of the rising edge and the falling edge in the feedback pulse sequence are monitored, so that the rotating speed of the motor is calculated, and the speed measurement error caused by the machining error of the hole opening of the coded disc can be reduced to the maximum extent, so that the monitoring of the rotating speed of the motor in the laser radar system is more accurate and efficient, and the stable and reliable operation of the laser radar system can be ensured.
Drawings
FIG. 1 is a block diagram of a radar system capable of monitoring a rotational speed of a motor according to an embodiment of the present invention;
FIG. 2 is a block diagram of a control device in a radar system capable of monitoring a rotational speed of a motor according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a radar system capable of monitoring the rotational speed of a motor according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a diaphragm in a radar system capable of monitoring a rotational speed of a motor according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a code wheel of a radar system capable of monitoring the rotation speed of a motor according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a dead zone of a radar system capable of monitoring a rotational speed of a motor according to an embodiment of the present invention;
FIG. 7 is a flow chart of a method for monitoring a rotational speed of a motor according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a feedback pulse sequence of a radar system capable of monitoring a rotational speed of a motor according to an embodiment of the present invention.
Reference numerals: 1. a laser transmitter; 2. a condenser lens; 3. a reflective mirror; 4. a collimating mirror; 5. code disc; 6. a motor; 7. a laser radar system; 8. a diaphragm; (photogate) light emitting side; 10. a photogate; (photogate) receiving side; 12. a rotating shaft.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
Referring to fig. 1, an embodiment of the present invention provides a radar system capable of monitoring a rotation speed of a motor, including:
the detection device 101 is used for transmitting and receiving laser signals;
the motor device 102 is used for bearing the detection device 101 and realizing the rotation transmission and reception of laser signals;
the speed measuring device 103 is used for detecting the rotating speed of the motor device 102 and sending rotating speed information to the control device;
a control device 104 for controlling the rotational speed of the motor device 102;
the speed measuring device 103 comprises a code disc, a diaphragm and a photoelectric gate, the photoelectric gate comprises a light emitting side and a receiving side, the light emitting side of the photoelectric gate is used for emitting speed measuring laser, and the receiving side of the photoelectric gate is used for receiving a feedback pulse sequence formed by the speed measuring laser;
the outer ring of the coded disc is arranged between the receiving side and the light-emitting side of the photoelectric door;
the diaphragm is arranged on the light emitting side of the photoelectric gate.
In the embodiment of the invention, the detection device 101 is a laser radar, namely an active remote sensing device combining a laser technology and a modern photoelectric detection technology, and is a mainstream use mode in the application of the detection technology in the current market. The laser radar comprises a transmitting system, a receiving system, an information processing system and the like, wherein the transmitting system usually adopts a laser transmitter as a transmitting light source, and the laser transmitter can select any common form, such as a carbon dioxide laser, a neodymium-doped yttrium aluminum garnet laser, a semiconductor laser, a wavelength-tunable solid laser, an optical beam expanding unit and the like. The receiving system can adopt a telescope or various forms of photodetectors, such as a photomultiplier tube, a semiconductor photodiode, an avalanche photodiode, an infrared and visible light multi-element detection device and the like. The laser radar can adopt 2 working modes of pulse or continuous wave, and the detection method adopted in the actual detection process can adopt any one or combination of various principles such as meter scattering, Rayleigh scattering, Raman scattering, Brillouin scattering, fluorescence, Doppler and the like. The information processing system may be integrated in the control device 104.
The motor device 102 can select various types of rotating motors, the requirements for selecting the motor can be focused on simple structure, convenient manufacture, low price or reliable operation, and the like, and the specific structure size and power of the selected motor are determined according to the overall requirement of the radar system. The speed measuring device 103 adopts a speed measuring photoelectric door and a code disc matched with the speed measuring photoelectric door, the photoelectric door comprises a light emitting side and a receiving side, and the light emitting side of the photoelectric door is provided with a shading diaphragm for limiting the divergence degree of the speed measuring laser emitted by the photoelectric door and ensuring that the speed measuring laser beam acting on the code disc cannot pass through a plurality of gaps on the code disc simultaneously.
