CN102003976B - Single-code channel absolute position coding method, decoding method and measuring device - Google Patents
Single-code channel absolute position coding method, decoding method and measuring device Download PDFInfo
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Abstract
The invention relates to a single-code channel absolute position coding method. In the method, a coded graphic is set, wherein the coded graphic comprises a plurality of subregions, each subregion comprises a subregion number and a position code, each subregion number comprises at least three coding bar codes which are the same, each position code comprises at least three coding bits, each coding bit comprises at least two first coding bar codes and one second coding bar code, and the variety of each subregion number is different from that of the coding bar code of the position code in the adjacent subregion. The single-code channel absolute position coding method has the advantage of simple coding. The invention also provides a decoding method corresponding to the single-code channel absolute position coding method and a single-code channel absolute position measuring device using the single-code channel absolute position coding method and the decoding method.
Description
[technical field]
The present invention relates to a kind of coding, coding/decoding method and measurement mechanism, the solid size road Absolute position measurement device that especially a kind of solid size road absolute position encoder method, coding/decoding method reach and adopt this coding method, coding/decoding method.
[background technology]
The most of grating displacement sensor that adopts of modern displacement measurement system; Because scale is the grid formula structural design of repetition period; The measurement of displacement numerical value all is to adopt increment method to read, and is just confirming will to confirm positional value to the increment number of institute position with reading initial point behind the initial point.In order to set the absolute position, on scale, also reference marker to be arranged, the absolute position of scale is confirmed that by reference marker reference marker will be locked in one and measure within the step pitch, obtains the absolute position or finds the benchmark of selecting last time through the scan reference mark.Therefore equipment each needs after start move the position of seeking reference marker.In recent years for solve start back equipment each under situation about not moving, the absolute light displacement transducer that just can read current absolute position value has just developed rapidly.
The measuring system of linear-and-angular-movement pickup formation progressively develops into the absolute type measuring method from the increment type measuring method at present.Grating displacement sensor based on solid size road absolute position encoder is the encoder techniques of up-to-date appearance in the world, and it has represented one of present state-of-the-art grating displacement sensor developing direction, has adapted to the needs of grating displacement sensor miniaturization.
Usually adopt the coding method based on pseudo-random sequence based on solid size road absolute position encoder mode, it does not switch binary digit simultaneously, but switches respectively by turn.Coding/decoding method is that the decoding data of finishing is in advance put into non-volatile data-carrier store, and the random code that line scan image sensor is collected obtains decoding data as the address of data-carrier store.Its shortcoming is: coding method is complicated, easy error, and increased the workload that decoding data arrangement, data write, and increased hardware resource, production cost is increased.
[summary of the invention]
Complicated for solving prior art absolute position encoder method, the shortcoming of easy error is necessary to provide a kind of grating manufacturing simple, the absolute position encoder method that is easy to encode.
Also be necessary to provide a kind of to coding/decoding method that should coding method.
Also be necessary to provide a kind of solid size road Absolute position measurement device that adopts this coding method.
A kind of solid size road absolute position encoder method; Comprise a coded graphics is set; This coded graphics comprises a plurality of subregions, and arbitrary subregion comprises a partition number and a position code, and arbitrary partition number comprises at least three identical coding bar codes; Arbitrary position code comprises at least three bits of coded; Arbitrary bits of coded comprises at least two first coding bar codes and one second coding bar code, the lowest order or the most significant digit of the position code in adjacent this subregion of partition number in arbitrary subregion, and the position code coding bar code kind of arest neighbors is different in the coding bar code kind of this partition number and this subregion.
