CN105444790B - Length is apart from absolute position optical encoder - Google Patents
Length is apart from absolute position optical encoder Download PDFInfo
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- CN105444790B CN105444790B CN201410784879.3A CN201410784879A CN105444790B CN 105444790 B CN105444790 B CN 105444790B CN 201410784879 A CN201410784879 A CN 201410784879A CN 105444790 B CN105444790 B CN 105444790B
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Abstract
The invention discloses a kind of length apart from absolute position optical encoder, belong to displacement transducer technology field；The present invention in order to overcome rotary encoder short distance transport be accurately positioned detection in limitation.The length of the present invention includes yardstick, reading terminal and signal processing circuit apart from absolute position optical encoder, reading terminal along yardstick length direction linear reciprocating motion and is scanned yardstick, there is parallel arrangement of geocoding grid and clock cycle grid on yardstick.The length of the present invention is fixed on the suitable position parallel with running track of ground apart from absolute position optical encoder using reading terminal and yardstick Split type structure, yardstick, there is corresponding geocoding grid on yardstick；Reading terminal scans yardstick during exercise, and signal processing circuit determines that the geocoding on the fixation yardstick that yardstick scans determines reading terminal relative to the physical location residing for yardstick in real time.
Description
Technical field
The invention belongs to displacement transducer technology field, more specifically, belonging to a kind of length apart from absolute position
Optical encoder.
Background technology
In the prior art in orbit from tens meters to hundreds of meters range motion equipment or vehicle, such as steel plant workshop
The dedicated track transport vehicle of hot Coke Transport car or carrier rocket that the middle steel ladle transport vehicle used, coke plant workshop use
, the steel ladle transport vehicle used in steel plant workshop needs accurately to move to corresponding position by the molten steel progress in ladle
Transhipment carries out the manufacturing procedure of next flow, and the hot Coke Transport car that coke plant workshop uses needs accurately to move corresponding
Hot coke is laid down to carry out dry coke quenching or coke wet quenching process in position, the dedicated track haulage vehicle of carrier rocket by carrier rocket from
Assembly shop needs accurately to control during transporting transmitting station.
The characteristics of one of these equipment or vehicle is common is exactly only on the track in a very small distance range
Reciprocal walking；These equipment or vehicle have to be accommodated to carry out corresponding accurate operation behind very accurate position, at the same time
Itself relative position in orbit must be accurately known during the motion；In these equipment or vehicle in order to detect it
Body relative position in orbit, usually move rotary encoder (increment in rotation axis with using installed in it in the prior art
Type or absolute value type) it is detected, this method for detecting position can only move it rotation axis and carry out indirect detection with general
Determine its relative position in orbit, this method for detecting position belongs to the measuring method of indirect type.
It is limited by the factor shadows such as the structural failure of precision, equipment or vehicle itself transmission system of rotary encoder in itself
Ring, the joint effect of many other factors of other in site environment, the equipment or vehicle that rotary encoder detects are opposite in addition
It is very inaccurate in the position result of track；It is inclined with what is added up after these equipment or vehicle usage time increase inside it
Difference can have a significant impact testing result, and the uncertainty of testing result is very big.
The content of the invention
The present invention gives a kind of length and is compiled apart from absolute position optics to efficiently solve above technical problem
Code device.
A kind of length of the present invention is apart from absolute position optical encoder, it is characterised in that：Including fixed yardstick,
Mobile reading terminal, signal processing circuit, have geocoding grid and clock cycle grid on yardstick；Have on reading terminal to address
Encode the grid scanning element being scanned and the scanning element being scanned to clock cycle grid, sweeping on reading terminal
Element is retouched with signal processing circuit to be connected；Any one group of coding on geocoding grid corresponds to any on yardstick length direction
One segment length；Wherein：
Signal processing circuit, which scans to the geocoding grid information on yardstick and clock cycle grid scanning element, to be believed
Breath carry out analysis judgement after, determine and export reading terminal with respect to the physical location residing for yardstick.
The yardstick of encoder and the tracks of equipment or vehicle are arranged in parallel, and reading terminal is connected with equipment or vehicle to be set
Put, reading terminal is oppositely arranged with yardstick, equipment or vehicle along track back and forth walk when, encoder reading terminal yardstick is carried out
Scan, have parallel arrangement of geocoding grid and clock cycle grid on yardstick；There is scanning element Q on reading terminal1、Q2With sweep
Retouch element P1、P2, the scanning element Q on reading terminal1、Q2It is corresponding with geocoding grid, scanning element Q1、Q2With being compiled to address
Code grid is scanned, the scanning element P on reading terminal1、P2It is corresponding with clock cycle grid, scanning element P1、P2To clock
Cycle grid is scanned；Equipment or vehicle along track back and forth walk when, reading terminal yardstick is scanned, on reading terminal
Scanning element Q1、Q2With scanning element P1、P2The geocoding grid on yardstick and clock cycle grid are swept respectively at the same time
Retouch and scanning result is sent to signal processing circuit in real time.
