CN102062615B - Position coding method of single-code channel - Google Patents
Position coding method of single-code channel Download PDFInfo
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- CN102062615B CN102062615B CN2010105754469A CN201010575446A CN102062615B CN 102062615 B CN102062615 B CN 102062615B CN 2010105754469 A CN2010105754469 A CN 2010105754469A CN 201010575446 A CN201010575446 A CN 201010575446A CN 102062615 B CN102062615 B CN 102062615B
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Abstract
The invention relates to a position coding method of a single-code channel, which comprises the following steps of: setting a coding graph and dividing the coding graph into a plurality of coding zones, wherein each coding zone comprises a position code and a zone mark position; each position code comprises at least one first code word and one second code word; each code word comprises a first code element and a second code element, and the width of the first code element is identical to that of the second code element; the arrangement sequence of the first code element is opposite to that of the second code element in the first code word and the second code word; and the zone mark position comprises a third code element, wherein the width of the third code element is more than or less than that of the first code element. In the invention, coding stripes are easy to distinguish, and the coding and the decoding are simpler without easily generating an error.
Description
[technical field]
The present invention relates to a kind of position encoded method, relate in particular to a kind of position encoded method in solid size road that is applied in the position coder.
[background technology]
Position coder is measuring position and displacement encoder.Can be divided into linear encoder and disc type scrambler according to measured type, be used for measuring the geometric sense of length and angle respectively.
At present, in the middle of the photo-electric displacement measurement, adopt increment counting method and absolute position encoder method usually.The increment counting method is that the pulse train that produces through to two sheet gration relative motions the time is counted, and the directive accumulative total of apparatus is represented the variable quantity of displacement.This method principle is simple, and all grating technological processes are short, cost is low.Yet there is more shortcoming in this method: relatively poor like the data reliability, in case its stored count produces mistake, this error will be saved in to measure always and finish; And if in measuring process, cut off the power supply, then count according to all losing immediately, can't recover.
The absolute position encoder method is the coding of portrayal ad hoc rules on a sheet gration; It is corresponding with it that all measured positions all have unique encoding; And when it re-powers after outage; This corresponding relation remains unchanged, thereby has guaranteed the reliability of data, does not also have the problem of counting loss.
Yet many code channels absolute position encoder at present commonly used exist volume big, be difficult for the technical matters of installing, and want to improve its precision and just must enlarge its code channel number, thereby make manufacturing process comparatively complicated.Along with the development and progress of technology, solid size road absolute type encoder is the main target that we develop.Because solid size road absolute type encoder is because its information is concentrated, the design of coding itself and the gatherer process of information just become the difficult point and the emphasis of research.Existing solid size road absolute encoding method ubiquity strip encoding is difficult for distinguishing that coding and decoding are comparatively loaded down with trivial details, is prone to produce problems such as error.
[summary of the invention]
Be difficult for distinguishing, encoding and decipher comparatively loaded down with trivial details technical matters in order to solve strip encoding that prior art solid size road absolute encoding method exists, the present invention provides a kind of be easy to distinguish strip encoding and coding, the comparatively easy position encoded method in solid size road of decoding.
The present invention provides a kind of solid size road position encoded method; It comprises: coded graphics is set is divided into a plurality of yards districts; Each yard district comprises a position code and a distinctive emblem position, and each position code comprises at least one first code word and at least one second code word, and each code word all comprises one first code element and one second code element; This first code element is identical with the width of this second code element; Putting in order of first code element in first code word and second code word and second code element is opposite, and this distinctive emblem position comprises one the 3rd code element, and the width of the 3rd code element is greater than or less than the width of this first code element.
The width of the 3rd code element of described distinctive emblem position is the width of at least two first code elements.
Described the 3rd code element that is positioned at the distinctive emblem position in odd number sequence code district is at least two first code elements, and described the 3rd code element that is positioned at the distinctive emblem position in even number sequence code district is at least two second code elements.
Described the 3rd code element that is positioned at the distinctive emblem position in odd number sequence code district is at least two second code elements, and described the 3rd code element that is positioned at the distinctive emblem position in even number sequence code district is at least two first code elements.
The 3rd code element that this distinctive emblem position is set representes with first code element adjacent thereto or second code element, and quantity is set is at least two.
First code element or second code element of the described code word that is arranged in same sign indicating number district are adjacent with this distinctive emblem position, and the 3rd code element that described distinctive emblem position is set is at least two first code elements or at least two second code elements.
First code element or second code element of the described code word that is positioned at the adjacent code district are adjacent with this distinctive emblem position, and the 3rd code element that this distinctive emblem position is set is at least two first code elements or at least two second code elements.
First code word of described position code and second code word all are gray encoding.
