CN118730180B - Absolute encoder - Google Patents
Absolute encoder Download PDFInfo
- Publication number
- CN118730180B CN118730180B CN202411223644.7A CN202411223644A CN118730180B CN 118730180 B CN118730180 B CN 118730180B CN 202411223644 A CN202411223644 A CN 202411223644A CN 118730180 B CN118730180 B CN 118730180B
- Authority
- CN
- China
- Prior art keywords
- code
- codes
- array
- bit
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000009434 installation Methods 0.000 claims abstract description 13
- 239000000523 sample Substances 0.000 claims abstract description 11
- 238000003384 imaging method Methods 0.000 claims abstract description 10
- 238000003491 array Methods 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000002955 isolation Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 108091026890 Coding region Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 101150012763 endA gene Proteins 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
Landscapes
- Optical Transform (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
The invention belongs to the technical field of photoelectric encoders, and particularly relates to an absolute encoder, which comprises: the code strip is formed by arranging a plurality of black lines and a plurality of white lines; the probe comprises a beam splitting device, an imaging lens, a collimating lens, an array photoelectric sensor, an analog-to-digital converter, a processor and a light source; light emitted by the light source changes the direction of the light through the collimating lens and the beam splitting device, the light irradiates on a code band, the light is reflected on the code band, the reflected light is imaged on a receiving surface of the array photoelectric sensor through the imaging lens, the reflected light is converted into an analog electric signal, the analog electric signal is converted into a digital signal through the analog-to-digital converter and then is transmitted to the processor to serve as array information of the code line image, and the processor analyzes the received array information of the code line image to obtain absolute position information; on the premise of realizing quick decoding and high accuracy, the high resolution and miniaturization of the encoder are ensured, and the installation direction is not strictly required.
Description
Technical Field
The invention belongs to the technical field of photoelectric encoders, and particularly relates to an absolute encoder.
Background
Photoelectric encoders are mainly divided into an incremental type and an absolute type. The absolute encoder has the characteristic that the power-down data is not lost, compared with the incremental encoder, the absolute encoder does not need to carry out zeroing operation, can directly read the position information, and is widely applied to the fields of precision measurement, aerospace, robots and the like.
The existing absolute encoder applies more coding modes to be traditional periodic binary codes, such as cyclic codes, gray codes and the like, the coding bit number of the codes is in direct proportion to the code channel number, and high-resolution miniaturization is difficult to realize; in order to improve the miniaturization of the encoder, the number of code channels of the encoder should be reduced, but a new encoding scheme is required. Such as: the 2 code channel or 3 code channel coding method comprises matrix coding, vernier coding and the like, and the installation precision of the coder is strict; the single code channel coding has the advantages of simple coding, displacement continuous coding, pseudo random coding and the like, and the coder has the defects that when a coding sequence is longer, a decoding algorithm occupies large memory and consumes much time, and the requirement of high-speed decoding cannot be met.
The coding mode requires that the installation direction of the code disc or the code band of the coder and the photoelectric sensor is fixed, namely, when the code disc/the code band is turned 180 degrees or the photoelectric sensor is turned 180 degrees, the reading is wrong.
Disclosure of Invention
The invention aims to provide an absolute encoder, which can ensure high resolution and miniaturization of the encoder on the premise of fast decoding and high accuracy, and does not strictly require the installation direction.