Length in accordance with the above is apart from absolute position optical encoder, preferably：
Geocoding grid encodes a for m-sequence0a1a2…aiai+1ai+2…ai+n…am-1, wherein：ai∈ (0,1), i=
0th,, m-1, m=2n- 1, aiUnit=0 and aiThe width of Unit=1 is L distances；
Clock cycle grid is the Unit 0 and Unit 1 that are continuously arranged alternately, Unit 0 and Unit 1 on clock cycle grid
Width is L/2X distances, and X values are more than or equal to 1；X values can be 1；
There are two scanning element Q being scanned to geocoding grid on reading terminal1、Q2, and two to the clock cycle
The scanning element P that grid is scanned1、P2；Scanning element Q1、Q2The distance between be (n-1) × L, scanning element P1、P2Between
Distance be L/4X；Scanning element P1、P2With scanning element Q1、Q2It is connected with signal processing circuit.
On geocoding grid low order address coding unit a is set gradually according to m-sequence codingi=0 and high address
Coding unit ai=1, the length of low order address coding unit and high address coding unit is L；On clock cycle grid
One low level clock cycle unit and a high-order clock cycle unit form a clock cycle unit, and the low level clock cycle is single
The width of member and high-order clock cycle unit is L/2 distances.
Any one group of scanning encoding a on geocoding gridi+1ai+2…ai+nOne specific location of yardstick is all correspond to,
Continuously arranged scanning encoding is all that uniquely correspond to continuous specific location, reading terminal on yardstick often to sweep on geocoding grid
Retouch to one group of scanning encoding ai+1ai+2…ai+n, then may be used for judging reading terminal with respect to the absolute position residing for yardstick, so
The limitation of conventional codec can be overcome.
Length in accordance with the above is apart from absolute position optical encoder, preferably：Scanning element Q1、Q2And scanning
Element P1、P2It is laser transmitting-receiving scanning means.
Length in accordance with the above is apart from absolute position optical encoder, preferably：Geocoding grid and clock
Cycle grid is open-type grid, a on geocoding gridiUnit=0 and aiUnit=1 is respectively to be open and non-opening,
Unit 0 and Unit 1 on clock cycle grid are respectively to be open and non-opening.
Scanning element Q1、Q2With scanning element P1、P2It is laser transmitting-receiving scanning means, scanning element Q1、Q2With scanning member
Part P1、P2Negative logic mode is used, after the receiving terminal of scanning element detects the light of transmitting terminal, scanning element output
Low level, after the receiving terminal of scanning element does not detect the light of transmitting terminal, scanning element output high level.Scanning member
Part Q1、Q2With scanning element P1、P2Optical signal (unglazed or have light) be converted to electric signal (high level or low level, rising edge or
Trailing edge) give signal processing circuit.
Scanning element Q1、Q2With scanning element P1、P2Use laser transmitting-receiving scanning means and coordinate open-type yardstick can be with
Obtain extraordinary detection technique effect, scanning element Q1、Q2With scanning element P1、P2Laser sensitivity it is very high, reading terminal
Along in open-type yardstick reciprocatory movement can fast ground detect in real time on geocoding grid corresponding n encode the
One and last position.Scanning element Q1、Q2With scanning element P1、P2The laser spot diameter of transmitting is than L apart from a small quantity
Level, scanning element Q1、Q2With scanning element P1、P2The laser spot diameter of transmitting, apart from small an order of magnitude, is so set than L
It can ensure that detection result is very reliable.
A kind of coding method of the length of the present invention apart from absolute position optical encoder, it is characterised in that：Signal
Process circuit real-time reception scanning element Q1、Q2The address coding signal and scanning element P scanned1、P2The clock week scanned
Phase signal, and judge that harbour is arrived along the direction of travel of yardstick, according to scanning in real time according to the clock cycle signal scanned
Address coding signal in real time determine reading terminal with respect to the physical location residing for yardstick.
Coding method in accordance with the above, preferably：The width of Unit 0 and Unit 1 is L/2X on clock cycle grid
Distance, scanning element P1、P2The distance between be L/4X distances, X values are more than 1, scanning element P1、P2X groups are arrived in continuous scanning
00th, 01,11,10 signal, signal processing circuit confirm reading terminal along the positive walking L distances of yardstick；Scanning element Q1、Q2Scanning
N bit address coding a on to geocoding gridi+1ai+2…ai+nAi+1And ai+nAfterwards, continue to scan on geocoding grid
N bit address coding ai+2ai+3…ai+n+1Ai+2And ai+n+1, signal processing circuit encodes true according to two group address scanned
Reading terminal is determined with respect to the physical location residing for yardstick.
Coding method in accordance with the above, preferably：The width of Unit 0 and Unit 1 is L/2X on clock cycle grid
Distance, scanning element P1、P2The distance between be L/4X distances, X values are more than 1, scanning element P1、P2X groups are arrived in continuous scanning
00th, 10,11,01 signal, signal processing circuit confirm that reading terminal is reversely walked L distances along yardstick；Scanning element Q1、Q2Scanning
N bit address coding a on to geocoding gridi+1ai+2…ai+nAi+1And ai+nAfterwards, continue to scan on geocoding grid
N bit address coding aiai+1…ai+n-1AiAnd ai+n-1, signal processing circuit is according to the definite reading of two group address coding scanned
Harbour is with respect to the physical location residing for yardstick.
The length of the present invention is apart from absolute position optical encoder using reading terminal and yardstick Split type structure, yardstick peace
Dress is fixed on the suitable position parallel with running track of ground, there is corresponding geocoding on yardstick；Have inside reading terminal
Scanning element, reading terminal are installed on these equipment or vehicle；Reading terminal scans yardstick during exercise, and signal processing circuit is real-time
Determine that the geocoding on the fixation yardstick that yardstick scans determines reading terminal relative to the physical location residing for yardstick, it is this
Optical encoder method for detecting position belongs to direct measuring method, substantially from the influence system of other live adverse circumstances factors
About.
Brief description of the drawings
Attached drawing 1 is structure diagram of the length of the present invention apart from absolute position optical encoder；
Attached drawing 2 is that length of the present invention is compiled apart from the yardstick geocoding of absolute position optical encoder and clock cycle
Code schematic diagram；
Attached drawing 3 is mobile reading terminal structure diagram of the length of the present invention apart from absolute position optical encoder；
Attached drawing 4 is reading terminal photoelectric cell and yardstick correspondence figure；
Attached drawing 5A is the structure diagram of serial output signal process circuit；
Attached drawing 5B is the electrical block diagram of serial output signal process circuit；
Attached drawing 5C is serial address encoded signal sequence diagram；
Attached drawing 5D is data acquisition module geocoding processing subroutine flow chart；
Attached drawing 6 is scanning element P1、P2The mobile logical relation variation diagram of forward direction；
Attached drawing 7 is scanning element P1、P2The sequential logic signal that scan clock cycle grid produces.
Embodiment
Fig. 1 is structure diagram of the length of the present invention apart from absolute position optical encoder；The length of the present invention
Include yardstick, reading terminal and signal processing circuit apart from absolute position optical encoder, reading terminal is along yardstick length direction
Reciprocating linear walks and yardstick is scanned, and has parallel arrangement of geocoding grid and clock cycle grid on yardstick；Read
Harbour non-contactly scans yardstick, and signal processing circuit carries out analysis judgement to scanning signal.
Yardstick is set parallel with equipment or the running track of vehicle, and coding information is provided with yardstick so that reading terminal is read
To determine reading terminal with respect to the physical location residing for yardstick；Reading terminal, which is arranged at, to be run in equipment in orbit or vehicle, is read
Harbour is moved back and forth with equipment or vehicle along track, and reading terminal is scanned yardstick in motion process, signal processing electricity
Road handles the information of reading terminal scanning to yardstick and exports reading terminal with respect to the physical location residing for yardstick.
Fig. 2 is that length of the present invention is encoded apart from the yardstick geocoding of absolute position optical encoder and clock cycle
Schematic diagram, there is geocoding grid 1 and clock cycle grid 2 side by side on yardstick.Geocoding grid 1 is alongst pressed
M-sequence rule a0a1a2…aiai+1ai+2…ai+n…am-1Encoded, wherein：ai∈ (0,1), i=0,, m-1, m=2n- 1,
Address encoding unit a is correspondingly set according to codingi=0 and address encoding unit ai=1, address encoding unit ai=0 and address
Coding unit ai=1 width is L distances, address encoding unit ai=0 be opening address encoding unit, geocoding list
First ai=1 is the address encoding unit of non-opening；M-sequence coding rule is a kind of common coding rule in the prior art,
This does not do excessive explanation.
Geocoding grid 1 presses m-sequence a0a1a2…ai-1aiai+1…am-1It is regularly arranged, wherein any one geocoding
Unit ai=0 or ai=1, then this address encoding unit ai=0 or ai=1 correspond to geocoding grid 1 for opening form or
Non- opening form, address encoding unit aiEither 1 or 0 its width is L distances, m-sequence a0a1a2…ai-1aiai+1…am-1In
Any group of continuous n ai+1ai+2…ai+nIt may each be one group of geocoding to be detected.
Clock cycle grid 2 is the Unit 0 and Unit 1 that are continuously arranged alternately, Unit 0 and Unit 1 on clock cycle grid
Width be L/2X distances, X values are more than 1, and the present embodiment X values are 1；There are two on reading terminal to geocoding grid
The scanning element Q being scanned1、Q2, and two scanning element P being scanned to clock cycle grid1、P2；Scanning element
Q1、Q2The distance between be (n-1) × L, scanning element P1、P2Between part Q1、Q2With scanning element P1、P2It is connected；Scanning element
Q1、Q2It is L/4X that the distance swept is provided for signal processing circuit, i.e. scanning element Q1、Q2The distance of scanning is L/4.Clock cycle
Grid 2 is arranged alternately low level clock cycle unit Unit 0 and high-order clock cycle unit Unit 1 along yardstick length direction, low
The width of bit clock periodic unit Unit 0 and high-order clock cycle unit Unit 1 is L/2 distances, low level clock cycle unit
For opening clock cycle unit, high-order clock cycle unit is non-opening clock cycle unit.
Geocoding grid 1 and clock cycle grid 2 are open-type grids, any bit low level on geocoding grid 1
Address encoding unit ai=0 and any bit high address coding unit ai=1 be respectively opening form and non-opening form, clock
Any bit low level clock cycle unit and the high-order clock cycle unit of any bit are respectively to be open and non-opening on cycle grid 2.
Each address encoding unit width L of geocoding grid 1 can be chosen for 20mm, geocoding grid on yardstick
M-sequence coding n on 1 can be chosen for 15, and m=2 can be learnt according to primitive polynomialn- 1=32767, total length are
Share 32767 geocodings on the yardstick of 655.34m (20mm × 32767), the yardstick of 655.34m can meet various substantially
The working track length requirement at scene；Required in actual use according to the different of different operating scene, address is compiled on yardstick
Each cell width L of code grid 1 can choose other suitable numerical value, and 1 width L of address encoding unit is not limited to 20mm,
The code number of m-sequence coding on geocoding grid 1 is also not limited to aforementioned forms.
Fig. 3 is mobile reading terminal structure diagram of the length of the present invention apart from absolute position optical encoder；Reading code
There are two scanning element Q being scanned to geocoding grid on head1、Q2, also have two on reading terminal to clock cycle grid
The scanning element P being scanned1、P2；The signal processing circuit scanning element Q with reading terminal respectively1、Q2With scanning element P1、P2
It is connected.Scanning element Q1、Q2With scanning element P1、P2It is optoelectronic transceiver scanning element, this four scanning elements can launch light
Signal simultaneously at the same time receives the optical signal of transmitting；Scanning element Q1、Q2With scanning element P1、P2Laser transmitting-receiving can be used
Scanning means, scanning element Q1、Q2With scanning element P1、P2The laser spot diameter of transmitting is than L apart from small an order of magnitude.
Scanning element Q1、Q2With scanning element P1、P2Negative logic mode is used, when the receiving terminal of scanning element detects
After the light of transmitting terminal, scanning element output low level, when the receiving terminal of scanning element does not detect the light of transmitting terminal
Afterwards, scanning element output high level.Scanning element Q1、Q2With scanning element P1、P2Optical signal (unglazed or have light) is converted to
Electric signal (high or low level, rising edge or trailing edge).
Scanning element Q1、Q2With scanning element P1、P2The LV-N10 digital lasers of Japanese Keyemce company can be used to pass
Sensor, the digital laser sensor technology index of this model：500 millimeters of actual induction distance between transmitting terminal and receiving terminal,
The spot diameter of photoelectric cell projection is less than 1.0 millimeters, 250 microsecond of response time of photoelectric cell.
There are two scanning element Q for being used to scan yardstick Shangdi location coding grid on reading terminal1、Q2, scanning element Q1、Q2
Between distance be (n-1) × L, scanning element Q1、Q2The address coding signal scanned is provided for signal processing circuit；Reading terminal
It is upper to also have two scanning element P for being used for scan clock cycle grid1、P2, scanning element P1、P2Between distance be L/4, scanning
Element P1、P2The clock cycle signal scanned is provided for signal processing circuit；Signal processing circuit is in real time to scanning element
Q1、Q2The address coding signal and scanning element P scanned1、P2The clock cycle signal scanned carries out sequential logic pass
System judges, the physical location residing for the opposite yardstick of definite reading terminal in real time.
Reading terminal often moves L distances when scanning yardstick, and signal processing circuit is according to scanning element P1、P2The movement detected
Direction and sampling instant signal, scanning element Q1、Q2Read corresponding geocoding on geocoding grid, length of the present invention
Position detection resolution ratio apart from absolute position optical encoder is L.Often move L distances, scanning element P1、P2Each produce
Its sequential logical signal, signal processing circuit is according to scanning element P1、P2Between opposite sequential relationship (phase) determine movement side
To；P1、P2Rising edge or trailing edge signal for signal processing circuit provide read Q1Or Q2During the sampling of corresponding geocoding
Carve.
If scanning element P1、P2Scan to one group 00,01,11,10 signals, then signal processing circuit confirms reading terminal edge
The positive walking L distances of yardstick；Scanning element Q1、Q2Scan the n bit address coding a on geocoding gridi+1ai+2…ai+n
Afterwards, the n bit address coding a on geocoding grid is continued to scan oni+2ai+3…ai+n+1, signal processing circuit is according to scanning
Two group address coding determines reading terminal with respect to the physical location residing for yardstick.
If scanning element P1、P2Scan to one group 00,10,11,01 signal, then signal processing circuit confirms reading terminal edge
Yardstick reversely to walk L distances；Scanning element Q1、Q2Scan the n bit address coding a on geocoding gridi+1ai+2…ai+n
Afterwards, the n bit address coding a on geocoding grid is continued to scan oniai+1…ai+n-1, signal processing circuit is according to scanning
Two group address coding determines reading terminal with respect to the physical location residing for yardstick.
Scanning element Q1、Q2Scan the geocoding grid on yardstick, scanning element Q1、Q2Between cross over n × aiPosition, signal
Process circuit reads successive n bit address coding ... a from yardstickiai+1ai+2…ai+n-1ai+nai+n+1….It is located at ai+1…ai+nPosition
The place's of putting reading terminal arbitrarily moves L distances, and signal processing circuit reads one newly according to the moving direction of reading terminal in sampling instant
Value Q1(ai) or Q2(ai+n+1), according to the moving direction of reading terminal, from the n positions a of store-memoryi+1…ai+nIn remove ai+nOr ai+1；
With n-1 memory values, plus 1 new value, new n bit address coding a is formediai+1…ai+n-1Or ai+2…ai+nai+n+1；At signal
Have read geocoding reason circuit serial, and make current address with the address again, next moved further L apart from when, repeat foregoing
Step, signal processing circuit read whole geocodings on yardstick.
Signal processing circuit is according to scanning element P during initialization1、P2Counter is established, often counts 1 time and then reads scanning element
Q1、Q2With 1 coding on geocoding grid, counter counts count to n, read successive n position ai+1ai+2…ai+nDo n bit address
Initial value is encoded, a is stored in the internal storage location of signal processing circuiti+1ai+2…ai+n, and initialization flag position is removed, initially
Change and complete.
Fig. 4 is reading terminal photoelectric cell and yardstick correspondence figure in the present invention；Have on yardstick geocoding grid and when
Clock cycle grid, geocoding grid press m-sequence a along yardstick length direction0a1a2…aiai+1ai+2…ai+n…am-1Compiled
Code, wherein：ai∈ (0,1), i=0,, m-1, m=2n- 1, every group of scanning encoding has a n address encoding unit, every group in figure
Scanning encoding has 16 address encoding units, low order address coding unit ai=0 width is L, high address coding unit ai
=1 width is L；The low level clock cycle unit and high bit clock that clock cycle grid is arranged alternately along yardstick length direction
The width of periodic unit, low level clock cycle unit and high-order clock cycle unit is L/2 distances, in present embodiment
X=1.
There are two scanning element Q being scanned to geocoding grid on reading terminal1、Q2, scanning element as shown in the figure
Q1、Q2Two shades are left on geocoding grid, also have two scannings being scanned to clock cycle grid on reading terminal
Element P1、P2, scanning element P as shown in the figure1、P2Two shades are also left on clock cycle grid；Scanning element Q1、Q2Scanning
To first and last position of 16 address encoding units, scanning element Q1、Q2The distance between be 15L, scanning element P1、
P2The distance between be L/4.
Fig. 5 A are the signal processing circuit structure schematic diagrames one of Serial output of the present invention；
Serial address encoded signal programs：Reading terminal scanning yardstick ... ai ai+1ai+2…ai+n-1ai+nai+n+1..., often move L
Distance, serial address encoded signal module output " shaking hands " signal INTR of reading terminal, data acquisition module inquire " shaking hands "
Signal INTR, or data acquisition module " shaken hands " signal INTR triggering interrupt, into data acquisition module geocoding processing
Program, by one one reads m-sequence coded data and forms n-bit data in an orderly manner.
The signal of serial address coding module：There are direction D (Dp、Dn) signal, geocoding data Q (corresponding ai+1Or ai+n),
The value of D instructions Q is ai+1Or ai+n, " shaking hands " signal INTR.
Attached drawing 5B is the electrical block diagram of serial output signal process circuit；Compile the serial and concurrent address of reading terminal
Code signal inside modules microcontroller model pic16f887,4/8MHz internal clocking, monocycle, one-byte instruction.
The user of encoder is connected with " data acquisition module " with the serial address encoded signal module of reading terminal, with figure
D, Q, INTR signal sequence logical relation in 5A, " data acquisition module " enter address volume after inquiring " shaking hands " signal INTR
Code processing subprogram, or " being shaken hands " signal INTR triggerings are interrupted and enter geocoding processing subprogram.
Build table：M n bit address coding schedule of m-sequence has been stored in calculator memory, is shown in Table 3 with primitive polynomial x15+
x14The m-sequence of+1 generation.
Table look-up：The n bit address read with data acquisition module geocoding processing subroutine flow chart encodes ai+1ai+2…
ai+n-1ai+nMake address, the content for taking-up of tabling look-up is exactly familiar continuation address, and system provides position letter in order to control in real time
Number.
T in Fig. 5 B1、T2、T3、T4It is reading terminal photoelectric cell P1、P2、Q1、Q2The circuit interface that inside provides, out1,
Out2, out3 are used separately as " shaking hands " signal INTR, direction D, data Q.Out1, out2, out3 are OC outputs in Fig. 5 B,
+ 24v power supplys；Out1, out2, out3 are compatible with most of technical grade data acquisition modules.
Fig. 5 C are serial address encoded signal sequence diagrams；The signal of serial address encoded signal module：There are direction D (Dp、Dn)
Signal, geocoding data Q (corresponding ai+1Or ai+n), the value of D instructions Q is ai+1Or ai+n；" shaking hands " signal INTR.
Fig. 5 D are data acquisition module geocoding processing subroutine flow charts；Serial address encoded signal programs：Reading code
Head scanning yardstick ... ai ai+1ai+2…ai+n-1ai+nai+n+1..., often move L distances, the serial address encoded signal module of reading terminal
" shaking hands " signal INTR is exported, data acquisition module inquires " shaking hands " signal INTR, or data acquisition module " being shaken hands " letter
Number INTR triggering is interrupted, and handles subprogram into data acquisition module geocoding, the data by one one read are orderly
Ground forms n-bit data.
Fig. 6 is scanning element P in the present invention1、P2Mobile logical relation variation diagram, scanning element P in Fig. 61、P2Mobile L
Distance completes the scanning to a cycle of clock cycle grid, while scanning element Q1、Q2And move L distances；Scanning member
Part P1、P2+ 1 mouthful of kth is moved to from the kth mouth of clock cycle grid, 4 steps (i.e. four kinds of states), scanning element P can be decomposed1、
P2Four kinds of light on clock cycle grid lead to assembled state (having light or unglazed)：00th, 01,11,10, scanning element is corresponded to therewith
P1、P2Four kinds of level combinations states of output：00、01、11、10.
Scanning element P1、P2Between distance be L/4, scan clock cycle grid and continuously produced during one-way movement
Raw ... 00,01,11,10,00,01,11,10,00,01,11,10 ... sequence of levels；If by 11,10,00,01,11 one
A cycle (11 be the corresponding state of sampling instant), this will pass through 4 × (L/4)；Moving direction signal determines it is in current location
ai+1…ai+nForward position or reverse position；Divided again with Z × (L/4) between this sampling location and next time sampling location
Determine, when Z=1,2,3,4 respectively with 00,01,11,10 4 kind of level combinations state it is corresponding.
Fig. 7 is scanning element P of the present invention1、P2The sequential logic signal that scan clock cycle grid produces；The position in figure
1st, sampling instant, scanning element Q are established at position 101、Q2The laser facula signal of transmitting is located at yardstick geocoding grid and takes up an official post
One unit aiAt position；1 right lateral or in 1 left lateral of position in position, although P2Level value be identical, but scanning element P1
Change sequential to light produces rising edge or trailing edge respectively.Position 1 and position 10 can be used for the sampling for determining right lateral and left lateral
Moment, scanning element Q1、Q2Collection signal Q10、Q20；No matter left lateral or right lateral, sampling address coding ai(ai=0 or be 1) same
One position.The speed of the reading terminal scanning yardstick of installation on the mobile apparatus changes with equipment translational speed, from sampling
The sampling pulse width (duration) and the proportional relation of equipment translational speed of moment starting.
Sampling pulse width：From position 1 to position 2 as it can be seen that reading terminal movement L/4, utilizes scanning element P during right lateral1、P2
Signal logic relation can produce sampling pulse width T, T=(L/4) translational speed proportional to equipment translational speed；Left lateral
When from position 6 to position 7 as it can be seen that reading terminal moves L/4, sampling pulse width T and right lateral are similarly.
Sampling pulse produces：Reading terminal right lateral scans yardstick, utilizes scanning element P1、P2Signal logic relation is shown in figure, in place
Put 1 and establish sampling pulse P20Rising edge, establish sampling pulse P in position 220Trailing edge, between rising edge and trailing edge from
It is so high level；This sampling pulse name P caused by right lateral20；Similarly P is utilized in position 6, position 7 during left lateral1P2Letter
Number establish sampling pulse name P10。P20For serially reading Q during right lateral2The letter of corresponding yardstick geocoding (have mouth/without mouth)
Number Q20, similarly P10For serially reading Q during left lateral1The signal Q of the geocoding of corresponding yardstick10, P10、P20Signal contains movement
Directional information.
Sampling pulse application：P20Rising edge, trailing edge, high level may be used to read Q2Signal Q20；With sampling
Pulse P20Trailing edge (occurring in position 2), Q2Light hot spot is located at yardstick geocoding ai(aiL length shared by=0 or 1)
Centre offset by L/4 positions, read Q at this time20And effectively；Use P20Rising edge read Q20It is optimal；Use P20Height
Level signal is also a kind of method.Sampling pulse P10Application and P20Similarly；P10、P20It is the standard signal of reading terminal, uses this
The technical staff of invention encoder can use Q10、Q20, P10、P20Standard signal is programmed, sampling pulse have 3 kinds of usages for
Selection, photoelectric cell P1P2Scan clock cycle grid is transformed into sampling pulse P10、P20。
The specific function of signal conversion unit：Displacement distance ＜ L during right lateral, continue after once being sampled at the K moment
Right lateral, but K+1 sampling instants then equipment movement stopping is not reached, then left lateral moves to reach the K moment, reading terminal is no longer sent out at this time
Go out sampling pulse P10, forbid repeating to read；Displacement distance ＜ L and above-mentioned processing mode be similarly during left lateral.
P may occur for position 1~4 and position 6~9 in Fig. 71Or P2There is mouth to swing without mouth edge, signal conversion is single
Member utilizes clock cycle grid and P1P2Between correlation (8 separate states) carry out logical process, it is ensured that sampling pulse
P10P20It is absolute in order.
Encoder position testing principle and programming：The photoelectric cell Q of reading terminal1Q2Scan address encodes grid, in m-sequence
Coding ... aiai+1ai+2…ai+n-1ai+nai+n+1... yardstick on, it is assumed that in current location be ai+1ai+2…ai+n-1ai+nShi Yidong L
Distance, according to sampling pulse P10Or P20(P10、P20Can not possibly occur at the same time)；
In sampling pulse P10When read Q10A on corresponding yardsticki, aiWith a of known current locationi+1ai+2…ai+n-1, group
A is encoded into the n bit address for moving L distancesiai+1ai+2…ai+n-1；
Sampling pulse P20When, read Q20A on corresponding yardsticki+n+1, ai+n+1With a of known current locationi+2…ai+n- 1ai+nComposition moves the n bit address coding a of L distancesi+2…ai+n-1ai+nai+n+1；
Sampling pulse P10Or P20Determine and read Q10Or Q20Signal, it is determined that from n ai+1ai+2…ai+n-1ai+nIn coding
The n-1 positions needed, composition move the n bit address coding of L distances, see serial reading address encoding program flow chart.
Claims (5)
1. a kind of length is apart from absolute position optical encoder, it is characterised in that：Reading code including fixed yardstick, movement
Head, signal processing circuit, have geocoding grid and clock cycle grid on yardstick；Have on reading terminal to geocoding grid into
The scanning element of row scanning and the scanning element that is scanned to clock cycle grid, scanning element and letter on reading terminal
Number process circuit is connected；Any one group of coding on geocoding grid corresponds to any one segment length on yardstick length direction；
Wherein：
Signal processing circuit scanning element is scanned to the geocoding grid information on yardstick and clock cycle grid information into
After row analysis judgement, determine and export reading terminal with respect to the physical location residing for yardstick；
Geocoding grid encodes a for m-sequence0a1a2···aiai+1ai+2···ai+n···am-1, wherein：ai∈(0、
1), i=0,, m-1, m=2n- 1, aiUnit=0 and aiThe width of Unit=1 is L distances；
Clock cycle grid is the Unit 0 and Unit 1 that are continuously arranged alternately, the width of Unit 0 and Unit 1 on clock cycle grid
It is L/2X distances, X values are more than or equal to 1；
There are two scanning element Q being scanned to geocoding grid on reading terminal1、Q2, and two to clock cycle grid
The scanning element P being scanned1、P2；Scanning element Q1、Q2The distance between be (n-1) × L, scanning element P1、P2Between away from
From being L/4X；Scanning element P1、P2With scanning element Q1、Q2It is connected with signal processing circuit；
Signal processing circuit real-time reception scanning element Q1、Q2The address coding signal and scanning element P scanned1、P2Scan
Clock cycle signal, and according to the clock cycle signal scanned judge in real time reading terminal along yardstick direction of travel,
Determine reading terminal with respect to the physical location residing for yardstick in real time according to the address coding signal scanned；
The width of Unit 0 and Unit 1 is L/2X distances on clock cycle grid, scanning element P1、P2The distance between be L/4X
Distance, X values are more than 1, scanning element P1、P200,01,11,10 signal of X groups is arrived in continuous scanning, and signal processing circuit confirms to read
Harbour is along the positive walking L distances of yardstick；Scanning element Q1、Q2Scan the n bit address coding a on geocoding gridi+ 1ai+2···ai+nAi+1And ai+nAfterwards, the n bit address coding a on geocoding grid is continued to scan oni+2ai+3···
ai+n+1Ai+2And ai+n+1, signal processing circuit is according to residing for the two group address coding scanned determines reading terminal with respect to yardstick
Physical location.
2. length according to claim 1 is apart from absolute position optical encoder, it is characterised in that：X values are 1.
3. length according to claim 1 is apart from absolute position optical encoder, it is characterised in that：Scanning element Q1、
Q2With scanning element P1、P2It is laser transmitting-receiving scanning means.
4. according to any length in claim 1,2 or 3 apart from absolute position optical encoder, it is characterised in that：
Geocoding grid and clock cycle grid are open-type grids, a on geocoding gridiUnit=0 and aiUnit=1
Respectively it is open and non-opening, the Unit 0 and Unit 1 on clock cycle grid are respectively to be open and non-opening.
5. a kind of length is apart from the coding method of absolute position optical encoder, it is characterised in that：
Signal processing circuit real-time reception scanning element Q1、Q2The address coding signal and scanning element P scanned1、P2Scan
Clock cycle signal, and according to the clock cycle signal scanned judge in real time reading terminal along yardstick direction of travel,
Determine reading terminal with respect to the physical location residing for yardstick in real time according to the address coding signal scanned；
The width of Unit 0 and Unit 1 is L/2X distances on clock cycle grid, scanning element P1、P2The distance between be L/4X
Distance, X values are more than 1, scanning element P1、P200,01,11,10 signal of X groups is arrived in continuous scanning, and signal processing circuit confirms to read
Harbour is along the positive walking L distances of yardstick；Scanning element Q1、Q2Scan the n bit address coding a on geocoding gridi+ 1ai+2···ai+nAi+1And ai+nAfterwards, the n bit address coding a on geocoding grid is continued to scan oni+2ai+3···
ai+n+1Ai+2And ai+n+1, signal processing circuit is according to residing for the two group address coding scanned determines reading terminal with respect to yardstick
Physical location；Alternatively, the width of Unit 0 and Unit 1 is L/2X distances on clock cycle grid, scanning element P1、P2Between
Distance is L/4X distances, and X values are more than 1, scanning element P1、P200,10,11,01 signal of X groups, signal processing are arrived in continuous scanning
Circuit confirms that reading terminal is reversely walked L distances along yardstick；Scanning element Q1、Q2Scan the n bit address on geocoding grid
Encode ai+1ai+2···ai+nAi+1And ai+nAfterwards, the n bit address coding on geocoding grid is continued to scan on
aiai+1···ai+n-1AiAnd ai+n-1, signal processing circuit is encoded according to two group address scanned determines that reading terminal is opposite
Physical location residing for yardstick.
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| DE102017201257A1 (en) * | 2017-01-26 | 2018-07-26 | Dr. Johannes Heidenhain Gmbh | Position measuring device |
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| CN202501826U (en) * | 2012-03-21 | 2012-10-24 | 珠海市怡信测量科技有限公司 | Linear grating ruler |
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