The numerical value of representing like described position code is even number, then obtains after the Gray code step-by-step negate of the code word of described position code by this even number numerical value correspondence.
The numerical value of representing like described position code is odd number, then obtains after the Gray code step-by-step negate of the code word of described position code by this odd number numerical value correspondence.
Compared to prior art, the main beneficial effect of the position encoded method in solid size of the present invention road is:
(1). the strip encoding width of distinctive emblem position in each yard district and position adjacent sign indicating number code word is inequality, and difference obviously is easy to distinguish.In addition, coding of the present invention and decoding are comparatively easy, are difficult for producing error.
(2). in the coding method in the embodiment of the invention 4, its coding according to Gray code carries out negate to the code element of position code to be handled, and in its application data processing procedure, is of value to the collection of data, and can reduces the error in the data handling procedure.
[description of drawings]
Fig. 1 is the part sign indicating number district synoptic diagram of straight-line code form of the coded graphics of the position encoded method embodiment 1 in solid size of the present invention road.
Fig. 2 is the part sign indicating number district synoptic diagram of disc type coding form of the coded graphics of the position encoded method embodiment 1 in solid size of the present invention road.
[embodiment]
As shown in Figure 1, a kind of solid size road position coder, it is provided with a coded graphics.This coded graphics adopts the form of straight-line code, and it is provided with a plurality of parallel informal voucher lines 80 and black streaking 90 alternately.Wherein, the light tight bar code of secret note sign indicating number 90 expressions, informal voucher sign indicating number 80 expression printing opacity bar codes.The position encoded method in described solid size road, it comprises: coded graphics is set is divided into a plurality of yards districts, each yard district comprises a position code and a distinctive emblem position; Each position code comprises one first code word and one second code word; Each code word all comprises one first code element and one second code element, and it is identical with the width of this second code element that this first code element is set, and putting in order of first code element in first code word and second code word and second code element is opposite; This distinctive emblem position comprises one the 3rd code element, and the width of the 3rd code element is different from the width of this first code element.Each position code also can comprise a plurality of first code words and a plurality of second code word.
When this first code element was a black streaking, then this second code element was an informal voucher line; When this first code element was an informal voucher line, then this second code element was a black streaking.The 3rd code element is an informal voucher line or the black streaking that width is different from one first code element.Wherein, represent that the width of fringe of the 3rd code element is greater than or less than the width of the striped of this first code element of expression.First code word is set arranges therein with the order of first code element, second code element, then second code word is arranged with the order of second code element, first code element therein; First code word is set arranges therein with the order of second code element, first code element, then second code word is arranged with the order of first code element, second code element therein.In binary coding, when the represented numerical value of first code word being set being 1, then the represented numerical value of second code word is 0; When the represented numerical value of first code word being set being 0, then the represented numerical value of second code word is 1.First code word of this position code and second code word can all be gray encoding also.
Coded graphics shown in Fig. 1; With any one yard district wherein is example; Each position code 20 in this yard district 10 comprises two first code words 40 and one second code word 50, stipulates that its first code word, 40 represented binary numerals are that 0, the second code word, 50 represented binary numerals are 1; First code element is an informal voucher line 80; Second code element is a black streaking 90, and then the order of the corresponding informal voucher line of first code word 40 80, black streaking 90 is arranged therein, and the order of the corresponding black streaking of second code word 50 90, informal voucher line 80 is arranged therein.Wherein, this informal voucher line 80 is identical with the width of this black streaking 90.The distinctive emblem position 30 in this yard district 10 comprises that one the 3rd code element, 60, the three code elements 60 be informal voucher line (indicating), and its width is two times of the width of the informal voucher line 80 of representing first code element.From the above, according to putting in order of black streaking of position code in the coded graphics 20 90 and informal voucher line 80, can draw the represented binary numeral of position code 20 in each yard district 10.
As shown in Figure 2, the coded graphics of this scrambler also can adopt the form of disc type coding.The key distinction of the form of the employing straight-line code shown in the partial content that has shown disc type among Fig. 2, itself and Fig. 1 is: this black streaking and this informal voucher sign indicating number on the grating scale according to annular alternately.For the coded graphics shown in Fig. 2, its coding method is identical with the coding method of the form of employing straight-line code shown in Figure 1, in this no longer repeat specification.
Embodiment 2
The position encoded method in solid size road of position encoded method in solid size of the present invention road and embodiment 1 is roughly the same; Its key distinction is: the described distinctive emblem position that is positioned at odd number sequence code district is set; The width of its 3rd code element is the width of two first code elements; The described distinctive emblem position that is positioned at even number sequence code district, the width of its 3rd code element is the width of two second code elements; In like manner, the described distinctive emblem position that is positioned at odd number sequence code district can be set also, the width of its 3rd code element is the width of two second code elements, the described distinctive emblem position that is positioned at even number sequence code district, and the width of its 3rd code element is the width of two first code elements.The width of described the 3rd code element also can be the width of a plurality of first code elements or a plurality of second code elements.