The present invention has been achieved in such a way that,
An absolute encoder, the absolute encoder comprising: the device comprises a probe and a code belt, wherein the code belt is formed by arranging a plurality of black lines and a plurality of white lines, and is used for carrying absolute position information; the probe comprises a beam splitting device, an imaging lens, a collimating lens, an array photoelectric sensor, an analog-to-digital converter, a processor and a light source; light emitted by the light source changes the direction of the light through the collimating lens and the beam splitting device, the light irradiates on a code band, the light is reflected on the code band, the reflected light is imaged on a receiving surface of the array photoelectric sensor through the imaging lens, the reflected light is converted into an analog electric signal, the analog electric signal is converted into a digital signal through the analog-to-digital converter and then is transmitted to the processor to serve as array information of the code line image, and the processor analyzes the received array information of the code line image to obtain absolute position information; the array type photoelectric sensor selects a linear CCD array;
The code line of the code band adopts a guide combination code, and the guide combination code sequentially comprises from one end to the other end A bit positioning code,A first direction code of bits,Data code sum of bitsThe second direction code of the bit, the positioning code, the data form of the first direction code and the second direction code are palindromic codes, and the positioning code isThe bit '1' is formed, and the first direction code and the second direction code are set to be any different palindromic codes; will beThe data code of bits is divided into two parts: Bit discrete data code The bit-isolated code is used to determine,Equal toDivided byThe value of (2) is rounded, the value of the isolating code is '0', and each time from the upper positionThe bit discrete data codes are separated by the isolating codes and are completeBinary codes of bit discrete data codes are translated into decimal values，As the data value to which the discrete data code corresponds,The positioning code, the first direction code and the second direction code of each group of pilot combination codes are the same.
Further, each bit code "1" or "0" in the encoded scribe line corresponds to 2 scribe lines, the physical dimensions of the scribe lines are the same, and the length of the scribe line is marked asThe length corresponding to a group of guide combined codes on the code band is：
，
Is the number of bits of a group of discrete combined codes, if the number of codes on one code band isThe code band has the whole length of。
Further, the specific process of analyzing the array information of the received coded line image to obtain absolute position information by the processor includes:
processing and analyzing the received array information of the coded line image to obtain a coarse position value;
extracting phase information from the positioning code to obtain a fine position value;
coarse position value combined with fine position value ，The value of the coarse position is indicated,Representing the fine position value.
Further, processing and analyzing the array information of the received coded line image to obtain a coarse position value, including:
Processing the array information to obtain a binary number array, and analyzing the binary number array to obtain a bit code array;
Identifying the initial positions of all the positioning codes in the bit code array according to the obtained bit code array WhereinFor the start position of the first positioning code,For the start position of the second positioning code,Is the firstThe initial positions of the positioning codes judge the relative installation direction of the probe and the code belt according to the direction code on the right side of the positioning codes, and the information of the data codes corresponding to the positioning codes is analyzed according to the relative installation direction to obtain the data codesData value sequence corresponding to discrete data codes in data codes，Is the data value corresponding to the first discrete data code,Is the data value corresponding to the second discrete data code,Is the firstData values corresponding to the discrete data codes;
According to sequences of data values In (a) and (b)Presence of，So thatEqual toRepresents the firstGroup directed combination coding and numberGroup-directed combining encoding is valid, otherwise indicating the firstGroup-directed combined coding distortion;
With the central position of the linear CCD array For reference position, selecting a group of effective pilot combination codes closest to the central position, and determining the initial array position of the pilot combination codesEnd array positionSum data valueObtaining a coarse position value:
，
Where L is the length corresponding to a set of pilot combination codes.
Further, extracting phase information from the positioning code to obtain a fine position value includes:
Obtaining bit code period from the number of arrays occupied by bit codes of the positioning code ；
According to bit code periodGenerating reference sinusoidal signals of the same periodAnd reference cosine signal:
，
，
Is the amplitude of the reference signal;
Calculation of Phase of group positioning code:
Calculate the first Array digital quantity of group positioning codeWith reference sinusoidal signalsProduct of (2)And reference cosine signalsProduct of：
，
，
Is the array sequence number of the array,，For the maximum number of arrays of arrayed photosensors,Is the firstThe starting position of the group positioning code,Is the firstThe number of arrays occupied by the group positioning codes,；
Calculating the phase difference:
，
Calculating a fine position value：
，
Calculating an absolute position value:。
Further, bit code period Is based onGroup ofArray number occupied by bit positioning codeAnd (3) calculating to obtain:
。
Compared with the prior art, the invention has the beneficial effects that: the invention utilizes the coding mode of the guide combination code, and can realize high-precision and high-accuracy quick decoding on the premise of ensuring loose installation conditions and miniaturization of the absolute encoder.