Referring to fig. 2, the control device 104 includes at least one processor 201 and at least one memory 202, the memory 202 is used for storing at least one program, and the program is used for being executed by the processor 201 to implement any method for monitoring the rotating speed of the motor according to the embodiment of the present invention. In the embodiment of the present invention, the processor 201 may be composed of any one or more processor chips including a single chip, an FPGA, a CPLD, a DSP, an ARM, and the like, and peripheral circuits and programs thereof. The storage medium form used by the memory 202 may be, but is not limited to, an electronic, magnetic, optical, infrared, semiconductor system, apparatus, or device, and may be a combination of any of the above forms. Specifically, may include, but is not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or a combination of any of the foregoing. The storage medium may be any tangible medium that can contain, or store a program for execution by the instruction execution system. The programs contained on the memory 202 may be transmitted using any suitable medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing mediums. The code for the program may be written in one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like; conventional procedural programming languages, such as the "C" language or similar programming languages, are also included. The program may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.
Referring to fig. 3, further as a preferred embodiment, the detection device includes a laser emitter 1, a condenser 2, a collimator 4, a reflector 3 and a rotating shaft 12;
the laser transmitter 1 is used for transmitting downward laser;
the condenser lens 2 is arranged below the laser transmitter 1 and is used for converging the downward laser into a laser beam;
the collimating lens 4 and the reflecting mirror 3 are arranged at the upper end of the rotating shaft 12 and are arranged under the collecting lens 2 in a facing manner, and the collimating lens 4 and the reflecting mirror 3 are used for converting the laser beam into emitted laser in the horizontal direction;
the rotating shaft 12 is arranged on the motor 6 device, and the motor 6 device is used for driving the rotating shaft 12 to rotate.
Further as a preferred embodiment, the code wheel 5 is disposed at the middle section of the rotating shaft 12, and a plurality of rectangular holes with the same spacing are disposed on the outer ring of the code wheel 5.
Further, as a preferred embodiment, the diaphragm 8 is rectangular, the rectangular diaphragm 8 is disposed between the outer ring of the code wheel 5 and the light-emitting side 9 of the photoelectric door 10, the length of the rectangular diaphragm 8 is smaller than the length of the rectangular hole on the outer ring of the code wheel 5, and the width of the rectangular diaphragm 8 is smaller than the width of the rectangular hole on the outer ring of the code wheel 5.
The embodiment of the present invention provides a specific structure of a radar system capable of monitoring a motor rotation speed, and the following will explain in detail the working principle of the radar system capable of monitoring a motor rotation speed according to the present invention with reference to fig. 3:
the laser radar system 7 in the embodiment of the invention comprises a laser transmitter 1, a condenser lens 2, a collimating mirror 4, a reflecting mirror 3, a code disc 5, a photoelectric door 10, a motor 6 and a rotating shaft 12. The laser transmitter 1 is arranged at the top of the laser radar system 7 and used for transmitting vertically downward laser; the condenser lens 2 is installed below the laser emitter 1, and is used for converging downward laser emitted by the laser emitter 1 into a laser beam and guiding the laser beam into the collimating lens 4 below. The collimating mirror 4 and the reflective mirror 3 are both arranged at the upper end of the rotating shaft 12, and the collimating mirror 4 is arranged under the collecting mirror 2 in a right-to-right mode and comprises a vertical end and a horizontal end. The vertical end of the collimating mirror 4 is used for receiving and conducting the laser beam emitted by the collecting mirror 2; the laser beam is converted from the vertical direction to the horizontal direction in the collimating mirror 4 under the action of the reflecting mirror 3, is emitted out through the horizontal end of the collimating mirror 4, and is finally emitted to the external environment through the special shell of the laser radar system 7 to serve as detection laser. After the detection laser is reflected by an external object, the reflected laser penetrates through a special shell of the laser radar system 7, the reflected laser is sent to the collecting mirror 2 through the collimating mirror 4 and the reflecting mirror 3, the collecting mirror 2 collects the reflected laser to a receiving module which is installed above the collecting mirror 2 correspondingly, the receiving module converts an optical signal into an electric signal and then transmits the electric signal to a processing unit, and finally information such as the actual distance, the position, the height, the speed, the posture and the shape of the external object is obtained through a corresponding algorithm.