A kind of solid size road absolute position encoder method corresponding decoding method; This solid size road absolute position encoder method comprises a coded graphics is set; This coded graphics comprises a plurality of subregions, and arbitrary subregion comprises a partition number and a position code, and arbitrary partition number comprises at least three identical coding bar codes; Arbitrary position code comprises at least three bits of coded; Arbitrary bits of coded comprises at least two first coding bar codes and one second coding bar code, the lowest order or the most significant digit of the position code in adjacent this subregion of partition number in arbitrary subregion, and the position code coding bar code kind of arest neighbors is different in the coding bar code kind of this partition number and this subregion.This coding/decoding method comprises step: utilize the light signal of image detector detection coded graphics formation and convert light signal into electric signal; This electric signal of binary conversion treatment; In this binaryzation electric signal, search partition number; Confirm the current location sign indicating number according to partition number; Confirm in the imageing sensor with reference to first corresponding bits of coded of pixel position according to position code; Confirm that the current location sign indicating number is in imageing sensor first pixel position, bits of coded place with reference to the pixel position; The absolute position of the reference pixel on the computed image sensor.
A kind of solid size road Absolute position measurement device; It comprises light source, grating scale, imageing sensor, signals collecting and decoder module, on this grating scale a coded graphics is set, and this coded graphics comprises a plurality of subregions; Arbitrary subregion comprises a partition number and a position code; Arbitrary partition number comprises at least three identical coding bar codes, and arbitrary position code comprises at least three bits of coded, and arbitrary bits of coded comprises at least two first coding bar codes and one second coding bar code; The lowest order or the most significant digit of the position code in adjacent this subregion of partition number in arbitrary subregion; And the position code of arest neighbors coding bar code kind is different in the coding bar code kind of this partition number and this subregion, and this light source projects coded graphics on this imageing sensor, and this imageing sensor is gathered the coded graphics on this grating scale; And the acquisition range of this imageing sensor is greater than the length in a district; Have a complete partition number in its this acquisition range at least,, confirm the absolute position of the reference pixel on this imageing sensor according to the position relation of relation between partition number, the position code and correspondence image sensor.
Compared with prior art; In this solid size road absolute position encoder method, use wide black and white bar code as coding unit, each subregion comprises 1 partition number and a position code respectively; Partition number comprises at least three identical coding bar codes; Position code adopts the mode of three-shift coding, and it is easy to manufacture to have a grating, the advantage that is easy to encode; The coding/decoding method of corresponding above-mentioned coding method also has simply, accurate advantage, and this solid size road Absolute position measurement device can accurately measure the absolute position of the object of surveying.
[description of drawings]
Fig. 1 is the coded graphics synoptic diagram of solid size of the present invention road absolute position encoder method.
Fig. 2 is the coded graphics synoptic diagram of solid size of the present invention road another embodiment of absolute position encoder method.
Fig. 3 is the structural representation of solid size of the present invention road Absolute position measurement device.
Fig. 4 is the synoptic diagram that the present invention is used to illustrate the coded graphics that coding/decoding method adopted of solid size of the present invention road Absolute position measurement device.
[embodiment]
Please refer to Fig. 1, it is to adopt the grating scale structural representation that uses in the absolute position encoder method of the present invention.This grating scale 1 is provided with parallel alternately many black, informal voucher sign indicating numbers, the light tight bar code of secret note representation wherein, informal voucher representation printing opacity bar code.This is black, the informal voucher sign indicating number is arranged in parallel constitutes a bar code sequence, and this bar code sequence is a coded graphics.Black, informal voucher sign indicating number sequence on this grating scale 1 are divided into a plurality of subregions, and comprise 1 partition number M and 1 position code N in each subregion.Wherein any partition number M comprises three wide secret note sign indicating numbers or three wide informal voucher sign indicating numbers at least.Arbitrary position code N comprises two bits of coded at least; Little-endian is designated as N1, N2......Nm respectively; Wherein arbitrary bits of coded Nx (1≤x≤m; M is the number of bits of coded) comprise two wide secret note sign indicating numbers and a wide informal voucher sign indicating number, perhaps arbitrary bits of coded Nx comprises two wide informal voucher sign indicating numbers and a wide secret note sign indicating number.Arbitrary bits of coded Nx among the above-mentioned position code N is expressed as a trit 0 or 1 or 2.Among Fig. 1, comprise three secret note sign indicating numbers or three informal voucher sign indicating numbers with partition number M, it is that example is described the present invention that position code N comprises three bits of coded.