Drawings
FIG. 1 is a schematic diagram of an absolute encoder according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of various optical and electrical components of an encoder probe provided by embodiments of the present invention;
FIG. 3 is a schematic diagram of a boot combination code according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a processing procedure in an absolute encoder according to an embodiment of the present invention, wherein a) is a code band diagram of the encoder; b) Is a schematic diagram of an array type photoelectric sensor; c) Array information of the coded line image; d) The result is obtained after the array information threshold of the coded line image is segmented; e) Is a binary number array obtained after the threshold value is divided; f) Translating the binary array into a sequence of bit codes;
FIG. 5 shows the generation of 2 reference signals of the same period, (a) reference sinusoidal signals (B) reference cosine signal。
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 in combination with fig. 2, an absolute encoder includes: the device comprises a probe 1 and a code strip 2, wherein the code strip 2 is formed by arranging a plurality of black lines 3 and a plurality of white lines 4, and is used for carrying absolute position information; the probe 1 comprises a beam splitting device 7, an imaging lens 6, a collimating lens 12, an array photoelectric sensor 8, an analog-to-digital converter 9, a processor 10 and a light source 11; the light emitted by the light source 11 changes the direction of the light through the collimating lens 12 and the beam splitting device 7, irradiates the code strip 2, reflects the code strip 2, forms an image on the receiving surface of the array photoelectric sensor 8 through the imaging lens 6, is converted into an analog electric signal, converts the analog electric signal into a digital signal through the analog-to-digital converter 9 and then transmits the digital signal to the processor 10 as array information of the code line image, and the processor 10 analyzes the received array information of the code line image to obtain absolute position information; the array type photoelectric sensor 8 selects a linear CCD array; the beam splitting means 7, the imaging lens 6 and the collimator lens 12 constitute an optical path section 5.
The coding and depicting mode of the code strip 2 adopts a guide combined code, and referring to fig. 3, the guide combined code consists of four parts, and the guide combined code sequentially comprises from one end to the other endA bit positioning code,A first direction code of bits,Data code sum of bitsThe second direction code of the bit, the positioning code, the data form of the first direction code and the second direction code are palindromic codes, and the positioning code isThe bit '1' is formed, and the first direction code and the second direction code are set to be any different palindromic codes; will beThe data code of bits is divided into two parts: Bit discrete data code The bit-isolated code is used to determine,Equal toDivided byThe value of (2) is rounded, the value of the isolating code is '0', and each time from the upper positionThe bit discrete data codes are separated by the isolating codes and are completeBinary codes of bit discrete data codes are translated into decimal values，As the data value to which the discrete data code corresponds,The positioning code, the first direction code and the second direction code of each group of pilot combination codes are the same.
In one embodiment, the pilot combination codes a total of 23 bits of binary code, in turn a 6 bit location code, a 3 bit first direction code, an 11 bit data code, and a 3 bit second direction code. Wherein the positioning code is set to "111111"; the first direction code and the second direction code are set to any different palindromic codes, such as "010", "000"; the data code is divided into 10-bit discrete data code and 1-bit isolation code with 0, 11 bits are total, every 5-bit discrete data code is isolated by the isolation code to form a code form of 'xxxx 0 xxxx', and 'x' can be expressed as '1' or '0', for example, the discrete data code of figure 3 is '10101011111', the 6 th bit data is the isolation code with 0, the discrete data code is 10-bit binary code '1010111111', the binary code '1010111111' of the discrete data code of the group is translated into a decimal value of 703, and the decimal value is used as the data value corresponding to the discrete data codeIndicating the sequence number of the region in which the pilot combination is encoded.