In the operation process of the laser radar system 7, in order to acquire external environment information through omnibearing scanning, a rotating shaft 12 capable of rotating 360 degrees is further arranged to drive the collimating mirror 4 and the reflecting mirror 3 to rotate, so that the emitting and receiving of the detection laser can cover a large range. The rotating shaft 12 is disposed on the motor 6, the motor 6 is used for driving the rotating shaft 12 to rotate, and generally, the rotating speed of the motor 6 is required to be as stable and uniform as possible, so that it is necessary to monitor and control the rotating speed of the motor in real time. The embodiment of the invention adopts a speed measuring photoelectric door 10 and a code disc 5 matched with the speed measuring photoelectric door for speed measurement, wherein the photoelectric door 10 comprises a light-emitting side 9 and a receiving side 11. In the process of running of the motor 6, the rotating shaft 12 drives the code wheel 5 to rotate together, a hole-free part and a hole-containing part on the periphery of the code wheel 5 continuously pass through the middle of the photoelectric gate 10, so that a receiving side 11 of the photoelectric gate 10 generates a continuous feedback pulse sequence formed by alternately and continuously high level and low level, the feedback pulse sequence can be used as timing data for calculating the rotating speed of the motor 6, namely, a control device can monitor and control the rotating speed of the motor 6 in real time according to the feedback pulse sequence and the specification of the code wheel 5, and the stable and reliable running of the laser radar system 7 is ensured.
In the embodiment of the invention, the light-emitting side of the photoelectric door 10 is provided with the shading diaphragm 8 for limiting the divergence degree of the speed measuring laser emitted by the photoelectric door 10, so that the situation that the speed measuring laser beam acting on the code disc 5 passes through a plurality of gaps on the code disc 5 simultaneously to cause a large speed measuring error is avoided, and the monitoring of the rotating speed of the motor 6 in the laser radar system 7 is more accurate and efficient. Referring to fig. 4, the diaphragm 8 is disposed on a rectangular opaque sleeve, the diaphragm 8 is rectangular, the rectangular diaphragm 8 is disposed between the outer ring of the code wheel 5 and the light-emitting side 9 of the photo-electric gate 10, the length S of the rectangular diaphragm 8 is smaller than the length of the rectangular hole on the outer ring of the code wheel 5, and the width L is smaller than the width of the rectangular hole on the outer ring of the code wheel 5. The setting mode can effectively control the divergence degree of the speed measuring laser beam, so that the edge of a feedback pulse received by the photoelectric gate 10 is steeper, and the normal work of the photoelectric gate 10 is ensured as much as possible.
Referring to fig. 5, in a further preferred embodiment, the rectangular holes include a first rectangular hole and a plurality of second rectangular holes, the length and the width of each second rectangular hole are the same, and the width of the first rectangular hole is greater than the width of each second rectangular hole.
