CN113447051B - Single code channel absolute position measuring device - Google Patents
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Abstract
The invention discloses a single code channel absolute position measuring device, which comprises: a single-channel measurement reference unit including a symbol sequence having a first characteristic or a second characteristic; the absolute code reading module scans the single-code-channel measurement reference unit by adopting a code element sequence with a special coding rule through a sensing unit of the scanning element, and generates an initial effective absolute code after operation; the absolute code correction module is used for analyzing, operating and processing the initial effective absolute codes to obtain corrected final effective absolute codes, and operating or looking up the table on the final effective absolute codes to obtain coarse absolute position information; the incremental position information generating module generates incremental position information according to the final effective absolute codes; and the high-resolution position information generating module is used for combining the incremental position information with the coarse absolute position information to obtain high-resolution absolute position information. The method has the advantages of high resolution, low cost, low requirement on storage space and high speed of sequence retrieval.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a single code channel absolute position measuring device.
Background
Along with the continuous improvement of precision requirements in the fields of numerical control machine tools, robots, industrial automation and the like, the requirements on position measuring devices are also continuously improved, and the requirements on structure volume and higher resolution are required.
Common position measurement devices comprise an incremental type and an absolute type, the incremental type is characterized by simple structure, quick response and easy miniaturization, but has an error accumulation phenomenon, data loss is easily caused when the power failure fault occurs, and a zero position signal can be obtained only by moving left and right when the power is on. Absolute position measuring device has fixed zero point, and it can obtain absolute position information to go up the electricity, and the interference killing feature is strong, and no accumulative error, consequently compares incremental position measuring device in the geometric quantity measurement and has stronger suitability, and wherein, single track absolute position measuring device is because it is changeed in the miniaturization, consequently is prepared for market favor.
The existing absolute coding modes mainly comprise Gray codes, pseudo-random codes and Manchester codes, and the Gray code coding mode cannot meet the market demand because the code channel number is more, the reading units are tightly arranged along the radial direction and are not easy to miniaturize. Pseudo-random codes are the mainstream coding mode at present, but because the pseudo-random codes can only identify a certain bit, the pseudo-random codes cannot be subdivided, if the resolution is further improved, the length of the pseudo-random sequences can only be increased, the number of the photoelectric arrays is increased, the problems of high storage space requirement, long sequence retrieval time, cost increase and the like caused by the increase of a pseudo-random sequence library are also caused, and the requirement of equipment such as a machine tool and the like on the resolution is difficult to meet only by increasing the length of the pseudo-random sequences. The pseudo-random code is Manchester-based, absolute position information with higher resolution can be obtained under the condition of pseudo-random coding with the same number of bits, but for a single-code-channel absolute position measuring device, the subdivision capability of a single Manchester code channel is limited, and higher resolution cannot be provided.
Disclosure of Invention
The invention aims to provide a single code channel absolute type position measuring device, and aims to solve the problems in the prior art.
The invention provides a single code channel absolute position measuring device, comprising:
the single-code-channel measurement reference unit comprises a code element sequence which is arranged in a non-periodic mode and has the same width and a first characteristic or a second characteristic;
the absolute code reading module is used for scanning the single-code-channel measurement reference unit by adopting a code element sequence with a special coding rule through a sensing unit of a scanning element, and generating an initial effective absolute code after operation; the absolute code reading module is specifically configured to: reading an analog signal generated by scanning the code element sequence and decoding to generate the initial effective absolute code; the absolute code reading module specifically comprises:
the differential operation unit comprises m +1 differential modules, wherein the m differential modules are used for sequentially generating analog signals A for corresponding sensing units of 3 sensing units spaced in two adjacent periods through the corresponding ith differential module respectivelyiAnd Ai+4Performing difference operation to obtain difference results RCiWherein i =1, 2, 3, … …, m, m being an integer equal to or greater than 4 and an integer multiple of 4;
a numerical judgment unit including i judgment modules connected with the difference operation unit for respectively judging the difference result RC through the corresponding i-th judgment moduleiJudging if the difference result RCiIf the value is close to zero, the judgment result is 1, otherwise, the judgment result is 0;
the logic and operation unit comprises m/4 operation modules, is connected with the numerical judgment unit and is used for respectively carrying out logic and operation on four groups of judgment results corresponding to the m/4 operation modules through the corresponding operation modules to obtain m/4 operation results; if the two groups of sensing units participating in the differential operation are both in the increment period '10', the operation result is 1, otherwise, the operation result is 0;
the summarizing unit comprises two groups, and is connected with the logic and operation unit, wherein each group is used for summarizing the operation results at intervals, summarizing the operation results at odd-numbered positions to obtain absolute code CABS', summarizing the operation results at even-numbered positions to obtain absolute code CABS;
the summation operation units comprise two groups, the two groups are connected with the logic and operation unit, and each group is respectively used for carrying out interval-by-interval summation operation on the operation results to respectively obtain two groups of summation results;
the difference operation unit is further configured to: comparing the two groups of summation results through the m +1 th difference module to obtain a difference value R, judging the R, and if the R is greater than 0, determining CABS as the initial effective absolute coding, otherwise, determining CABS' as the initial effective absolute coding;
the absolute code correction module is used for analyzing, operating and processing the initial effective absolute codes to obtain corrected final effective absolute codes, and operating or looking up the table on the final effective absolute codes to obtain coarse absolute position information;
an incremental position information generating module for generating incremental position information according to the initial effective absolute code;
and the high-resolution position information generating module is used for combining the incremental position information with the coarse absolute position information to obtain high-resolution absolute position information. The single-code-channel measurement reference unit comprises a code element sequence which is arranged in a non-periodic mode and has the same width and a first characteristic or a second characteristic;
the absolute code reading module is used for scanning the single-code-channel measurement reference unit by adopting a code element sequence with a special coding rule through a sensing unit of a scanning element, and generating an initial effective absolute code after operation;
the absolute code correction module is used for carrying out logic analysis operation processing on the initial effective absolute codes to obtain corrected final effective absolute codes, and carrying out operation or table look-up on the final effective absolute codes to obtain coarse absolute position information;
an incremental position information generating module for generating incremental position information according to the initial effective absolute code;
and the high-resolution position information generating module is used for combining the incremental position information with the coarse absolute position information to obtain high-resolution absolute position information.