Each bit code '1' or '0' in the coded score corresponds to 2 score lines, the physical dimensions of the score lines are the same, and the length of the score lines is marked asThe length corresponding to a group of guide combined codes on the code band 2 is：
，
For a set of discrete combined code bits, if the number of codes on one code band 2 isThe overall length of the code strip 2 is。
In one embodiment, referring to fig. 4 (a), the code strip 2 is composed of black scribe lines 3 and white scribe lines 4, a first combination 12 formed by adjacent one of the black scribe lines 3 and one of the white scribe lines 4 corresponds to a bit code value of "1", and a second combination 13 formed by adjacent 2 scribe lines which are all the white scribe lines 4 corresponds to a bit code value of "0". Assume that a bit code value of "1" or "0" corresponds to a grating length50 Microns, a scribe line length ofThe array type photoelectric sensor 8 selects 552 rows of linear array CCD, and one grating period corresponds to 6 rows of array numbers and one group of guide combination codes corresponds to 138 rows of array numbers through imaging adjustment. The array-type photosensor 8 is capable of capturing at least three complete sets of guide combination codes at a time
The specific process of analyzing the array information of the received encoded score image by the processor 10 to obtain absolute position information includes:
processing and analyzing the received array information of the coded line image to obtain a coarse position value;
extracting phase information from the positioning code to obtain a fine position value;
coarse position value combined with fine position value ，The value of the coarse position is indicated,Representing the fine position value.
Processing and analyzing the received array information of the coded reticle image to obtain a coarse position value, including:
Processing the array information to obtain a binary number array, and analyzing the binary number array to obtain a bit code array;
Identifying the initial positions of all the positioning codes in the bit code array according to the obtained bit code array WhereinFor the start position of the first positioning code,For the start position of the second positioning code,Is the firstThe initial positions of the positioning codes judge the relative installation direction of the probe 1 and the code belt 2 according to the direction code on the right side of the positioning codes, and the information of the data codes corresponding to the positioning codes is analyzed according to the relative installation direction to obtainData value sequence corresponding to discrete data codes in data codes，Is the data value corresponding to the first discrete data code,Is the data value corresponding to the second discrete data code,Is the firstData values corresponding to the discrete data codes;
According to sequences of data values In (a) and (b)Presence of，So thatEqual toRepresents the firstGroup directed combination coding and numberGroup-directed combining encoding is valid, otherwise indicating the firstGroup-directed combined coding distortion;
With the central position of the linear CCD array For reference position, selecting a group of effective pilot combination codes closest to the central position, and determining the initial array position of the pilot combination codesEnd array positionSum data valueObtaining a coarse position value:
，
Where L is the length corresponding to a set of pilot combination codes.
Extracting phase information from a positioning code to obtain a fine position value, comprising:
Obtaining bit code period from the number of arrays occupied by bit codes of the positioning code ；
According to bit code periodGenerating reference sinusoidal signals of the same periodAnd reference cosine signal:
，
，
Is the amplitude of the reference signal;
Calculation of Phase of group positioning code:
Calculate the first Array digital quantity of group positioning codeWith reference sinusoidal signalsProduct of (2)And reference cosine signalsProduct of：
，
，
Is the array sequence number of the array,，For the maximum number of arrays of arrayed photosensors,Is the firstThe starting position of the group positioning code,Is the firstThe number of arrays occupied by the group positioning codes,；
Calculating the phase difference:
，
Calculating a fine position value：
，
Calculating an absolute position value:。
Bit code period Is based onGroup ofArray number occupied by bit positioning codeAnd (3) calculating to obtain:
。
In one embodiment, three sets of pilot combination codes are used as an example
(1) Processing and analyzing the array information of the received coded line image to obtain a coarse position value:
the coarse position values are obtained by processing and analyzing the received array information of the encoded reticle image by the processor 10 as follows:
1a, processing the array information to obtain a binary number array, and analyzing the binary number array to obtain a bit code array:
Referring to fig. 4, fig. 4 (b) is an array photoelectric sensor 8, receives the light signal reflected from the code strip 2 shown in fig. 4 (a), converts the light signal into a voltage signal, converts the voltage signal into a digital signal through an analog-to-digital converter 9 to obtain array information of the encoded line image, and referring to fig. 4 (c), the range of the array information is 0-255, and a threshold value is selected Thresholding the array information yields a result similar to a rectangular wave, see (d) in fig. 4, and a set of 552-bit binary arrays, see (e) in fig. 4, are generated based on the thresholding result. Then, the 552-bit binary array is resolved to obtain a 92-bit code array according to the 6-bit binary sequence "000111" corresponding to the bit code "1" and the 6-bit binary sequence "111111" corresponding to the bit code "0", see (f) in fig. 4.