The embodiment of the invention provides a method for determining the detection angle and effective detection data of the laser radar system 7 by setting the specification of a rectangular hole on a code disc 5. Referring to fig. 6, in the practical application of the lidar system 7, not all the environmental information around the lidar system is required to be detected, and not all the detected environmental information is effective, depending on the installation location of the lidar system 7 and the practical application scenario. For example, the lidar system 7 is sometimes installed right in front of a certain device, the external environment information to be detected is also only right in front of the device, when the detection laser is rotationally emitted, a part of the detection laser may hit the device itself, and these detection data are obviously not practically useful, so the data are generally called blind area data. In practical laser radar system 7 design applications, this part of blind area data is often filtered out. The mode for filtering the blind area data adopted in the embodiment of the invention is to specially process one rectangular hole of the code disc 5, so that the width of the rectangular hole is obviously larger than that of other rectangular holes, and the larger rectangular hole is used as a reference origin for the operation of the laser radar system 7 and can be recorded as an origin hole. The total number of the rectangular holes on the code wheel 5 is fixed, so that the number of the generated feedback pulses is also fixed in the process of one rotation of the code wheel 5, and the detection angle of the laser radar system 7 can be determined according to the feedback pulses. Specifically, since the feedback pulse generated by the receiving side 11 of the photo gate 10 when the origin hole passes through is much wider, the position of the origin hole can be determined by the width of each pulse in the feedback pulse sequence. The original point holes on the code disc 5 are used as the central points of the blind areas, and then the detection data corresponding to the rectangular holes can be determined to be valid according to the total number of the rectangular holes and the required detection angle, namely the valid data can be selected from the detection data according to the number of the spaced holes between the rectangular holes and the original point holes.
Referring to fig. 5 and 6, in 360 degrees around the laser radar system 7, of which 90 degrees are blind areas, only the original point hole on the code disc 5 needs to be adjusted to the center of the blind area (i.e., an angular bisector B defining a range of the blind area, and the original point hole also corresponds to the angular bisector B on the code disc), the number of rectangular holes (including the original point hole) between the blind area dividing lines A, C is determined, the laser radar system 7 is turned on, and the detection data corresponding to the rectangular holes between A, C is removed from the detected external environment data. Specifically, the feedback pulse sequence and the detection data may be obtained first, a temporal correspondence between the feedback pulse sequence and the detection data is determined, and then the detection data to be removed may be determined according to a correspondence between the rectangular hole and each pulse in the feedback pulse sequence. Another optional implementation is: adjusting the original point hole on the code disc 5 to the initial edge of the blind area, starting the laser radar system 7, directly starting counting when the original point hole is detected to pass each time, and identifying the next detection data as valid after continuously detecting N-1 feedback pulses, wherein N is the number of the rectangular holes (including the original point hole) on the code disc 5 corresponding to the blind area.
Referring to fig. 7, an embodiment of the present invention provides a method for monitoring a rotational speed of a motor, for monitoring a rotational speed of a motor in any one of the radar systems, including the following steps:
s1: operating a motor device in the radar system, and starting a speed measuring device after the motor device has stable rotating speed;
s2: acquiring a feedback pulse sequence received by a receiving side of a photoelectric gate in the speed measuring device;
s3: and calculating the rotation speed of the motor device according to the feedback pulse sequence.
Further preferably, the step of calculating the rotational speed of the motor device based on the feedback pulse train is preceded by a feedback pulse train processing step, and the feedback pulse train processing step includes:
detecting the widths of all high levels in the feedback pulse sequence, and solving the width average value of all the high levels;
detecting an origin pulse in the feedback pulse sequence, wherein the origin pulse is a pulse with a high level width larger than the average width value;
in the detected feedback pulse sequence, the origin pulse is eliminated.
Referring to fig. 8, further as a preferred embodiment, the step of eliminating the origin pulse in the detected feedback pulse sequence specifically includes:
determining a position of the origin pulse in the detected feedback pulse sequence;
and eliminating a plurality of continuous pulses which comprise the origin pulse and are adjacent to the origin pulse by taking the origin pulse as a midpoint.