The subdivision-capable single-code-channel absolute position measuring device has the advantages of high resolution, low cost, low requirement on storage space and high sequence retrieval speed.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a single code channel absolute position measuring device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an analog signal generated by a single-channel measurement reference unit scanned by a scanning device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an absolute code reading module according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the operation of an absolute code correction module according to an embodiment of the present invention;
fig. 5 is a schematic diagram of an incremental position information generation module according to an embodiment of the present invention.
Detailed Description
In the single-code-channel absolute position measuring device provided by the embodiment of the invention, an absolute coding rule is provided, the coding is simple, the readability is strong, the absolute code and the incremental code have the characteristics, and the Manchester code also has the characteristics. The embodiment of the invention also provides an absolute code reading method based on the coding rule, and the absolute code value is obtained by decoding through a hardware circuit. The embodiment of the invention provides a high-quality incremental signal generation method by combining the absolute coding value obtained by the absolute coding reading method, and the incremental signal is related to the absolute coding value.
According to the single-code-channel absolute position measuring device, the incremental position information is subdivided through effective absolute coding and incremental position information reading, and then is combined with the final effective absolute coding, so that the position measurement of a single code channel with high resolution can be realized. The absolute type coding scheme has the characteristics of increment codes and absolute codes and also has the characteristics of Manchester codes. By encoding different combinations of the constituent sequences, absolute encoded sequences of different lengths and numbers of bits can be obtained. The absolute code reading method includes signal acquisition and electrical signal processing. The signal is output by the sensitive element, is sent to the difference comparator module after analog-to-digital conversion, and is input to the logic module for logic judgment after operation is finished, so that two absolute coding sequences can be obtained. Wherein at least one absolute code sequence has Manchester code characteristics. On one hand, the two absolute coding sequences are stored, on the other hand, the two absolute coding sequences are sent to an adder for summation, the result is sent to a difference comparator to be compared with the other summation result, and the one with a large value is the initial effective absolute coding. The initial absolute code generation process and the result are analyzed, so that the device can be accurately positioned to a specific position, and the coarse positioning of the single-code-channel absolute position measuring device is realized. The incremental signal generation method comprises the steps of analyzing an initial effective absolute coding sequence, determining a signal unit combination sent into an adder, summing to obtain SIN +, COS +, SIN-and COS-signals, and carrying out differential operation to obtain the SIN and COS signals. According to the single-code-channel high-resolution position measuring device provided by the embodiment of the invention, the final effective absolute codes are subjected to table lookup or operation to obtain coarse absolute position information; and meanwhile, the SIN and COS increment signals are subjected to subdivision operation to obtain increment position information in a single signal period. The two are combined to realize the high-resolution absolute position measurement of the single-code-channel absolute position measuring device.
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
According to an embodiment of the present invention, there is provided a single-code-channel absolute position measuring apparatus, which specifically includes:
the single-code-channel measurement reference unit comprises a code element sequence which is arranged in a non-periodic mode and has the same width and a first characteristic or a second characteristic; the method comprises the following steps that the width of every two code elements in a single-code-channel measurement reference unit 1 is an increment period width, every four code element sequences form a Manchester code CA or CB, or every eight code element sequences form a one-bit pseudo-random code, wherein the widths of the code elements with the first characteristic and the code elements with the second characteristic are P/2, P is an increment period width, CA represents Manchester code '1', CB represents Manchester code '0', and the coding composition sequences of the Manchester codes CA and CB comprise: "1010" and "1000", "1010" and "1011", "0101" and "0100", "0101" and "0111", "101010" and "101000", "10101010" and "10100000".