1B, identifying the initial position mark of the positioning code in the group of the bit code arrays as x 1,x2,x3 according to the obtained bit code arrays, and judging the relative installation direction of the probe 1 and the code belt 2 according to whether the right direction code value of the positioning code is 010 or 000. According to the information of the data code corresponding to the positioning code (if the guide combination code corresponding to the positioning code does not collect the two direction codes completely, the information of the data code is not analyzed) which is analyzed relative to the installation direction, three groups of coded data values are obtained:。
1c, effective Signal analysis
According to sequences of data valuesIn (a) and (b)Presence of，So thatEqual toRepresents the firstGroup directed combination coding and numberGroup-directed combining encoding is valid, otherwise indicating the firstGroup-directed combined coding distortion;
In this embodiment, since three sets of adjacent example adjacent guide combination codes are used, the above-mentioned determination method may be expressed as: the data values encoded by the adjacent three pilot combinations are arithmetic progression with a tolerance of 1 or-1. Analysis Whether the arrangement rule is met or not, the effectiveness of the corresponding guide combination codes is judged, for example:
， Then it means that all three sets of pilot combination codes are valid;
，， indicating that the second set of pilot combination codes and the third set of pilot combination codes are valid and that the first set of pilot combination codes are not valid;
， indicating that the first set of pilot combination codes and the third set of pilot combination codes are valid and the second set of pilot combination codes are not valid;
， Indicating that all three sets of pilot combination codes are invalid.
And judging that when the two groups of guide combination codes are valid, performing the next step.
1D, calculating coarse position value，
With the central position of the linear CCD array552/2 Is the reference position, a set of valid pilot combination codes closest to the center of the array is selected, and the initial array position of the pilot combination codes is determinedEnd array positionSum data value. Can obtain a coarse position value:
，
Wherein L is the length corresponding to a set of pilot combination codes:
，
the number of bits, here 23 bits, is a set of discrete combined codes.
(2) Extracting phase information from the positioning code to obtain a fine position value:
Taking three groups as an example, the phase information is extracted from the three groups of positioning codes, and the steps are as follows:
2a, obtaining bit code period from the number of the arrays of 6 bit codes of the positioning code ，
Referring to FIG. 5, if the number of the shared positioning codes is 36, the number of the shared positioning codes is 6, and a reference sine signal with a period of 6 is generated(Shown in (a) of FIG. 5) and a reference cosine signal(Shown in (b) of FIG. 5).The linear array number of the linear CCD array is 1-552, theThe expression is substituted by 1-552 to obtain two groups of discrete reference sine signals and reference cosine signals;
2b, calculating the phase of the 3 groups of positioning codes;
Firstly, photoelectric signals of the 1 st group of positioning codes are converted into array digital quantity by an analog-to-digital converter 9 With reference sinusoidal signalsReference cosine signalRespectively taking dot productSum product：
，
，
The photoelectric signals representing the 1 st group of positioning codes are converted into array digital quantities through an analog-to-digital converter 9And sinusoidal signalsIs a product of (a) and (b),The photoelectric signals representing the 1 st group of positioning codes are converted into array digital quantities through an analog-to-digital converter 9And cosine signalIs a product of (2);
Can be used for Then get
，
The sum and difference of the trigonometric functions are obtained:
，
Simplifying and obtaining:
，
the same principle is obtained:
，
Here, the The photoelectric signals of the 1 st group of positioning codes are converted into the amplitude of the array digital quantity through an analog-to-digital converter 9.
Obtaining phase difference；
Phase differences of other sets of positioning codes are obtained by the same process、。
2C, calculating the fine position value：
Angle or length corresponding to combined bit code value of "1" or "0Obtaining the accurate position value：
，
Represent the firstThe phase of the positioning code.
3) Absolute position value
Coarse position values combined with fine position values to absolute position values. Absolute position valueIt means that the current linear array CCD center array position corresponds to the position of the guide combination code on the code strip 2.