It should be noted that three-shift bits of coded Nx has various definitions in the present invention,
First kind is defined as: little-endian is arranged in order " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " and is expressed as trit bits of coded " 0 "; " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 2 ".Fig. 1 adopts first kind of definition mode, and low level arrives high-order direction for from right to left.
Second kind is defined as: little-endian is arranged in order " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " and is expressed as trit bits of coded " 0 "; " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 2 ".
The third is defined as: little-endian is arranged in order " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " and is expressed as trit bits of coded " 0 "; " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 2 ".
The 4th kind is defined as: little-endian is arranged in order " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " and is expressed as trit bits of coded " 0 "; " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 2 ".
The 5th kind is defined as: little-endian is arranged in order " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " and is expressed as trit bits of coded " 0 "; " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 2 ".
The 6th kind is defined as: little-endian is arranged in order " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " and is expressed as trit bits of coded " 0 "; " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 1 ", and " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 2 ".
The 7th kind is defined as: little-endian is arranged in order " informal voucher sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " and is expressed as trit bits of coded " 0 "; " informal voucher sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 1 ", and " secret note sign indicating number+one informal voucher sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 2 ".
The 8th kind is defined as: little-endian is arranged in order " informal voucher sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " and is expressed as trit bits of coded " 0 "; " secret note sign indicating number+one informal voucher sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 2 ".
The 9th kind is defined as: little-endian is arranged in order " informal voucher sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " and is expressed as trit bits of coded " 0 "; " informal voucher sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " secret note sign indicating number+one informal voucher sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 2 ".
The tenth kind is defined as: little-endian is arranged in order " informal voucher sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " and is expressed as trit bits of coded " 0 "; " secret note sign indicating number+one informal voucher sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 2 ".
The 11 kind is defined as: little-endian is arranged in order " secret note sign indicating number+one informal voucher sign indicating number+one an informal voucher sign indicating number " and is expressed as trit bits of coded " 0 "; " informal voucher sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 2 ".
The 12 kind is defined as: little-endian is arranged in order " secret note sign indicating number+one informal voucher sign indicating number+one an informal voucher sign indicating number " and is expressed as trit bits of coded " 0 "; " informal voucher sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 2 ".
In sum, three-shift bits of coded Nx includes two informal voucher sign indicating numbers and a secret note sign indicating number, perhaps comprises two secret note sign indicating numbers and an informal voucher sign indicating number, adopts their combination, has definition mode in 12.
The minimum bits of coded N1 of the position code N that the setting of partition number M is adjacent is associated, if the secret note sign indicating number of minimum bits of coded N1 links to each other with partition number, then partition number is designated as M1 at least three informal voucher sign indicating numbers; If the informal voucher sign indicating number of minimum bits of coded N1 links to each other with partition number, then partition number is designated as M2 at least three secret note sign indicating numbers, and is as shown in Figure 1.
According to above-mentioned setting, position code N can be provided with (3*m+p) * 3 on the whole grating scale under the unduplicated situation of coding
mIndividual bar yardage, wherein, m is the bits of coded number of position code N, m>=2, p is the bar code number of partition number, p>=3.In Fig. 1, m=3, p=3, then bar code adds up to (3*3+3) * 3
3Article=324.
See also table 1; It shows the relation of bits of coded and bar code position in the three-shift coding; The three-shift bits of coded of table 1 adopts above-mentioned first kind of definition: little-endian is arranged in order " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " and is expressed as trit bits of coded " 0 "; " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 2 ".Low level arrives high-order direction for from right to left.
Table 1
See also table 2, table 2 shows at m=3, during p=3, and the relation of bits of coded and partition number M among the position code N; Wherein, be convenient expression, among the partition number M with numeral 1,0 respectively represent to deceive, the informal voucher sign indicating number, position code N is followed successively by low level from right to left to a high position; Coded sequence is 000,001,010......111; Corresponding metric 0,1,2......7.
Table 2
See also table 3, table 3 correspondence table 2 illustrates the relation with the position code N and the partition number M of black and white bar code bit representation.The three-shift bits of coded of table 3 adopts above-mentioned first kind of definition; Wherein, Adopt " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " to be expressed as trit bits of coded " 0 "; " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " is expressed as the coded system of trit bits of coded " 2 ".Likewise, be convenient expression, in partition number M and the corresponding field of position code N with digital 1,0 represent to deceive respectively, the informal voucher sign indicating number.