The embodiment of the invention provides a motor rotating speed monitoring method based on a radar system. As mentioned above, due to the requirement of practical design, the code wheel in the speed measuring device of the radar system often contains a specially processed rectangular hole, which is marked as an original point hole, and the width of the original point hole is obviously larger than that of other rectangular holes. Therefore, in the actual speed measurement process of the motor, the rotation speed of the motor cannot be directly calculated according to all feedback pulse sequences, and the adverse effect caused by the original point hole should be eliminated. Specifically, since the rectangular hole on the code wheel corresponds to the feedback pulse sequence received by the receiving side of the photo gate in the one-circle rotation process of the code wheel, the feedback pulse (marked as the origin pulse) corresponding to the origin hole can be found and eliminated. Referring to fig. 8, since the width of the hole at the origin is wide, the high level width of the feedback pulse is greater than the high level widths of other feedback pulses in the feedback pulse sequence, so that the width average of all the high levels in the feedback pulse sequence can be obtained, and the pulse greater than the width average after comparison is the origin pulse. When the origin pulse is eliminated, a plurality of continuous feedback pulses around the origin pulse can be selected to be eliminated together, so that the obtained feedback pulse sequence is smoother, and the adverse effect of the difference in the mechanical structure of the origin hole on speed measurement is eliminated as much as possible.
Further, as a preferred embodiment, the step of calculating the rotation speed of the motor device according to the feedback pulse sequence specifically includes:
detecting the feedback pulse sequence and recording a first time and a second time, wherein the first time is a time point when a rising edge appears in the feedback pulse sequence, and the second time is a time point when a falling edge appears in the feedback pulse sequence;
calculating a third time and a fourth time according to the first time and the second time, wherein the third time is a time point at a high-level central point in the feedback pulse sequence, and the fourth time is a time point at a low-level central point in the feedback pulse sequence;
and calculating the rotating speed of the motor device according to the time interval between the third time and the fourth time.
The embodiment of the invention also provides a motor rotating speed monitoring method with higher accuracy, which has the following specific implementation principle: in the existing motor speed measurement technology, only a single edge in a feedback pulse sequence at a receiving side of a photoelectric gate is used for timing measurement when the rotating speed of a motor is detected, the measurement result has low precision, and the measurement result is very easy to be influenced by the adverse effect caused by insufficient machining precision of a code disc gap, and the error of the speed measurement result is large. In the method for monitoring the rotating speed provided by the embodiment of the invention, when the code wheel rotates, the rising edge and the falling edge in a feedback pulse sequence obtained by the receiving side of the photoelectric gate are detected at the same time, the central points of high and low levels are calculated by the rising edge and the falling edge, then the time difference between the central points of adjacent high levels is added with the time difference between the central points of adjacent low levels, and the average value is obtained to be used as timing data; the time difference between the high level and the low level of each individual feedback pulse can also be calculated, and the rotation speed of the motor can be calculated according to the data and the specific specification of the code disc. The code disc speed measurement timing method is equivalent to monitoring timing twice at the same time, and can effectively reduce speed measurement errors.
The embodiment of the invention also provides radar equipment comprising any one radar system.
It can be seen that, the contents in the above radar system embodiment capable of monitoring the rotational speed of the motor are all applicable to the present radar apparatus embodiment, the functions specifically implemented by the present radar apparatus embodiment are the same as those in the above radar system embodiment capable of monitoring the rotational speed of the motor, and the beneficial effects achieved by the present radar apparatus embodiment are also the same as those achieved by the above radar system embodiment capable of monitoring the rotational speed of the motor.
In the description herein, references to the description of "one embodiment," "another embodiment," or "certain embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A radar system for monitoring the speed of a motor, comprising:
the detection device is used for transmitting and receiving laser signals;
the motor device is used for bearing the detection device and realizing the rotary transmission and reception of laser signals;
the speed measuring device is used for detecting the rotating speed of the motor device and sending rotating speed information to the control device;
a control device for controlling the rotational speed of the motor device;
the speed measuring device comprises a coded disc, a diaphragm and a photoelectric gate, wherein the photoelectric gate comprises a light-emitting side and a receiving side, the light-emitting side of the photoelectric gate is used for emitting speed measuring laser, and the receiving side of the photoelectric gate is used for receiving a feedback pulse sequence formed by the speed measuring laser;
the outer ring of the coded disc is arranged between the receiving side and the light-emitting side of the photoelectric door;
the diaphragm is arranged on the light emitting side of the photoelectric gate.
2. The radar system for monitoring the rotational speed of a motor according to claim 1, wherein:
the detection device comprises a laser emitter, a condenser, a collimating mirror, a reflecting mirror and a rotating shaft;
the laser emitter is used for emitting downward laser;
the condenser lens is arranged below the laser transmitter and is used for converging the downward laser into a laser beam;
the collimating mirror and the reflecting mirror are arranged at the upper end of the rotating shaft and are arranged under the collecting mirror in a facing manner, and the collimating mirror and the reflecting mirror are used for converting the laser beam into emitted laser in the horizontal direction;
the rotating shaft is arranged on the motor device, and the motor device is used for driving the rotating shaft to rotate.
3. The radar system for monitoring the rotational speed of a motor according to claim 2, wherein:
the coded disc is arranged in the middle section of the rotating shaft, and a plurality of rectangular holes with the same interval are formed in the outer ring of the coded disc.
4. A radar system for monitoring the speed of a motor according to claim 3, wherein:
the diaphragm is rectangular, the rectangular diaphragm is arranged between the outer ring of the coded disc and the light-emitting side of the photoelectric door, the length of the rectangular diaphragm is smaller than that of the rectangular hole in the outer ring of the coded disc, and the width of the rectangular diaphragm is smaller than that of the rectangular hole in the outer ring of the coded disc.
5. A radar system for monitoring the speed of a motor according to claim 3, wherein:
the rectangular holes comprise a first rectangular hole and a plurality of second rectangular holes, the length and the width of each second rectangular hole are the same, and the width of the first rectangular hole is larger than the width of each second rectangular hole.
6. A method of monitoring the rotational speed of a motor in a radar system according to any one of claims 1 to 5, comprising the steps of:
operating a motor device in the radar system, and starting a speed measuring device after the motor device has stable rotating speed;
acquiring a feedback pulse sequence received by a receiving side of a photoelectric gate in the speed measuring device;
and calculating the rotation speed of the motor device according to the feedback pulse sequence.
7. The method of monitoring the rotational speed of an electric motor of claim 6, wherein:
before the step of calculating the rotating speed of the motor device according to the feedback pulse sequence, a feedback pulse sequence processing step is provided, and the feedback pulse sequence processing step comprises:
detecting the widths of all high levels in the feedback pulse sequence, and solving the width average value of all the high levels;
detecting an origin pulse in the feedback pulse sequence, wherein the origin pulse is a pulse with a high level width larger than the average width value;
in the detected feedback pulse sequence, the origin pulse is eliminated.
8. A method of monitoring the speed of a motor according to claim 7, wherein:
the step of eliminating the origin pulse in the detected feedback pulse sequence specifically includes:
determining a position of the origin pulse in the detected feedback pulse sequence;
and eliminating a plurality of continuous pulses which comprise the origin pulse and are adjacent to the origin pulse by taking the origin pulse as a midpoint.
9. A method of monitoring the rotational speed of an electric motor according to any of claims 6-8, characterized in that:
the step of calculating the rotation speed of the motor device according to the feedback pulse sequence specifically includes:
detecting the feedback pulse sequence and recording a first time and a second time, wherein the first time is a time point when a rising edge appears in the feedback pulse sequence, and the second time is a time point when a falling edge appears in the feedback pulse sequence;
calculating a third time and a fourth time according to the first time and the second time, wherein the third time is a time point at a high-level central point in the feedback pulse sequence, and the fourth time is a time point at a low-level central point in the feedback pulse sequence;
and calculating the rotating speed of the motor device according to the time interval between the third time and the fourth time.
10. A radar apparatus, characterized in that:
comprising a radar system according to any one of claims 1-5.
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