The code strip 2 described above can also be replaced by a code wheel, the length being replaced by an angle when a code wheel is used.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (6)
1. An absolute encoder, characterized in that, the absolute encoder includes: the code strip is formed by arranging a plurality of black lines and a plurality of white lines and is used for carrying absolute position information; the probe comprises a beam splitting device, an imaging lens, a collimating lens, an array photoelectric sensor, an analog-to-digital converter, a processor and a light source; light emitted by the light source changes the direction of the light through the collimating lens and the beam splitting device, the light irradiates on a code band, the light is reflected on the code band, the reflected light is imaged on a receiving surface of the array photoelectric sensor through the imaging lens, the reflected light is converted into an analog electric signal, the analog electric signal is converted into a digital signal through the analog-to-digital converter and then is transmitted to the processor to serve as array information of the code line image, and the processor analyzes the received array information of the code line image to obtain absolute position information; the array type photoelectric sensor selects a linear CCD array;
The code line of the code band adopts a guide combination code, and the guide combination code sequentially comprises from one end to the other end A bit positioning code,A first direction code of bits,Data code sum of bitsThe second direction code of the bit, the positioning code, the data form of the first direction code and the second direction code are palindromic codes, and the positioning code isThe bit '1' is formed, and the first direction code and the second direction code are set to be any different palindromic codes; will beThe data code of bits is divided into two parts: Bit discrete data code The bit-isolated code is used to determine,Equal toDivided byThe value of (2) is rounded, the value of the isolating code is '0', and each time from the upper positionThe bit discrete data codes are separated by the isolating codes and are completeBinary codes of bit discrete data codes are translated into decimal values，As the data value to which the discrete data code corresponds,The positioning code, the first direction code and the second direction code of each group of pilot combination codes are the same.
2. An absolute encoder according to claim 1 wherein each bit code "1" or "0" in the encoded scribe line corresponds to 2 scribe lines, the scribe lines being of the same physical scale, the scribe lines being marked as having a length ofThe length corresponding to a group of guide combined codes on the code band is：
，
Is the number of bits of a group of discrete combined codes, if the number of codes on one code band isThe code band has the whole length of。
3. The absolute encoder of claim 2 wherein the processor analyzes the received array information of the encoded reticle image to derive absolute position information comprises:
processing and analyzing the received array information of the coded line image to obtain a coarse position value;
extracting phase information from the positioning code to obtain a fine position value;
coarse position value combined with fine position value ，The value of the coarse position is indicated,Representing the fine position value.
4. An absolute encoder according to claim 3, characterized in that,
Processing and analyzing the received array information of the coded reticle image to obtain a coarse position value, including:
Processing the array information to obtain a binary number array, and analyzing the binary number array to obtain a bit code array;
Identifying the initial positions of all the positioning codes in the bit code array according to the obtained bit code array WhereinFor the start position of the first positioning code,For the start position of the second positioning code,Is the firstThe initial positions of the positioning codes judge the relative installation direction of the probe and the code belt according to the direction code on the right side of the positioning codes, and the information of the data codes corresponding to the positioning codes is analyzed according to the relative installation direction to obtain the data codesData value sequence corresponding to discrete data codes in data codes，Is the data value corresponding to the first discrete data code,Is the data value corresponding to the second discrete data code,Is the firstData values corresponding to the discrete data codes;
According to sequences of data values In (a) and (b)Presence of，So thatEqual toRepresents the firstGroup directed combination coding and numberGroup-directed combining encoding is valid, otherwise indicating the firstGroup-directed combined coding distortion;
With the central position of the linear CCD array For reference position, selecting a group of effective pilot combination codes closest to the central position, and determining the initial array position of the pilot combination codesEnd array positionSum data valueObtaining a coarse position value:
，
Where L is the length corresponding to a set of pilot combination codes.