Table 3
It should be noted that; The coding method of position code N is not limited to the situation of table 2 and table 3; As: but also right and left mutually changing of the high low level of its position code N for example, and 000,100,010......111 coded sequence also can be:, can also adopt other forms of three-shift coding certainly.
Except Fig. 1 adopts the form of straight-line code, can also adopt the form of code-disc coding, as shown in Figure 2, it has only shown the partial content of code-disc.Fig. 2 and Fig. 1 difference are: this is black, the informal voucher sign indicating number according to ring shooting, is used for absolute angle and measures on the grating scale, and it is black, the informal voucher code encoding method is identical with straight line coding method shown in Figure 1, in this no longer repeat specification.
See also Fig. 3, the present invention also provides a kind of Absolute position measurement device that adopts above-mentioned coding method, and 1 of this position-measurement device comprises: light source 3, lens 4, grating scale 6, imageing sensor 2, signals collecting and decoder module 5.Wherein, this light source 3 is can led light source, and these lens 4 can adopt single lens or lens combination, and it is used for converting the light of this light source 3 emissions into collimate in parallel light, and is transmitted through this grating scale 6.This grating scale 6 adopts the setting identical with grating scale mentioned above 1, is carved with the black and white strip encoding according to coding method that preceding text are told on it, at this repeated description no longer.These imageing sensor 2 linear imaging sensors comprise a plurality of pixels unit, and it can be CCD or CMOS photoelectric sensing element array, and it is used to survey the light and shade coded graphics that forms through these grating scale 6 transmissions.This signals collecting and decoder module 5 gathered the picture signal of these imageing sensor 2 outputs, and concerns according to the position of the reference pixel of this picture signal and this imageing sensor 2, confirms the current detection position.
Below introduce the relation between position code bit number among the present invention, imageing sensor 2 and grating scale 6 length through specific embodiment.Comprise that with position code N five bits of coded are example, these three position codes are designated as N1, N2, N3 respectively from the low level to a high position, minimum bar code width N
d=N
e/ 3=140 μ m, then each bits of coded width N
e=420 μ m.Wherein, Bits of coded adopts " secret note sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " to be expressed as trit bits of coded " 0 " from the low level to a high position; " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one secret note sign indicating number+one a secret note sign indicating number " is expressed as the coded system of trit bits of coded " 2 ".The pixel width of imageing sensor 2 commonly used is d, d=14 μ m in the present embodiment.Each divides sector width to be on the grating scale 6 thereby draw:
M
d=(m+1) * N
e=(3+1) * 420=1680 μ m=1.68mm, wherein m is the position code number;
Minimum effective pixel number that this imageing sensor 2 comprises is M
d/ d=1680 μ m/14 μ m=120.
Delineation length L=the M of this grating scale 6
d* 3
m=1.68*3
3=45.36mm.
, and enumerated when the number of position code N is 6～10 the delineation length relation of the figure place of position code N and this imageing sensor 2 effective pixel numbers, grating scale 6 referring to table 4.
Table 4
Still comprise 3 codings with position code N, partition number is that three bits of coded are example, and the coding/decoding method concrete steps of this position-measurement device 1 are following:
Step S1 surveys light signal and converts light signal into electric signal;
The light signal that this grating scale 1 of each pixel detecting of this imageing sensor 2 filters and forms; Form a series of light sensation analog current/voltage signals, and the analog electrical signal that will survey gained converts the digital voltage signal of a series of correspondences into through an A/D converter (figure does not show);
Step S2, record and store electricity signal;
With the detection of imageing sensor 2 and conversion and the digital voltage signal that gets be deposited into successively in the array sequence, be designated as An like A1, A2, this array sequence of A3.......
Step S3, binaryzation array sequence;
With array An binary conversion treatment, the numerical value that promptly is lower than a certain reference voltage is got " 0 " value, and the numerical value that is higher than this reference voltage is got " 1 " value, thereby corresponding array An obtains corresponding new array Bn.
Step S4 searches partition number;
In new array Bn, searching is the number of " 10111 " or " 1000 " continuously, and this number is the partition number position, and after finding, wherein back three of this number is exactly partition number M and place particular location thereof, and is as shown in Figure 4.
Step S5 confirms the current location sign indicating number;
According to the position of the partition number M that has found, confirm current location sign indicating number N
TWith Fig. 4 is example, and complete partition number M that this imageing sensor 2 reads and position code N combination reading are 21*1, and wherein " * " represents partition number M1.The position code N before the partition number M1 then
T=121, being scaled decimal number is N
T1=16.
Step S6 confirms with reference to first corresponding bits of coded of pixel position;
Confirm current location sign indicating number N
T1First bits of coded N in line scan image sensor reference image unit position
t, in Fig. 3, N
t=N2.
Step S7 confirms the pixel position that bits of coded is corresponding;
Record coding position N
tThe pixel position B of the line scan image sensor at place
t
Step S8 calculates current location;
The absolute position of the reference pixel on the imageing sensor adopts following computing formula to calculate:
W
0＝N
T*M
d+(m-N
t)*N
e-B
t*d
W wherein
0Be the absolute position of the reference pixel on the imageing sensor, N
TBe current location sign indicating number, M
dDivide sector width for each, m is the bits of coded number of position code, N
tFor the first with reference to the corresponding bits of coded in pixel position, N
eBe each bits of coded width, B
tBe pixel position Bt, d is each pixel width of imageing sensor.
See also table 5, table 5 three-shift bits of coded adopts above-mentioned the 12 kind of when definition, the relation of bits of coded and bar code position.Promptly; Little-endian is arranged in order " secret note sign indicating number+one informal voucher sign indicating number+one an informal voucher sign indicating number " and is expressed as trit bits of coded " 0 "; " informal voucher sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as trit bits of coded " 2 ".
Table 5
See also table 6, table 6 shows at m=3, during p=3, and the relation of bits of coded and partition number M among the position code N; Wherein, among the partition number M with numeral respectively 1,0 represent to deceive, the informal voucher sign indicating number, position code N is followed successively by low level from right to left to high-order; Coded sequence is 000,001,010......111; Corresponding metric 0,1,2......7.
The minimum bits of coded N1 of the position code N that the setting of partition number M at this moment is adjacent is associated, if the secret note sign indicating number of minimum bits of coded N1 links to each other with partition number, then partition number is " secret note sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number "; If the informal voucher sign indicating number of minimum bits of coded N1 links to each other with partition number, then partition number is three secret note sign indicating numbers.
Table 6
See also table 7, table 7 correspondence table 6 illustrates the relation with the position code N and the partition number M of black and white bar code bit representation.The three-shift bits of coded of table 7 adopts above-mentioned the 12 kind of definition; Adopt little-endian to be arranged in order " secret note sign indicating number+one informal voucher sign indicating number+one an informal voucher sign indicating number " and be expressed as trit bits of coded " 0 "; " informal voucher sign indicating number+one secret note sign indicating number+one an informal voucher sign indicating number " is expressed as trit bits of coded " 1 ", and " informal voucher sign indicating number+one informal voucher sign indicating number+one a secret note sign indicating number " is expressed as the coded system of trit bits of coded " 2 ".Likewise, be convenient expression, in partition number M and the corresponding field of position code N with digital 1,0 represent to deceive respectively, the informal voucher sign indicating number.
Table 7
The coding/decoding method of corresponding present embodiment absolute position encoder method is similar with the coding/decoding method of above-mentioned first embodiment, and its difference is that among the step S4, other steps are identical, repeated description no longer here, and step S4 was during present embodiment went on foot:
Step S4 searches partition number;
In new array Bn, searching is the number of " 01101 " or " 0111 " continuously, and this number is the partition number position, and after finding, wherein back three of this number is exactly partition number M and place particular location thereof.
In sum, in this absolute position encoder method, use wide black and white bar code as coding unit; Each subregion comprises 1 partition number M and a position code N respectively, and partition number M can be used as PB simultaneously, and position code N adopts the mode of three-shift coding; It is easy to manufacture to have grating; The advantage that is easy to encode, the coding/decoding method of corresponding above-mentioned coding method also have simply, accurate advantage, can accurately measure the absolute position of the object of surveying.
The above is merely the preferred embodiment of invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. solid size road absolute position encoder method; It is characterized in that: a coded graphics is set; This coded graphics comprises a plurality of subregions, and arbitrary subregion comprises a partition number M and a position code N, and any partition number M comprises three wide secret note sign indicating numbers or three wide informal voucher sign indicating numbers at least; Arbitrary position code N comprises two bits of coded at least, and little-endian is designated as N1, N2......Nm respectively, and wherein arbitrary bits of coded Nx comprises one first coding bar code and two second coding bar codes, 1≤x≤m wherein, and m is the number of bits of coded; This first coding bar code is the informal voucher sign indicating number, and this second coding bar code is the secret note sign indicating number, and perhaps this first coding bar code is the secret note sign indicating number, and this second coding bar code is the informal voucher sign indicating number; Arbitrary bits of coded Nx among the above-mentioned position code N is expressed as a trit 0 or 1 or 2; This first coding bar code is identical with the width of this second coding bar code;
The lowest order or the most significant digit of the position code in adjacent this subregion of partition number in arbitrary subregion, and the position code coding bar code kind of arest neighbors is different in the coding bar code kind of this partition number and this subregion.
2. solid size as claimed in claim 1 road absolute position encoder method; It is characterized in that: the minimum bits of coded of the position code that the setting of partition number is adjacent is associated; If the bar code of the minimum bits of coded that is adjacent is the first coding bar code, then partition number is made up of three second encoding strip sign indicating numbers; If the bar code of the minimum bits of coded that is adjacent is the second coding bar code, then partition number is made up of three first encoding strip sign indicating numbers.
3. solid size as claimed in claim 1 road absolute position encoder method is characterized in that: under the unduplicated situation of coding, the encoding strip number of codes in this coded graphics is (3*m+p) * 3 at position code N
mIndividual, wherein m is the bits of coded number of position code, m>=2, and p is the coding bar code number of partition number, p>=3.
4. solid size road absolute position encoder method corresponding decoding method; It is characterized in that: this solid size road absolute position encoder method comprises a coded graphics is set; This coded graphics comprises a plurality of subregions; Arbitrary subregion comprises a partition number M and a position code N, and any partition number M comprises three wide secret note sign indicating numbers or three wide informal voucher sign indicating numbers at least; Arbitrary position code N comprises two bits of coded at least, and little-endian is designated as N1, N2......Nm respectively, and wherein arbitrary bits of coded Nx comprises one first coding bar code and two second coding bar codes, 1≤x≤m wherein, and m is the number of bits of coded; This first coding bar code is the informal voucher sign indicating number, and this second coding bar code is the secret note sign indicating number, and perhaps this first coding bar code is the secret note sign indicating number, and this second coding bar code is the informal voucher sign indicating number; Arbitrary bits of coded Nx among the above-mentioned position code N is expressed as a trit 0 or 1 or 2; This first coding bar code is identical with the width of this second coding bar code;
The lowest order or the most significant digit of the position code in adjacent this subregion of partition number in arbitrary subregion, and the position code coding bar code kind of arest neighbors is different in the coding bar code kind of this partition number and this subregion, and this coding/decoding method comprises step:
Utilize the light signal of imageing sensor detection coded graphics formation and convert light signal into electric signal;
This electric signal of binary conversion treatment;
In this binaryzation electric signal, search partition number;
Confirm the current location sign indicating number according to partition number;
Confirm in the imageing sensor with reference to first corresponding bits of coded of pixel position according to position code;
Confirm that the current location sign indicating number is in imageing sensor first pixel position, bits of coded place with reference to the pixel position;
Adopt the absolute position of the reference pixel on the following computing formula computed image sensor:
W
0＝N
T*M
d+(m-N
t)*N
e-B
t*d
W wherein
0Be the absolute position of the reference pixel on the imageing sensor, N
TBe current location sign indicating number, M
dDivide sector width for each, m is the bits of coded number of position code, N
tBe imageing sensor first bits of coded, N with reference to the pixel position
eBe each bits of coded width, B
tBe bits of coded N
tThe pixel position of the imageing sensor at place, d is each pixel width of imageing sensor.
5. solid size road Absolute position measurement device; It comprises light source, grating scale, imageing sensor, signals collecting and decoder module; On this grating scale a coded graphics is set; This coded graphics comprises a plurality of subregions, and arbitrary subregion comprises a partition number M and a position code N, and any partition number M comprises three wide secret note sign indicating numbers or three wide informal voucher sign indicating numbers at least; Arbitrary position code N comprises two bits of coded at least, and little-endian is designated as N1, N2......Nm respectively, and wherein arbitrary bits of coded Nx comprises one first coding bar code and two second coding bar codes, 1≤x≤m wherein, and m is the number of bits of coded; This first coding bar code is the informal voucher sign indicating number, and this second coding bar code is the secret note sign indicating number, and perhaps this first coding bar code is the secret note sign indicating number, and this second coding bar code is the informal voucher sign indicating number; Arbitrary bits of coded Nx among the above-mentioned position code N is expressed as a trit 0 or 1 or 2; This first coding bar code is identical with the width of this second coding bar code;
The lowest order or the most significant digit of the position code in adjacent this subregion of partition number in arbitrary subregion; And the position code of arest neighbors coding bar code kind is different in the coding bar code kind of this partition number and this subregion; This light source projects coded graphics on this imageing sensor; This imageing sensor is gathered the coded graphics on this grating scale, and the acquisition range of this imageing sensor is greater than the length in a district, and has a complete partition number in this acquisition range at least; Signals collecting and decoder module are gathered the picture signal of this imageing sensor output, and calculate the absolute position of the reference pixel on this imageing sensor by following formula:
W
0＝N
T*M
d+(m-N
t)*N
e-B
t*d
W wherein
0Be the absolute position of the reference pixel on the imageing sensor, N
TBe current location sign indicating number, M
dDivide sector width for each, m is the bits of coded number of position code, N
tBe imageing sensor first bits of coded, N with reference to the pixel position
eBe each bits of coded width, B
tBe bits of coded N
tThe pixel position of the imageing sensor at place, d is each pixel width of imageing sensor.
6. the solid size road Absolute position measurement device described in claim 5; It is characterized in that: the minimum bits of coded of the position code that the setting of partition number is adjacent is associated; If the bar code of the minimum bits of coded that is adjacent is the first coding bar code, then partition number is made up of three second encoding strip sign indicating numbers; If the bar code of the minimum bits of coded that is adjacent is the second coding bar code, then partition number is made up of three first encoding strip sign indicating numbers.
7. solid size as claimed in claim 5 road Absolute position measurement device is characterized in that: the coded graphics on this grating scale is the straight-line code figure.
8. solid size as claimed in claim 5 road Absolute position measurement device is characterized in that: the coded graphics on this grating scale is annular coded graphics.
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| CN102589442B (en) * | 2012-01-13 | 2014-03-12 | 大连民族学院 | Single-code coding and decoding method based on absolute position determination |
| CN102706373B (en) * | 2012-05-24 | 2015-01-21 | 广东工业大学 | Single-track absolute grating scale and image coding method thereof |
| EP2674731B1 (en) * | 2012-06-13 | 2015-09-02 | Dr. Johannes Heidenhain GmbH | Position measuring device |
| CN104573600B (en) * | 2013-10-24 | 2017-12-19 | 成都市三宇仪表科技发展有限公司 | A kind of recognition methods based on static wheeled coding |
| CN104515534B (en) * | 2014-12-17 | 2017-01-04 | 中国科学院长春光学精密机械与物理研究所 | Absolute position measurement method |
| CN108917609B (en) * | 2018-07-27 | 2020-09-11 | 广东工业大学 | Single-track absolute grating scale system |
| CN114166254A (en) * | 2021-12-09 | 2022-03-11 | 常州索图光电科技有限公司 | Single code channel absolute coding method and coder |
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