The absolute code reading module is used for scanning the single-code-channel measurement reference unit by adopting a code element sequence with a special coding rule through a sensing unit of the scanning element and generating an initial effective absolute code after operation;
the absolute code reading module is specifically configured to: reading an analog signal generated by scanning the code element sequence and decoding to generate the initial effective absolute code;
wherein the scanning element comprises: the n sensing units are arranged in a linear array mode, wherein the distance between the sensing units is 1/2 of the width of a code element in a single-code-channel measuring reference unit, every four sensing units correspond to one period width, and every eight sensing units correspondingly scan one-bit Manchester code. The sensing units in the scanning element 2 for generating absolute position information and incremental position information are adjacent to each other, the sensing units in the symbol sequences CA and CB are each used for generating absolute position information, and the sensing units in the symbol sequence CA are used for generating incremental position information;
the scanning element is specifically configured to: and collecting light intensity information of the measurement reference unit, and converting the light intensity information into an analog signal. The analog signal is used to generate both absolute position information and incremental position information. The scanning element may generate incremental position information by 8 sensing units in one symbol sequence CA alone, or select sensing units in different positions CA to combine to generate incremental position information.
The absolute code reading module is used for reading an analog signal generated by the scanning element, decoding the analog signal to generate two groups of absolute codes, analyzing and judging the two groups of absolute codes to obtain an initial effective absolute code, analyzing and calculating or correcting the initial effective absolute code to obtain a final effective absolute code, and calculating or looking up a table to obtain coarse absolute position information;
the absolute code reading module specifically includes:
the differential operation unit comprises m +1 differential modules, wherein the m differential modules are used for sequentially generating analog signals A for corresponding sensing units of 3 sensing units at intervals in two adjacent periods through the corresponding ith differential moduleiAnd Ai+4Performing difference operation to obtain difference results RCiWherein i =1, 2, 3, … …, m, m being an integer equal to or greater than 4 and an integer multiple of 4;
a numerical judgment unit including i judgment modules connected with the difference operation unit for respectively judging the difference result RC through the corresponding i-th judgment moduleiJudging if the difference result RCiIf the value is close to zero, the judgment result is 1, otherwise, the judgment result is 0;
the logic and operation unit comprises m/4 operation modules, is connected with the numerical judgment unit and is used for respectively carrying out logic and operation on four groups of judgment results corresponding to the m/4 operation modules through the corresponding operation modules to obtain m/4 operation results; if the two groups of sensing units participating in the differential operation are both in the increment period '10', the operation result is 1, otherwise, the operation result is 0;
the summarizing unit comprises two groups, and is connected with the logic and operation unit, wherein each group is used for summarizing the operation results at intervals, summarizing the operation results at odd-numbered positions to obtain absolute code CABS', summarizing the operation results at even-numbered positions to obtain absolute code CABS;
the summation operation units comprise two groups, the two groups are connected with the logic and operation unit, and each group is respectively used for carrying out interval-by-interval summation operation on the operation results to respectively obtain two groups of summation results;
the difference operation unit is further configured to: and comparing the two groups of summation results through the m +1 th difference module to obtain a difference value R, judging the difference value R, and if R is greater than 0, determining CABS as effective absolute coding, otherwise, determining CABS' as effective absolute coding.
The absolute code correction module is used for analyzing, operating and processing the initial effective absolute codes to obtain corrected final effective absolute codes, and operating or looking up the table on the final effective absolute codes to obtain coarse absolute position information; that is, the module is used for analyzing and calculating the initial effective absolute code and judging the current position of the initial effective absolute code.
The absolute coding correction module specifically includes:
the logic operation unit is used for carrying out XOR operation on the sequence groups of the initial effective absolute codes and carrying out logic AND operation on the operation result to obtain the RIN or RIN' value;
a logic judgment unit for judging whether RIN ' or RIN is 1, when R is less than or equal to 0, if RIN ' is 1, CABS ' is the final effective absolute code, if RIN ' is not 1, the first effective coding sequence CABS ' first M ' is judged '1If the absolute code is 1, inserting a value 0 before CABS ' and removing the last bit of the CABS ' to obtain the final effective absolute code 0-CABS '; if M'1If the number is 0, inserting a value 1 before CABS ', and removing the last bit of CABS ' to obtain the final effective absolute code 1-CABS '; when R is>When 0, if RIN is 1, CABS is the final effective absolute code, if RIN is not 1, the first M of CABS of the initial effective coding sequence is judged1If the absolute code is 1, inserting a value 0 before CABS and removing the last bit of CABS to obtain the final effective absolute code 0-CABS, if the absolute code is M1If the value is 0, the value 1 is inserted before the cab, and the last bit of the cab is removed, so that the final effective absolute code 1-cab is obtained.
That is, if the pseudo random code is located in the "1" portion of manchester code "10" or the "0" portion of manchester code "01", the existing effective absolute code is the final coarse absolute code. Otherwise, according to whether the initial effective absolute coding head value is '0' or '1', the insertion of '1' or '0' before the initial effective absolute coding is determined, and the last bit of the initial effective absolute coding is removed to obtain the final effective absolute coding sequence. And obtaining the current coarse absolute position information by calculating or inquiring the coding library.
An incremental position information generating module for generating incremental position information according to the initial effective absolute code; the method is specifically used for: searching a sensing unit corresponding to a numerical value 1 in the initial effective absolute coding sequence, accumulating all analog signals generated by the sensing units with the same phase, and generating the incremental position information through operation;
the incremental position information generating module specifically includes:
the sensing unit selection module is used for analyzing the initial effective absolute coding sequence, searching the sensing units corresponding to the numerical value '1' in all the generated sequences of the initial effective absolute coding sequence, and grouping the sensing units into four groups, namely SIN +, COS +, SIN-and COS-according to the phase information of the sensing units;
the adder is connected with the sensing unit selection module and is used for carrying out summation operation on all analog signals with the same phase to obtain incremental position information INC0, INC90, INC180 and INC270, namely SIN +, COS +, SIN-and COS-;
and the difference arithmetic unit is connected with the adder and is used for respectively carrying out difference arithmetic on the increment position information INC0 and INC180 and the increment position information INC90 and INC270 to obtain high-quality increment position information IN0 and IN90 with 90-degree phase difference, namely SIN and COS signals, and carrying out subdivision arithmetic on the SIN and COS signals to obtain increment position information INC IN a single increment period.
That is to say, the sensing units generating the incremental position information are adjacent to each other and have the characteristic of single-field scanning, only the sensing units located in the coding sequences CA are all used for generating the incremental position information, 8 sensing units in each coding sequence CA generate two groups of same SIN +, COS +, SIN-and COS-signals, the two groups of sine and cosine signals have equal amplitude and same phase, and the sensing units selected each time for generating the incremental signals contain the same number of CA sequences in the scanning process of the scanning element;
and the high-resolution position information generating module is used for combining the incremental position information with the coarse absolute position information to obtain high-resolution absolute position information. Specifically, the method is used for positioning the current increment period, namely the corresponding 10 or 00 interval, according to the coarse absolute position information, and obtaining the high-resolution absolute position information by combining the increment position information INC in the single increment period.
In an embodiment of the present invention, the apparatus further includes:
and the position measuring module is used for carrying out two-subdivision of the Manchester code under the condition of no increment position information according to the generation process and the result of the coarse absolute position information and positioning to a specific increment period '10' or '00' position.
The technical solutions of the embodiments of the present invention are described below by way of example with reference to the accompanying drawings.
In this example, a single-track absolute position measuring device is provided, which in one embodiment may be composed of a single-track measurement reference unit, a scanning element and a signal processing unit, wherein the scanning element scans the single-track measurement reference unit to generate an analog signal, and the analog signal is subdivided by the signal processing unit to obtain high-resolution absolute position information, wherein the single-track measurement reference unit is composed of a symbol sequence having a first characteristic and a second characteristic, symbols of the first characteristic and symbols of the second characteristic are arranged non-periodically and have equal widths, and the width of each two symbols is one period width; every four symbol sequences constitute a manchester code, or every eight symbol sequences constitute a one-bit pseudo-random code.
The scanning element is arranged by n linear arrays of sensing units, the spacing between the sensing units is 1/2 of the code element width, namely, every four sensing units correspond to one period width, and every eight sensing units correspondingly scan one bit of Manchester code.
The signal processing unit comprises an absolute code reading module, an absolute code correcting module, an incremental position generating module and a high-resolution position information generating module, wherein the absolute code reading module reads an analog signal generated by the scanning unit and decodes the analog signal to generate an initial effective absolute code; the absolute code correction module analyzes, judges or corrects the initial effective absolute code to obtain the final effective absolute code, namely the coarse absolute position information; the incremental position generating module finds out effective analog signals which can be used for incremental position analysis according to the final effective absolute codes, generates incremental position information through operation, and conducts subdivision operation on the incremental position information to obtain incremental position information in a single incremental period; the high-resolution position information generating module combines the position information in the single increment period with the coarse absolute position information to obtain the high-resolution absolute position information.
The absolute code reading module consists of a difference operation unit, a numerical value judgment unit, a logic and operation unit, a summary unit and a summation operation unit, wherein analog signals generated by scanning of the scanning element are divided into n/4 periods, the difference operation unit comprises m +1 difference modules, m is an integer which is more than or equal to 4 and is an integral multiple of 4, and the coarse absolute code analog signals A generated by the scanning element are sequentially processediAnd Ai+4 sent to the ith differential module corresponding to the differential operation unit for differential operation to obtain differential results RCiWherein i =1, 2, … … m; the numerical judgment unit comprises i judgment modules and a difference result RCiRespectively input to the ith judgment module corresponding to the numerical judgment unit for judgment, and if the difference result RC is obtainediIf the value is close to zero, the judgment result is 1, otherwise, the judgment result is 0; the logic and operation unit comprises m/4 operation modules, each four groups of judgment results correspond to one operation module in sequence, and each operation module performs logic and operation on the corresponding four groups of judgment results to obtain m/4 operation results; the two groups of collecting units respectively collect the operation results at intervals, collect all the operation results arranged at odd bits to obtain absolute code CABS', and collect all the operation results arranged at even bits to obtain absolute code CABS; the two groups of summation operation units respectively carry out interval-by-interval summation operation on the operation results to respectively obtain two groups of summation results; the m +1 th difference module of the difference operation unit compares the two groups of summation results, and the absolute coding CABS or CABS' corresponding to the numerical value greater is the initial effective absolute coding.
The absolute code correction module is used for performing operation analysis on the initial effective absolute code generated by the absolute code reading module and judging whether the current interval is 1st or 2nd, as shown in fig. 2. If the located interval is "1 st", then the current time isThe initial valid absolute code is the final valid absolute code. Otherwise, determining whether to insert "1" or "0" before the initial effective absolute coding according to whether the initial value of the effective absolute coding is "0" or "1", and removing the last bit of the initial effective absolute coding to obtain the final effective absolute coding sequence. Specifically, as shown in fig. 4, when R is less than or equal to 0, that is, the cab ' is the initial effective absolute code, the initial effective absolute code sequence is subjected to xor operation, then the xor operation result is subjected to logical and operation to obtain a logical value RIN ', and whether the logical value RIN ' is 1 is determined by value judgment. If RIN 'is 1, the CABS' is the final effective absolute code. Otherwise, judging the first M 'of the initial effective absolute coding sequence'1Whether or not it is 1. If M'1If =1, 0 is inserted before the cab ' coding, and the last bit of the cab ' coding is removed to obtain the final effective absolute coding 0-cab '. Otherwise, 1 needs to be inserted before the coding of the cab ', and the last bit of the coding of the cab ' is removed, so as to obtain the final effective absolute coding 1-cab '. When R is>0, namely when the CABS is the initial effective absolute code, performing exclusive OR operation on the initial effective absolute code sequence group, then performing logical AND operation on the exclusive OR operation result to obtain a logical value RIN, and judging whether the logical value RIN is 1 or not through value judgment. If RIN is 1, the CABS is the final effective absolute code. Otherwise, it is necessary to determine whether the initial valid absolute code header M1 is 1. If M is1If =1, 0 needs to be inserted before the cab coding, and the last bit of the cab coding is removed, so as to obtain the final effective absolute coding 0-cab. Otherwise, 1 needs to be inserted before the CABS coding, and the last bit of the CABS coding is removed, so as to obtain the final effective absolute coding 1-CABS. And obtaining coarse absolute position information by calculating or inquiring the coding library.
In the embodiment of the present invention, the incremental position generating module specifically includes: and the sensing unit selection module analyzes the initial effective absolute code, backtracks and searches all corresponding sensing units generating the numerical value of '1' in the initial effective absolute code sequence, and accumulates analog signals generated by the sensing units with the same phase, as shown in fig. 5, so as to obtain incremental position information INC0, INC90, INC180 and INC 270. After performing difference operations on INC0 and INC180, and INC90 and INC270, high-quality incremental position information IN0 and IN90, namely SIN and COS signals, with a phase difference of 90 degrees are obtained. And carrying out subdivision operation on the absolute position information to obtain incremental position information INC in a single incremental period, and combining the coarse absolute position information to obtain high-resolution absolute position information.
The absolute encoding rule, the absolute encoding reading method, and the incremental position information generating method in the embodiments of the present invention are not limited to the transmission type and the photoelectric type, and are also applicable to the reflection type, the magnetoelectric type, the inductive type, and other measurement methods.
The absolute code reading module performs difference operation on every two corresponding sensing unit signals of 3 sensing units spaced in the adjacent period of 10 or 00, and performs logic operation after the result is sent to the judging unit to obtain an absolute code. If the two groups of sensing units participating in the differential operation are both in the increment period '10', the logical operation result is 1, otherwise, the logical operation result is 0, and the absolute coding value of the specific digit can be obtained by collecting the logical operation result. In addition, after each signal acquisition, the absolute code reading module generates two groups of absolute code values, wherein one group has the characteristic of Manchester code encoding, and the other group is almost all 0 under most conditions. And summing the two sets of absolute code values and performing difference operation, wherein the large result is the initial effective absolute code. The correct absolute code value can also be distinguished by carrying out XOR operation on two adjacent bits of the absolute code sequence. In the embodiment of the invention, because the absolute code value has uniqueness in the code sequence, according to the generation process and the result of the coarse absolute code, under the condition of no increment position information, the two-subdivision of the Manchester code can be accurately realized and positioned to the position of a specific increment period of 10 or 00.
In an embodiment of the present invention, the sensing units used to generate the absolute and incremental position information are adjacent to each other, having a single field scanning feature. The sensing elements located within the code sequences CA and CB are each used to generate absolute position information and the sensing elements located within the code sequences CA are used to generate incremental position information. The 8 sensing units in each coding sequence CA can generate two groups of same SIN +, COS +, SIN-and COS-signals, and the two groups of sine and cosine signals are equal in amplitude and same in phase. In the scanning process of the scanning element, the sensing units used for generating the incremental position information selected each time contain the same number of CA sequences, so that the amplitude and the phase of the final incremental position information are kept stable, and high-quality incremental position information can be obtained for high-multiple subdivision.
In the embodiment of the invention, the high-quality increment position information can realize the subdivision of higher multiples in a single signal period through operations such as difference, arc tangent and the like. The device can realize the high-resolution position measurement of the single-code-channel absolute measuring device by combining with the coarse absolute position information.
In another example, the single-track absolute position measuring device may further include a single-track measurement reference unit 1, a scanning element 2, an absolute code reading module 3, an absolute code correction module 4, an incremental position information generation module 5, and a high-resolution position information generation module 6, as shown in fig. 1. The scanning element 2 scans the single-code-channel measuring reference unit 1 to generate a coarse absolute code analog signal A1～AnAfter analog-to-digital conversion, the absolute code is sent to an absolute code reading module 3 to be processed to obtain two groups of absolute codes CABS and CABS', after numerical comparison, the initial effective absolute code is sent to an absolute code correction module 4 to be corrected to obtain a correct final absolute code sequence, and coarse absolute position information is obtained through operation or table lookup. Meanwhile, the initial effective absolute coding cab or cab' is sent to the incremental position information generation module 5, the corresponding sensing units with the numerical value of "1" in the initial effective absolute coding sequence are distinguished, all analog signals generated by the sensing units with the same phase are subjected to accumulation processing, incremental position information is generated through operation, and then the incremental position information is subjected to subdivision operation, so that the position information INC in a single incremental period can be obtained. In the high resolution position information generating module 6, the position information INC in the single increment period is combined with the coarse absolute position information to obtain the high resolution absolute position information ABS.
As shown in fig. 1, the single-channel measurement reference unit 1 is composed of a symbol sequence having a first characteristic and a second characteristic, and a symbol T1 of the first characteristic and a symbol T2 of the second characteristic are arranged non-periodically and have equal widths, each being P/2, where P is an increment period width. Wherein, T1 has the characteristic of complete light transmission or reflection, and T2 has the characteristic of light-proof or non-reflection. The measuring reference adopts Manchester codes for coarse coding, and the width of each Manchester code is B. One bit of Manchester code CA or CB is generated in sequence every four code element sequences, wherein CA represents Manchester code '1', and CB represents Manchester code '0'. In fig. 1, manchester code CA is composed of symbols T1 of the first characteristic and symbols T2 of the second characteristic alternately, and is expressed as a code component sequence of "1010", manchester code CB is composed of symbols T1 of the first characteristic and three consecutive symbols T2 of the second characteristic, and is expressed as a code component sequence of "1000", but the code component sequences of manchester code CA and CB are not limited to "1010" and "1000", and may be combinations of sequences having such characteristics, such as "1010" and "1011", "0101" and "0100", "0101" and "0111", "101010" and "101000", "10101010" and "10100000".
The scanning element 2 is a linear array sensing unit consisting of n sensing units D1To DnArranged in sequence along the direction of motion of the single track measurement reference unit 1. The sensing unit pitch is 1/2 of the symbol width, namely, every eight sensing units correspond to one Manchester code "1" or "0", so as to read the position information of the single-track measurement reference unit 1.
Fig. 2 shows the absolute code sequence "101010001000101010001010" for a single-track measurement reference cell 1, corresponding to a six-bit manchester code of "100101". The scanning element 2 consists of sixty sensing units D1To D60The sensor is formed by arranging and placing along the moving direction of a single-code-channel measuring reference unit 1, wherein every two sensing units correspond to one code element '1' or '0', and each Manchester code corresponds to eight sensing units. Every four sensing units correspond to an increment period P on the single-code-channel measurement reference unit 1. The scanning element 2 scans the single-code-channel measurement reference unit 1 to generate a coarse absolute code analog signal A1To A60And then sent to the absolute code reading module 3 for processing.
As shown in FIG. 3, the absolute code reading module 3 comprises a difference operation unit 9, a numerical value judgment unit 10, and a logicAn edit and operation unit 11, a summary unit 12 and a summation operation unit 13, which respectively and sequentially convert the analog signals A of the coarse absolute codes generated by the scanning element 2iAnd Ai+4The i-th block fed to the difference operation unit 9 performs a difference operation where i =1, 2, … …, 48. Differential result RCiRespectively input to the i-th judgment module of the numerical value judgment unit 10 for judgment, if the numerical value RCiA 1 is output close to zero, otherwise a 0 is output. The output results are sent to the logical AND operation unit 11 for logical AND operation, one operation module is provided for every four groups, and the operation results are M'1、M1、M'2、M2、M'3、M3、M'4、M4、M'5、M5And M'6、M6. The summarizing unit 12 summarizes the operation results by interval to obtain two sets of absolute codes CABS 'and CABS, namely M'1～M'6Summarizing to obtain CABS', and pair M1～M6The cab is obtained in summary, and at the position shown in fig. 3, cab and cab' are "100101" and "100000", respectively. The summation operation unit 13 performs a bitwise summation operation on the absolute coding sequences cab and cab 'to obtain two sets of summation results M and M', respectively, and compares the magnitudes of M and M ', and the absolute coding cab or cab' corresponding to the greater value is the initial effective absolute coding. The initial effective absolute code is sent to the absolute code correction module 4 for operation and analysis, whether the initial effective absolute code needs to be corrected is determined, and whether the current interval is "1 st" or "2 nd" is determined, as shown in fig. 2. If the located interval is "1 st", the current initial valid absolute code is the final valid absolute code. Otherwise, according to whether the initial effective absolute coding head value is '0' or '1', the insertion of '1' or '0' before the initial effective absolute coding is determined, and the last bit of the initial effective absolute coding is removed to obtain the final effective absolute coding sequence. Specifically, as shown in fig. 4, when R is less than or equal to 0, that is, when the cab ' is the initial effective absolute code, the initial effective absolute code sequence is subjected to xor operation, then the xor operation result is subjected to logical and operation to obtain a logical value RIN ', and whether the logical value RIN ' is 1 is determined by value judgment. If RIN' is1, the cab' is the final effective absolute coding. Otherwise, judging the initial valid absolute coding first bit M'1Whether or not it is 1. If M'1If =1, 0 is inserted before the cab ' coding, and the last bit of the cab ' coding sequence is removed, so as to obtain the final effective absolute coding 0-cab '. Otherwise, 1 needs to be inserted before the coding of the cab ', and the last bit of the coding of the cab ' is removed, so as to obtain the final effective absolute coding 1-cab '. When R is>And when the code sequence is 0, namely when the CABS is the initial effective absolute code, performing exclusive OR operation on the initial effective absolute code sequence group, then performing logical AND operation on the exclusive OR operation result to obtain a logical value RIN, and judging whether the logical value RIN is 1 or not through value judgment. If RIN is 1, the CABS is the final effective absolute code. Otherwise, the first valid absolute code header M needs to be judged1Whether or not it is 1. If M is1If =1, 0 needs to be inserted before the cab coding, and the last bit of the cab coding is removed, so as to obtain the final effective absolute coding 0-cab. Otherwise, 1 needs to be inserted before the CABS coding, and the last bit of the CABS coding is removed, so as to obtain the final effective absolute coding 1-CABS. Finally, the coarse absolute position information can be determined by the effective absolute code through methods such as table lookup or operation. The absolute code sequence shown in fig. 3 in this embodiment is "100101", and is consistent with the manchester code encoding information on the single-code-channel measurement reference unit 1.
As shown in fig. 5, the initial valid absolute code sequence is determined according to the R value, and all the corresponding sensing units generating the value "1" in the initial valid absolute code sequence are found. The symbols in the initial valid absolute code sequence that produce the value "1" are either "1010" or "0101", which is the same as the incremental code track. Therefore, the analog signals generated by the corresponding sensing units are actually SIN +, COS +, SIN-and COS-respectively, the analog signals generated by the sensing units with the same phase are accumulated and sent to the adder for summation operation, and incremental position information INC0, INC90, INC180 and INC270, namely SIN +, COS +, SIN-and COS-are obtained. After performing difference operations on INC0 and INC180, and INC90 and INC270, high-quality incremental position information IN0 and IN90, namely SIN and COS signals, with a phase difference of 90 degrees are obtained. And carrying out subdivision operation on the position information to obtain the position information INC in the single increment period.
The high-resolution position information generating module 6 combines the position information INC in the single increment period with the coarse absolute position information to obtain the high-resolution position data ABS of the single-track absolute measuring device.
In summary, the technical solution of the embodiments of the present invention has the advantages of high resolution, low cost, low requirement on storage space, and fast sequence retrieval speed.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
In the 30 s of the 20 th century, improvements in a technology could clearly be distinguished between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.
The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in multiple software and/or hardware when implementing the embodiments of the present description.
One skilled in the art will recognize that one or more embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, one or more embodiments of the present description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The description has been presented with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the description. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
One or more embodiments of the present description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. One or more embodiments of the specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only an example of this document and is not intended to limit this document. Various modifications and changes may occur to those skilled in the art from this document. Any modifications, equivalents, improvements, etc. which come within the spirit and principle of the disclosure are intended to be included within the scope of the claims of this document.
Claims (9)
1. A single track absolute position measuring device, comprising:
the single-code-channel measurement reference unit comprises a code element sequence which is arranged in a non-periodic mode and has the same width and a first characteristic or a second characteristic;
the absolute code reading module is used for scanning the single-code-channel measurement reference unit by adopting a code element sequence with a special coding rule through a sensing unit of a scanning element, and generating an initial effective absolute code after operation; the absolute code reading module is specifically configured to: reading an analog signal generated by scanning the code element sequence and decoding to generate the initial effective absolute code; the absolute code reading module specifically comprises:
the differential operation unit comprises m +1 differential modules, wherein the m differential modules are used for sequentially generating analog signals A for corresponding sensing units of 3 sensing units spaced in two adjacent periods through the corresponding ith differential module respectivelyiAnd Ai+4Performing difference operation to obtain difference results RCiWherein i =1, 2, 3, … …, m, m being an integer equal to or greater than 4 and an integer multiple of 4;
a numerical judgment unit including i judgment modules connected with the difference operation unit for respectively judging the difference result RC through the corresponding i-th judgment moduleiJudging if the difference result RCiIf the value is close to zero, the judgment result is 1, otherwise, the judgment result is 0;
the logic and operation unit comprises m/4 operation modules, is connected with the numerical judgment unit and is used for respectively carrying out logic and operation on four groups of judgment results corresponding to the m/4 operation modules through the corresponding operation modules to obtain m/4 operation results; if the two groups of sensing units participating in the differential operation are both in the increment period '10', the operation result is 1, otherwise, the operation result is 0;
the summarizing unit comprises two groups, and is connected with the logic and operation unit, wherein each group is used for summarizing the operation results at intervals, summarizing the operation results at odd-numbered positions to obtain absolute code CABS', summarizing the operation results at even-numbered positions to obtain absolute code CABS;
the summation operation units comprise two groups, the two groups are connected with the logic and operation unit, and each group is respectively used for carrying out interval-by-interval summation operation on the operation results to respectively obtain two groups of summation results;
the difference operation unit is further configured to: comparing the two groups of summation results through the m +1 th difference module to obtain a difference value R, judging the R, and if the R is greater than 0, determining CABS as the initial effective absolute coding, otherwise, determining CABS' as the initial effective absolute coding;
the absolute code correction module is used for analyzing, operating and processing the initial effective absolute codes to obtain corrected final effective absolute codes, and operating or looking up the table on the final effective absolute codes to obtain coarse absolute position information;
an incremental position information generating module for generating incremental position information according to the initial effective absolute code;
and the high-resolution position information generating module is used for combining the incremental position information with the coarse absolute position information to obtain high-resolution absolute position information.
2. The apparatus of claim 1, wherein every two symbol widths in the single-channel measurement reference unit are one increment period width, every four symbol sequences constitute one-bit manchester code CA or CB, or every eight symbol sequences constitute one-bit pseudo random code, wherein the widths of the first characteristic symbol and the second characteristic symbol are both P/2, P is one increment period width, CA represents manchester code "1", CB represents manchester code "0", and the code constituent sequences of manchester codes CA and CB include: "1010" and "1000", "1010" and "1011", "0101" and "0100", "0101" and "0111", "101010" and "101000", "10101010" and "10100000".
3. The apparatus of claim 1, wherein the scanning element comprises: the n sensing units are arranged in a linear array mode, wherein the distance between the sensing units is 1/2 of the width of a code element in the single-code-channel measurement reference unit, every four sensing units correspond to one period width, and every eight sensing units correspondingly scan one-bit Manchester code.
4. The apparatus of claim 1,
the incremental position information generation module is specifically configured to: searching a sensing unit corresponding to a numerical value 1 in the initial effective absolute coding sequence, accumulating all analog signals generated by the sensing units with the same phase, and generating the incremental position information through subdivision operation;
the high-resolution position information generating module is specifically configured to combine the incremental position information with the coarse absolute position information, locate an incremental period where the current position is located according to the coarse absolute position information, and combine the incremental position information INC in a single incremental period to obtain the high-resolution absolute position information.
5. The apparatus according to claim 1, wherein the absolute code correction module specifically comprises:
the logic operation unit is used for carrying out XOR operation on the sequence groups of the initial effective absolute codes and carrying out logic AND operation on the operation result to obtain the RIN or RIN' value;
a logic judgment unit for judging whether RIN ' or RIN is 1, when R is less than or equal to 0, if RIN ' is 1, CABS ' is the final effective absolute code, if RIN ' is not 1, the first effective coding sequence CABS ' first M ' is judged '1If the absolute code is 1, inserting a value 0 before CABS ' and removing the last bit of the CABS ' to obtain the final effective absolute code 0-CABS '; if M'10, insert value 1 before CABS ', and remove CABS'The last bit, obtaining the final effective absolute code 1-CABS'; when R is>When 0, if RIN is 1, CABS is the final effective absolute code, if RIN is not 1, the first M of CABS of the initial effective coding sequence is judged1If the absolute code is 1, inserting a value 0 before CABS and removing the last bit of CABS to obtain the final effective absolute code 0-CABS, if the absolute code is M1If the value is 0, the value 1 is inserted before the cab, and the last bit of the cab is removed, so that the final effective absolute code 1-cab is obtained.
6. The apparatus according to claim 4, wherein the incremental positional information generating module specifically includes:
the sensing unit selection module is used for analyzing the initial effective absolute coding sequence, searching the sensing units corresponding to the numerical value '1' in all the generated sequences of the initial effective absolute coding sequence, and grouping the sensing units into four groups, namely SIN +, COS +, SIN-and COS-according to the phase information of the sensing units;
the adder is connected with the sensing unit selection module and is used for carrying out summation operation on all analog signals with the same phase to obtain incremental position information INC0, INC90, INC180 and INC270, namely SIN +, COS +, SIN-and COS-;
and the difference arithmetic unit is connected with the adder and is used for respectively carrying out difference arithmetic on the increment position information INC0 and INC180 and the increment position information INC90 and INC270 to obtain high-quality increment position information IN0 and IN90 with 90-degree phase difference, namely SIN and COS signals, and carrying out subdivision arithmetic on the SIN and COS signals to obtain increment position information INC IN a single increment period.
7. The apparatus of claim 1, further comprising:
and the position measuring module is used for carrying out two-subdivision of the Manchester code under the condition of no increment position information according to the coarse absolute position information generation process and the coarse absolute position information generation result and positioning to a specific increment period '10' or '00' position.
8. The apparatus of claim 1, wherein the sensing units in the scanning element used to generate absolute position information and incremental position information are adjacent to each other, the sensing units located within the symbol sequences CA and CB are each used to generate coarse absolute position information, and the sensing units located within the symbol sequence CA are used to generate incremental position information.
9. The device according to claim 8, characterized in that the scanning element is particularly adapted to:
the incremental position information is generated by 8 sensing units in one code element sequence CA independently, or the sensing units in different positions CA are selected to be combined to generate the incremental position information.
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