5. An absolute encoder according to claim 4, characterized in that,
Extracting phase information from a positioning code to obtain a fine position value, comprising:
Obtaining bit code period from the number of arrays occupied by bit codes of the positioning code ；
According to bit code periodGenerating reference sinusoidal signals of the same periodAnd reference cosine signal:
，
，
Is the amplitude of the reference signal;
Calculation of Phase of group positioning code:
Calculate the first Array digital quantity of group positioning codeWith reference sinusoidal signalsProduct of (2)And reference cosine signalsProduct of：
，
，
Is the array sequence number of the array,，For the maximum number of arrays of arrayed photosensors,Is the firstThe starting position of the group positioning code,Is the firstThe number of arrays occupied by the group positioning codes,；
Calculating the phase difference:
，
Calculating a fine position value：
，
Calculating an absolute position value:。
6. an absolute encoder according to claim 5, characterized in that,
Bit code periodIs based onGroup ofArray number occupied by bit positioning codeAnd (3) calculating to obtain:
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411223644.7A CN118730180B (en) | 2024-09-03 | 2024-09-03 | Absolute encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411223644.7A CN118730180B (en) | 2024-09-03 | 2024-09-03 | Absolute encoder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118730180A CN118730180A (en) | 2024-10-01 |
| CN118730180B true CN118730180B (en) | 2024-10-29 |
Family
ID=92864424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411223644.7A Active CN118730180B (en) | 2024-09-03 | 2024-09-03 | Absolute encoder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118730180B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1069120A (en) * | 1991-07-29 | 1993-02-17 | 中国科学院南京天文仪器厂 | " palindrome " code system photoelectric coded disk and method for designing thereof |
| CN110617770A (en) * | 2019-09-23 | 2019-12-27 | 吉林大学 | Displacement detection system and detection method based on position coding |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB0109057D0 (en) * | 2001-04-11 | 2001-05-30 | Renishaw Plc | Absolute postition measurement |
| CN118129806A (en) * | 2024-05-10 | 2024-06-04 | 四川科奥达技术有限公司 | Single-circle absolute photoelectric axial angle encoder based on m-sequence code and design method thereof |
| CN118565531A (en) * | 2024-06-12 | 2024-08-30 | 天津大学 | Signal processing method of absolute photoelectric encoder |
-
2024
- 2024-09-03 CN CN202411223644.7A patent/CN118730180B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1069120A (en) * | 1991-07-29 | 1993-02-17 | 中国科学院南京天文仪器厂 | " palindrome " code system photoelectric coded disk and method for designing thereof |
| CN110617770A (en) * | 2019-09-23 | 2019-12-27 | 吉林大学 | Displacement detection system and detection method based on position coding |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118730180A (en) | 2024-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9651403B2 (en) | Absolute position measurement method, absolute position measurement apparatus and scale | |
| US20120026321A1 (en) | one-dimension position encoder | |
| EP2538179B1 (en) | Two-dimensional absolute encoder and scale therefor | |
| CN110006366B (en) | Image reflection type angular displacement measuring device and method thereof | |
| US12078515B2 (en) | Linear displacement absolute position encoder | |
| CN110617770B (en) | Displacement detection system and detection method based on position coding | |
| CN110726425B (en) | Image type decoding method of single-ring absolute type photoelectric code disc | |
| US6438860B1 (en) | Device and process for determining position between two parts which are movable relative to one another | |
| CN115900781B (en) | Method for reading data of code disc rotation | |
| JP4846331B2 (en) | Photoelectric encoder and its scale | |
| EP0039921B1 (en) | Encoder device and method of use of it | |
| JP4885630B2 (en) | Two-dimensional encoder and its scale | |
| CN110207596A (en) | A kind of image encoding method, optical grating ruler measurement device and measurement method | |
| CN1493853A (en) | Universal coding method of single loop absolute type angle coder | |
| CN118730180B (en) | Absolute encoder | |
| CN105674893B (en) | Absolute grating scale based on cmos image sensor and its measurement method | |
| US7060968B1 (en) | Method and apparatus for optical encoding with compressible imaging | |
| CN112880571A (en) | Absolute grating ruler | |
| CN113029001B (en) | Linear displacement measuring device and method | |
| CN118565531A (en) | Signal processing method of absolute photoelectric encoder | |
| CN116558424B (en) | Displacement measuring device adopting point light source reflection imaging | |
| US6707029B1 (en) | Optical displacement measuring apparatus having light receiving arrays | |
| CA2440669A1 (en) | Method for calibrating a measuring instrument | |
| Yu et al. | A novel self-correction method for linear displacement measurement based on 2-D synthesis mechanism | |
| US20090045985A1 (en) | Analog to digital converter using arrangement of stators and ad converting method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |