CN100425952C - Degenerate pseudo-random rotary sensor - Google Patents
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Abstract
A degenerate pseudo-random rotation sensor is provided in the invention. The code disc is made up of a clock code track and a pseudo code track which is encoded in the whole circle by the binary pseudo-random sequence. It is: (1) it expresses the whole circle is divided into m parts by the closed ring composed by the m binary code sequence, the m is the positive integer; (2) the angle position code is the series of n binary code, the n is bigger than 4; (3) the m is less than 2n; (4) the angle position code is the only and the m different angle position codes are correspondence with the m angle position in the whole circle. The invention can save the space and the time by using the topological diagram to encode the circle pseudo-randomly. The photoelectric rotation sensor can provide the digital rotary parameter of the position, the speed and the direction at the same time; also it can keep the data reliability as the absolute formula.
Description
Technical field
The present invention relates to a kind of photoelectricity rotation sensor of digital angle measurement, claim optical electric axial angle encoder again.Be particularly related to a kind of application degenerate pseudo-random coding techniques the code-disc circumference is carried out angle position uniformization processing, thereby the photoelectricity rotation sensor of position, direction, rate signal is provided.
Background technology
Photoelectricity rotation sensor (claiming optical electric axial angle encoder again) is a kind of light harvesting, mechanical, electrically is the digital angle measurement device of one.Because it is simple in structure, the resolution height, therefore the precision height has been widely used in measurement, numerical control and the digital readout system of position, accurate angle, and has become a kind of desirable angular transducer.
Typical optical electric axial angle encoder by axle system, grating pay, light source and photoelectric apparatus form.When the key light grid rotate with main shaft, form Moire fringe with the indication grating overlaid, by output and the corresponding photoelectric displacement signal of corner after the opto-electronic conversion, through electronic processing, and with computing machine with after display device is connected, just can realize the real-time control and the measurement of position, angle.
Optical electric axial angle encoder is divided into increment type and absolute type two big classes with working method.The code-disc of incremental encoder only needs two code channels, and one is circle grating, ruling span homogeneous, corresponding each resolution interval, an exportable delta pulse; Another is a zero locatino grating, and exportable circumference number and circumference numeration starting mark signal are characterized in simple in structure, and code channel number is few, so Miniaturizable, and data structure can be any, but shortcoming is that cumulative errors are arranged, and all information are all lost when running into disconnection fault.Absolute type encoder generally uses the scale-of-two code-disc, adopts many code channels to encode on the code-disc, and code channel is arranged according to certain rules, there is unique binary number in corresponding each resolution interval, therefore in different positions, exportable different digital code has been characterized in fixed zero, the angle position uniformization, no cumulative errors, antijamming capability is strong, but that shortcoming is a sensitive element is many, the code-disc complexity, manufacturing cost is big.
In recent years, along with the raising of metrological grating precision and the development of subdivide technology, optical electric axial angle encoder has become the universally recognized precision angle device of people.European and American countries is also studied optical electric axial angle encoder and produce as a kind of basic device of automatic control.Understand according to the applicant, once had the people that the angular coding of scrambler code-disc was specialized in research abroad, and provided the scheme of on a code channel, carrying out various angular codings, EP088624 for example, EP094828, US4906992, US4631519, the scheme of US3531798 patent disclosure.But final because there are many deficiencies in these schemes, reduced its practical value.Conclude get up to have following some: 1, any scheme of carrying out angular coding on the solid size road does not all have the pseudorandom scheme more succinct, because increasing many peripheral circuits is cooperated, and be multiplied, thereby lose promotional value along with figure place increases components and parts.2, also there is the pseudorandom of employing scheme that code channel is carried out angular coding, but, on overall plan, adopts low level pseudo-random code and other subdivide technology to use with and improve angular resolution in order to avoid working out the difficulty of high-order pseudo-random code.This method is except producing the circuit complicated because of using with, because the code element total amount can only be 2
nIndividual, also limited further popularization (quantity of cutting apart that is circumference can only be 2 multiple, otherwise not all right).3, also have the degeneration of employing thought to adjust data structure in the document, but all adopt rigid blocking, data unavoidably produce repeated code.The erroneous judgement that causes in order to overcome repeated code has increased many peripheral judging circuits this has been recognized.Different along with position and degraded data, this judging circuit might be quite complicated.Along with figure place increases, repeated code quantity also increases, and circuit reliability descends, and finally becomes a kind of worthless scheme.
Summary of the invention
The objective of the invention is provides a kind of novel photoelectric rotation sensor that can obtain position, direction and rate signal simultaneously by the code-disc circumference being carried out the degenerate pseudo-random coding, to draw the advantage of increment type and absolute photoelectric shaft encoder.
For achieving the above object, the technical solution used in the present invention is: a kind of degenerate pseudo-random rotary sensor, comprise code-disc, its innovation is: code-disc is provided with two code channels, wherein, one is the clock code channel of representing with periodic optical grating on full circumferences, and another is the pseudo-code channel of representing with grating on full circumferences; Described pseudo-code channel adopts scale-of-two degenerate pseudo-random sequence to encode on full circumferences, that is:
(1), on a full circumferences, represent that with the close ring that m position binary element sign indicating number sequence is formed this full circumferences is divided into the m equal portions, m is a positive integer;
(2), on this close ring, get continuous n position binary element sign indicating number as the angle position code, n 〉=4;
(3), described m and n meet following inequality:
m＜2
n；
(4), on the close ring that described m position binary element sign indicating number sequence is formed, the angle position code of getting continuous n position binary element sign indicating number formation arbitrarily is unique, a different set of like this angle position code adds up to m, and there is one-to-one relationship in the angle position of the m equal portions of five equilibrium on this m different angle position code and the full circumferences.
Related content in the technique scheme is explained as follows:
1, in the such scheme, it is better that described m and n satisfy following inequality:
2
n-1＜m＜2
n。
2, the notion of complete binary pseudo-random sequence
Pseudo-random code (pseudo-random code) claim pseudo noise sequence (pseudo-noise) again, has the characteristics of similar random noise, and its principal character is: coefficient of autocorrelation initial point maximum, and leave initial point and descend rapidly.Because artificial the generation worked out, therefore has recessive rule.Here we are being based upon on the scale-of-two basis, and the pseudo-random sequence with closed circulation characteristic is referred to as complete pseudo-random code.Complete pseudo-random code sequence has M=2
nIndividual unit sign indicating number is to form with the serial data that " 1 " or " 0 " connects and composes.Here n is referred to as the code figure place.Complete pseudo-random sequence with n position code, any number byte code from its close ring, the code formed of the adjacent numeral in n position is unique continuously.Thereby complete pseudo-random code has M different code.
The notion of 3, degeneration binary pseudo-random sequence
If a pseudo-random sequence is m＜M=2
nCode element, be called imperfect pseudo-random sequence.The process that is imperfect pseudo-random sequence from complete pseudo-random sequence transformation is referred to as to degenerate.If on a complete binary pseudo-random sequence basis, suitably cast out the plurality of sub section in the sequence, and cast out the closed that still can keep the unicity and the whole sequence of code in the process this, the new sequence that obtains through handling so just is referred to as the degenerate pseudo-random sign indicating number.
Owing to be artificial active, on purpose control degeneration, make the code of the sequence formation that remains satisfy the needs of real work, so on engineering, possess practical value.There are 512 codes as 9 complete pseudo-random sequences, be applied in the circumference measurement of angle, can degenerate to 360 or 400, just can be eaily with measurement of angle in degree, minute, second system or mil system set up and get in touch, also can degenerate to 500 etc., with other integer scale contact.Although say in principle, complete pseudo-random sequence can degenerate to the arbitrary integer less than M, and generally speaking, amount of degradation is controlled at 2
N-1Meaning is bigger within individual, and the code number after promptly degenerating is 2
n～2
N-1Between.Here also need supplementary notes a bit,, can not degenerate to till the needed numeral, therefore, seek to be fit to the sequence of amount of degradation, become the another key point of establishment degenerate pseudo-random sign indicating number for some concrete pseudo-random sequences fully.
4, illustrate the notion of complete scale-of-two pseudo-random code and degeneration in conjunction with the accompanying drawings
In order to clearly demonstrate complete scale-of-two pseudo-random code and this class problem of degenerating, get 4 bit data strings and illustrate.See that Fig. 1 is one 4 Hamiltonian's annulus that complete scale-of-two pseudo-random code constitutes, the serial data that has M=16 " 1 " or " 0 " to form is seen shown in Figure 1.The code number that continuous adjacent is 4 also is 16, can represent 16 states, sees shown in Figure 2ly, and each code is unique.Want now these 16 states are reduced to 13 states, promptly amount of degradation is 3, is out of the question with the complete binary pseudo-random sequence (serial data) among Fig. 1.Yet, serial data among Fig. 1 is carried out conversion process, obtain another 4 Hamiltonian's annulus that complete scale-of-two pseudo-random code constitutes shown in Figure 3, and 4 pseudorandom 16 states of complete scale-of-two of this group (see shown in Figure 4 whole) can degenerate to 13 states, Hamiltonian's annulus that 4 degeneration scale-of-two pseudo-random codes shown in Figure 5 constitute, be exactly to degenerate from Fig. 3, its amount of degradation is 3.Remove the code that dots among Fig. 4, remaining solid line partly is exactly 13 state exploded views of Fig. 5.
5, about scale-of-two pseudo-random code degeneration disposal route
To thoroughly solve the problem that pseudo-random sequence is arranged, be summed up as and seek Hamiltonian (Hamilton) circle in the mathematics graph theory (Graph Theory).Because Hamiltonian's problem is a world-class difficult problem of not capturing as yet, also has theoretic difficulty at present so seek pseudo-random sequence.The present age, computational science showed: utilize the calculated amount of computer search and differentiation, be to increase to be with figure place n to become surprising huge explosively, even now know complicated greatly that the astronomical figure amount relies on computing machine to search, the time looks the people can't be accepted.Be illustrated with some data below: the arrangement sum in the time of 5 will be near 4,300,000,000, and total quantity reaches 1.8 hundred billion hundred million during to 6, and the total quantity 8,16,32 time reaches 1.2 * 10 respectively
77Individual, 2.0 * 10
19728, 1.8 * 10
5050445Along with figure place n becomes big,, compare with total layout number on the contrary and reduce though exist the quantity of complete pseudo-random sequence also can increase.The probability of seeking of 4 complete sequence is 1/4096th, one of just drops to 1.67 thousand ten thousand fens and seek probability 5 the time, and the probability of seeking more than 6 just becomes littler.The work of finding out high-order pseudo-random code of establishment and high-order degenerate pseudo-random sign indicating number thus just seems very difficult.However, we still get method and explore seeking the degenerate pseudo-random sign indicating number, by the further investigation of this class graph theory Hamiltonian problem, adopt the method for combinatory analysis, still can work out out to possess Practical significance degenerate pseudo-random sign indicating number.
We have had progress in three aspects below at present:
(1), can seek complete binary pseudo-random sequence.
(2), under the situation of the closed circulation of unicity that keeps code and whole sequence, degenerate.Wherein, after searching out a complete binary pseudo-random sequence that meets Hamiltonian cycle, if its when can not amount of degradation as requested degenerating, its relevant complete binary pseudo-random sequence also necessarily can not be degenerated by this amount of degradation.So-called relevant complete binary pseudo-random sequence refers to radix-minus-one complement sequence, anticode sequence and converse sign indicating number sequence.
(3), on purpose control amount of degradation, work out out the degeneration binary pseudo-random sequence of expection requirement.
About concrete preparation method and skill,, do not do further argumentation here because of relating to numerous knowledge of graph theory Fundamentals of Mathematics and pseudo-random code aspect.
6, the principle of the invention is: by mathematics graph theory (Graph Theory) research, find that there is M=2 in the complete binary pseudo-random sequence in n position (pseudorandom bmary sequence)
nIndividual different code.Complete binary pseudo-random sequence just, any number byte code from its close ring, the code formed of the adjacent numeral in n position is unique continuously.Thereby complete binary pseudo-random sequence sign indicating number necessarily has M different code (the Hamiltonian's annulus in the code pie graph opinion).If adopt analytical approachs such as conversion combination, can cast out the processing of on purpose degenerating of plurality of sub section in the sequence on this basis, finally seek out the some binary pseudo-random sequence that are fit to degeneration, and still can constitute a Hamiltonian (Hamilton) annulus (pseudo-random sequence after promptly degenerating still can keep the unicity and the whole closed circulation of code), this structure applications can be encoded as the pseudo-code channel on the code-disc in optical electric axial angle encoder, and show with raster fashion and to constitute pseudo-code channel.
The present invention has utilized some results of study of mathematics upper topology graph theory, and circumference is carried out the degenerate pseudo-random coding, thereby has proposed the scheme of degenerate pseudo-random formula photoelectricity rotation sensor.Because the binary coding of this change power, farthest save and utilized space and time-domain resource, therefore this scheme is applied to the output that optical electric axial angle encoder can provide the digitizing rotational parameters of position, speed, direction simultaneously, the same on the structure with increment type, that does is very small and exquisite, can keep data reliability as absolute type again.
Below be increment type, absolute type and move back relatively seeing the following form between the pseudo-formula optical electric axial angle encoder three scheme:
| The functional analysis project | Increment type | Absolute type | Move back pseudo-formula |
| Rate signal | Have | Do not have | Have |
| Position signalling | Do not have | Have | Have |
| Direction signal | Do not have | Do not have | Have |
| The circumference data placement | Arbitrarily | Restricted | Arbitrarily |
| Angular resolution | High | Medium | Middle high |
| Data correctness | The error possibility is arranged | Error free | Error free |
| The short time data deviation | Error is arranged, and error can accumulate | Big number error, relevant with coded system, Gray code has a bit error | Have in the bit error use, error can be eliminated automatically |
| When disconnection fault is arranged to effect of signals | Dropout | Keep | Dropout release time extremely short (if read signal with parallel, signal can keep) |
| After the outage, whether the position has recognition capability if any change to reposition | Can not | Energy | Energy |
| Detecting element | Few | Many | Few |
| Reliability | Low | High | High |
| Volume | Small and exquisite | Greatly | Small and exquisite |
This shows that the degenerate pseudo-random scheme has almost kept the first two class form coding device advantage separately, has abandoned their deficiencies separately again, is a kind of very desirable scheme.
Description of drawings
Accompanying drawing 1 is one 4 close rings that complete binary pseudo-random sequence is formed.
Accompanying drawing 2 is Fig. 1 16 different code exploded views with continuous 4 bit representations, the Hamiltonian's annulus among the figure in the code pie graph opinion.
Accompanying drawing 3 is another 4 close rings that complete binary pseudo-random sequence is formed.
Accompanying drawing 4 is Fig. 3 16 different code exploded views with continuous 4 bit representations, and code constitutes another Hamiltonian's annulus among the figure.
Accompanying drawing 5 is to advance the close ring that pseudo-random sequence is formed from two of Fig. 3 degeneration.
Accompanying drawing 6 is the embodiment of the invention one mechanical-optical setup schematic diagrams.
Accompanying drawing 7 is the embodiment of the invention one code-disc planimetric maps.
Accompanying drawing 8 is the embodiment of the invention one circuit theory diagrams.
In the above accompanying drawing: 1, the printed board of band photodetector; 2, code-disc; 3, indication grating; 4, condenser; 5, light source; 6, bearing; 7, main shaft; 8, clock code channel; 9, pseudo-code channel; 10, photodetector; 11, shaping circuit; 12, debate to circuit; 13, shift register; 14, code translator; 15, output interface circuit.
Embodiment
Below in conjunction with drawings and Examples the present invention is further described:
Embodiment one: a kind of degenerate pseudo-random rotary sensor, form by mechanical-optical setup and circuit two parts.
As shown in Figure 6, the mechanical-optical setup of present embodiment is made up of printed board 1, code-disc 2, indication grating 3, condenser 4, light source 5, bearing 6, the main shaft 7 of band photodetector, its annexation is: main shaft 7 is positioned on the rotation of code-disc 2, and fixedly connected with code-disc 2, main shaft 7 is by bearing 6 swivel bearings.Light source 5, condenser 4, indication grating 3 constitute projecting light path at code-disc 2 positive code channels relatively.The printed board 1 of band photodetector is positioned at code-disc 2 reverse side, and its photodetector is over against projecting light path.When axle 7 drives code-disc 2 rotations, under the effect of light source 5 and condenser 4, produce rotation change light signal between code-disc 2 and the indication grating 3, receive by photodetector 10 and change electric signal into.
As shown in Figure 7, code-disc 2 is provided with two code channels, and wherein, one is the clock code channel of representing with periodic optical grating on full circumferences 8, and another is the pseudo-code channel of representing with grating on full circumferences 9.Clock code channel 8 is positioned at the outer ring, and its effect is to produce direction signal and rate signal.Pseudo-code channel 9 is code channels that have the pseudo-code grating pattern, and its effect is to produce position signalling, definition here: " 1 " expression printing opacity, " 0 " expression is light tight.Pseudo-code channel 9 adopts six scale-of-two degenerate pseudo-random sequences to encode on full circumferences, specifically is to degenerate to the degenerate pseudo-random sign indicating number with 60 states from six complete scale-of-two pseudo-random codes (60 one of four states).That is:
(1), on a full circumferences, represent that with the close ring that m position binary element sign indicating number sequence is formed this full circumferences is divided into m equal portions, m=60;
(2), on this close ring, get continuous n position binary element sign indicating number as angle position code, n=6;
(3), described m and n meet following inequality:
60＜2
6＝64；
(4), on the close ring that described m=60 position binary element sign indicating number sequence is formed, the angle position code of getting continuous n=6 position binary element sign indicating number formation arbitrarily is unique, a different set of like this angle position code adds up to m=60, and there is one-to-one relationship in the angle position of the m=60 equal portions of five equilibrium on this m=60 different angle position code and the full circumferences.
Six complete scale-of-two pseudo-random code sequence M=2
6=64
0111?0101?1100?0110?1101?0011?111
1?0111?1001?1001?0110?0001?0101?000100
10?
0000
Amount of degradation is 4, m=60
Cast out in above-mentioned six complete scale-of-two pseudo-random code sequences 4 byte codes of band underscore, it is as follows to obtain amount of degradation and be six degeneration scale-of-two pseudo-random code sequences of 4:
0111?0101?1100?0110?1101?0011?1110?1111?0011?0010?1100?0010?1010?00100000
By " 1 " expression printing opacity, " 0 " expression is light tight, obtains the pseudo-code channel 9 among Fig. 7.
As shown in Figure 8, the circuit in the printed board 1 of present embodiment band photodetector by photodetector 10, shaping circuit 11, debate to circuit 12, shift register 13, code translator 14, output interface circuit 15 and form.The photoelectricity input signal divides three tunnel inputs, and as a among Fig. 8, b, c place, a and b are transformed into clock signal by forming Moire fringe between clock code channel 8 of code-disc 2 (garden grating) and the indication grating 3, and phase differential is 90 ° between a, the b.C directly changes the pseudo-code signal that draws by the pseudo-code channel 9 of code-disc 2.A, b enter through shaping circuit 11 and debate to circuit 12 output signal b ', the running clockwise of " 1 " expression axle, and the running counterclockwise of " 0 " expression axle, thus obtain direction signal.B ' is again as the direction of displacement signal of shift register 13.A through shaping circuit 11 output signal a ' its as tach signal, thereby obtain rate signal, simultaneously again as the clock signal of shift register 13.C behind shaping circuit 11 is as pseudo-code signal input shift register 13, and also the line output pseudo-code signal is deciphered outgoing position signal c ' through code translator 14.The power amplification and the level match of a ', b ', c ' process output interface circuit 15 just become the rotation numeral parameter that moves back pseudo-formula photoelectricity rotation sensor.
Embodiment two: a kind of degenerate pseudo-random rotary sensor, form by mechanical-optical setup and circuit two parts.
With the difference of embodiment one mainly be that the coding of pseudo-code channel adopts seven scale-of-two degenerate pseudo-random sequences.Be specially:
Seven complete binary pseudo-random sequence M=2
7=128
0111?1
111?
0111?
1100?
1111?0101?1110?0011?1011?0111?0100?1110?0101?11000011?0110?0110?1010?1101?0001?1001?0011?0001?0110?0000?1010?1001?0100?00
10 0100?
0100?
0000
Amount of degradation is 28, m=100
Cast out in above-mentioned seven complete scale-of-two pseudo-random code sequences 28 byte codes of band underscore, it is as follows to obtain amount of degradation and be seven degeneration scale-of-two pseudo-random code sequences of 28:
1111?0101?1110?0011?1011?0111?0100?1110?0101?1100?0011?0110?0110?10101101?0001?1001?0011?0001?0110?0000?1010?1001?0100?0000
By " 1 " expression printing opacity, " 0 " expression is light tight, obtains corresponding pseudo-code channel (not shown).
Other is identical with embodiment one, no longer is repeated in this description here.
Embodiment three: a kind of degenerate pseudo-random rotary sensor, form by mechanical-optical setup and circuit two parts.
With the difference of embodiment one mainly be that the coding of pseudo-code channel adopts eight-digit binary number degenerate pseudo-random sequence.Be specially:
Eight complete binary pseudo-random sequence M=2
8=256
0111?1011?0111?1010?0111?1001?0111?1000?0111?0111?0110?0111?0101?01110100?0111?1111?
1011?1111?0011?1110?1011?1110?0011?1001?1011?1001?0011?10001011?1000?0011?0110?1011?0110?0011?0101?0011?0100?1011?0100?0011?001
1 0010?1011?0010?0011?0001?0011?0000?1011?0000?0010?0101?0010?0100?00100010?1010?1000?1000?0010?1000?0000
Amount of degradation is 6, m=250
Cast out in above-mentioned eight complete scale-of-two pseudo-random code sequences 6 byte codes of band underscore, it is as follows to obtain amount of degradation and be eight degeneration scale-of-two pseudo-random code sequences of 6:
1111?0110?1111?0100?1111?0010?1111?0000?1110?1110?1100?1110?1010?11101000?1111?1110?1111?1100?1111?1010?1111?1000?1110?0110?1110?0100?1110?00101110?0000?1101?1010?1101?1000?1101?0100?1101?0010?1101?0000?1100?10101100?10?00?1100?0100?1100?0010?1100?0000?1001?0100?1001?0000?1000?10101010?0010?0000?1010?0000?00
By " 1 " expression printing opacity, " 0 " expression is light tight, obtains corresponding pseudo-code channel (not shown).
Other is identical with embodiment one, no longer is repeated in this description here.
Embodiment four: a kind of degenerate pseudo-random rotary sensor, form by mechanical-optical setup and circuit two parts.
With the difference of embodiment one mainly be that the coding of pseudo-code channel adopts eight-digit binary number degenerate pseudo-random sequence.Be specially:
Eight complete binary pseudo-random sequence M=2
8=256
0111?1011?0111?1010?0111?1001?0111?1000?0111?0111?0110?0111?0101?01110100?0111?1111?1011?1111?0011?1110?1011?1110?0011?1001?1011?1001?0011?1000
1011?
1000?0011?0110?1011?0110?00
11?
0101?
0011?
0100?
1011?
0100?
0011?
0011 0010?
1011?
0010?
0011?
0001?
0011?
0000?
1011?
0000?0010?0101?0010?0100?00100010?1010?
1000?1000?0010?1000?0000
Amount of degradation is 76, m=180
Cast out in above-mentioned eight complete scale-of-two pseudo-random code sequences 76 byte codes of band underscore, it is as follows to obtain amount of degradation and be eight degeneration scale-of-two pseudo-random code sequences of 76:
1111?0110?1111?0100?1111?0010?1111?0000?1110?1110?1100?1110?1010?11101000?1111?1111?0111?1110?0111?1101?0111?1100?0111?0011?0111?0010?0111?00000110?1101?0110?1100?0000?1001?0100?1001?0000?1000?1010?1000?1000?00101000?0000
By " 1 " expression printing opacity, " 0 " expression is light tight, obtains corresponding pseudo-code channel (not shown).
Other is identical with embodiment one, no longer is repeated in this description here.
Embodiment five: a kind of degenerate pseudo-random rotary sensor, form by mechanical-optical setup and circuit two parts.
With the difference of embodiment one mainly be that the coding of pseudo-code channel adopts eight-digit binary number degenerate pseudo-random sequence.Be specially:
Eight complete binary pseudo-random sequence M=2
8=256
0111?1011?0111?1010?0111?1001?0111?1000?0111?0111?0110?0111?0101?01110100?0111?1111?
10
11?
1111?
0011?1110?1011?1110?0011?1001?1011?1001?0011?10001011?1000?0011?0110?1011?0110?0011?0101?0011?0100?1011?0100?0011?00110010?1011?0010?0011?0001?0011?0000?1011?0000?0010?0101?0010?0100?00100010?1010?1000?1000?00
10?
1000?
0000
Amount of degradation is 16, m=240
Cast out in above-mentioned eight complete scale-of-two pseudo-random code sequences 16 byte codes of band underscore, it is as follows to obtain amount of degradation and be eight degeneration scale-of-two pseudo-random code sequences of 16:
0111?1011?0111?1010?0111?1001?0111?1000?0111?0111?0110?0111?0101?01110100?0111?1111?0011?1110?1011?1110?0011?1001?1011?1001?0011?1000?1011?10000011?0110?1011?0110?0011?0101?0011?0100?1011?0100?0011?0011?0010?10110010?0011?0001?0011?0000?1011?0000?0010?0101?0010?0100?0010?0010?10101000?1000?0000
By " 1 " expression printing opacity, " 0 " expression is light tight, obtains corresponding pseudo-code channel (not shown).
Other is identical with embodiment one, no longer is repeated in this description here.
The foregoing description only is explanation technical conceive of the present invention and characteristics, and its purpose is to allow the personage who is familiar with this technology can understand content of the present invention and enforcement according to this, can not limit protection scope of the present invention with this.All equivalences that spirit is done according to the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (2)
1, a kind of degenerate pseudo-random rotary sensor comprises code-disc, it is characterized in that: code-disc is provided with two code channels, and wherein, one is the clock code channel of representing with periodic optical grating on full circumferences, and another is the pseudo-code channel of representing with grating on full circumferences; Described pseudo-code channel adopts scale-of-two degenerate pseudo-random sequence to encode on full circumferences, wherein, scale-of-two degenerate pseudo-random sequence is meant the plurality of sub section of suitably casting out in the sequence on a complete binary pseudo-random sequence basis, and casts out the closed that still can keep the unicity and the whole sequence of code in the process this; On full circumferences, encode, that is:
(1), on a full circumferences, represent that with the close ring that m position binary element sign indicating number sequence is formed this full circumferences is divided into the m equal portions, m is a positive integer;
(2), on this close ring, get continuous n position binary element sign indicating number as the angle position code, n 〉=4;
(3), described m and n meet following inequality:
m＜2
n；
(4), on the close ring that described m position binary element sign indicating number sequence is formed, the angle position code of getting continuous n position binary element sign indicating number formation arbitrarily is unique, a different set of like this angle position code adds up to m, and there is one-to-one relationship in the angle position of the m equal portions of five equilibrium on this m different angle position code and the full circumferences.
2, degenerate pseudo-random rotary sensor according to claim 1 is characterized in that: described m＞2
N-1
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| CNB2006100966154A CN100425952C (en) | 2006-10-10 | 2006-10-10 | Degenerate pseudo-random rotary sensor |
| PCT/CN2007/001864 WO2008043231A1 (en) | 2006-10-10 | 2007-06-13 | A degraded pseudo-random rotating sensor |
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| CNB2006100966154A CN100425952C (en) | 2006-10-10 | 2006-10-10 | Degenerate pseudo-random rotary sensor |
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| CN100425952C (en) * | 2006-10-10 | 2008-10-15 | 李苏 | Degenerate pseudo-random rotary sensor |
| CN101922947A (en) * | 2010-08-20 | 2010-12-22 | 西南交通大学 | Photoelectric encoder |
| CN102183266B (en) * | 2011-03-22 | 2012-07-11 | 中国科学院光电技术研究所 | Method and system for physically extracting pseudo-random code signals |
| CN104613991B (en) * | 2015-03-06 | 2017-04-26 | 浙江琦星电子有限公司 | Encoder grating disc and photoelectric encoder |
| EP3420497B1 (en) * | 2016-02-23 | 2021-10-06 | Société des Produits Nestlé S.A. | Code and container of system for preparing a beverage or foodstuff |
| CN107356273B (en) * | 2016-05-09 | 2021-04-30 | 成都安驭科技有限公司 | Method for improving reliability of code detection device |
| CN106374715B (en) * | 2016-09-30 | 2019-01-25 | 张瑭 | A kind of electric motor and controller method based on code-disc, control device |
| DE112019004545T5 (en) * | 2019-04-23 | 2021-05-20 | Han's Laser Technology Industry Group Co., Ltd. | GRID DISC AND FEEDBACK SYSTEM |
| CN113447051B (en) * | 2021-09-02 | 2021-12-07 | 北京精雕科技集团有限公司 | Single code channel absolute position measuring device |
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| JPH05172588A (en) * | 1991-12-26 | 1993-07-09 | Sokkia Co Ltd | Absolute encoder |
| JPH1151700A (en) * | 1997-08-06 | 1999-02-26 | Tamagawa Seiki Co Ltd | Method for reading absolute position in optical encoder |
| CN1311852A (en) * | 1998-07-24 | 2001-09-05 | 毕晓普创新有限公司 | Angle encoder |
| CN2519238Y (en) * | 2001-12-20 | 2002-10-30 | 武汉大学 | Pseudo-random code shaft encoder |
| US6759648B2 (en) * | 1997-08-15 | 2004-07-06 | Bishop Innovation Limited | Sensor for sensing absolute angular position of a rotatable body |
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| US4906992A (en) * | 1988-02-22 | 1990-03-06 | Dynamics Research Corporation | Single track absolute encoder |
| JPH0814499B2 (en) * | 1988-07-25 | 1996-02-14 | 株式会社安川電機 | Absolute encoder |
| CH683798A5 (en) * | 1990-12-10 | 1994-05-13 | Tesa Sa | position sensor for an apparatus for measuring linear or angular variables. |
| DE10150936A1 (en) * | 2001-10-08 | 2003-04-10 | Heidenhain Gmbh Dr Johannes | Determining position of movable object involves combining reference marker track reference marker signal and code signals to generate reference pulse within defined interval |
| CN100425952C (en) * | 2006-10-10 | 2008-10-15 | 李苏 | Degenerate pseudo-random rotary sensor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH05172588A (en) * | 1991-12-26 | 1993-07-09 | Sokkia Co Ltd | Absolute encoder |
| JPH1151700A (en) * | 1997-08-06 | 1999-02-26 | Tamagawa Seiki Co Ltd | Method for reading absolute position in optical encoder |
| US6759648B2 (en) * | 1997-08-15 | 2004-07-06 | Bishop Innovation Limited | Sensor for sensing absolute angular position of a rotatable body |
| CN1311852A (en) * | 1998-07-24 | 2001-09-05 | 毕晓普创新有限公司 | Angle encoder |
| CN2519238Y (en) * | 2001-12-20 | 2002-10-30 | 武汉大学 | Pseudo-random code shaft encoder |
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