Embodiment 3
The position encoded method in solid size road of position encoded method in solid size of the present invention road and embodiment 1 is roughly the same, and its key distinction is: the 3rd code element of the distinctive emblem position in described sign indicating number district is set, representes with two code elements in the code word adjacent thereto.First code element of the described code word that is arranged in same sign indicating number district is adjacent with this distinctive emblem position, and the 3rd code element that described distinctive emblem position is set is two first code elements; Second code element of the described code word that is arranged in same sign indicating number district is adjacent with this distinctive emblem position, and the 3rd code element that described distinctive emblem position is set is two second code elements.First code element of the described code word that is positioned at the adjacent code district is adjacent with this distinctive emblem position, and the 3rd code element that this distinctive emblem position is set is two first code elements; Second code element of the described code word that is positioned at the adjacent code district is adjacent with this distinctive emblem position, and the 3rd code element that this distinctive emblem position is set is two second code elements.From the above, the width of the 3rd code element is the width of two first code elements or two second code elements.According to the needs of practical operation, the 3rd code element that described distinctive emblem position also can be set is a plurality of first code elements or a plurality of second code element, and promptly the width of the 3rd code element is the width of a plurality of first code elements or a plurality of second code elements.
Embodiment 4
Position encoded method in solid size of the present invention road and embodiment 1, the position encoded method of embodiment 2 and embodiment 3 described solid size roads are roughly the same; Its key distinction is: the numerical value of representing like described position code is even number, then obtains after the Gray code step-by-step negate of the code word of described position code by this even number numerical value correspondence; Perhaps adopt following method, the numerical value of representing like described position code is odd number, then obtains after the Gray code step-by-step negate of the code word of described position code by this odd number numerical value correspondence.
It is said that the position encoded method in solid size of the present invention road is not limited to the foregoing description; It also can comprise other change designs; As: the quantity of included code element is not limited to two in the code word of described position code, and it can be set to a plurality of according to the needs that reality is used; The width of described the 3rd code element also can be the half width of one first code element.
The invention provides the position encoded method in a kind of solid size road, compared to prior art, main beneficial effect of the present invention is:
(1). the strip encoding width of distinctive emblem position in each yard district and position adjacent sign indicating number code word is inequality, and difference obviously is easy to distinguish.In addition, coding of the present invention and decoding are comparatively easy, are difficult for producing error.
(2). in the coding method in the embodiment of the invention 4, its coding according to Gray code carries out negate to the code element of position code to be handled, and in its application data processing procedure, is of value to the collection of data, and can reduces the error in the data handling procedure.
Claims (7)
1. the position encoded method in solid size road is characterized in that it comprises: a coded graphics is set is divided into a plurality of yards districts; Each yard district comprises a position code and a distinctive emblem position, and each position code comprises at least one first code word and at least one second code word, and each code word all comprises one first code element and one second code element; This first code element is identical with the width of this second code element; Putting in order of first code element in first code word and second code word and second code element is opposite, and this distinctive emblem position comprises one the 3rd code element, when this first code element is a black streaking; Then this second code element is an informal voucher line; When this first code element was an informal voucher line, then this second code element was a black streaking, and the 3rd code element is an informal voucher line or the black streaking that width is different from one first code element.
2. the position encoded method in solid size according to claim 1 road is characterized in that the width of the 3rd code element of described distinctive emblem position is the width of at least two first code elements.
3. the position encoded method in solid size according to claim 2 road; It is characterized in that; The 3rd code element that is positioned at the distinctive emblem position in odd number sequence code district is at least two first code elements, and the 3rd code element that is positioned at the distinctive emblem position in even number sequence code district is at least two second code elements.
4. the position encoded method in solid size according to claim 2 road; It is characterized in that; The 3rd code element that is positioned at the distinctive emblem position in odd number sequence code district is at least two second code elements, and the 3rd code element that is positioned at the distinctive emblem position in even number sequence code district is at least two first code elements.
5. the position encoded method in solid size according to claim 1 road is characterized in that, the 3rd code element of this distinctive emblem position is represented with first code element adjacent thereto or second code element, and quantity is set is at least two.
6. the position encoded method in solid size according to claim 5 road; It is characterized in that; First code element or second code element that are arranged in the same yard code word of distinguishing are adjacent with this distinctive emblem position, and the 3rd code element that described distinctive emblem position is set is at least two first code elements or at least two second code elements.
7. the position encoded method in solid size according to claim 5 road; It is characterized in that; First code element or second code element of code word that is positioned at the adjacent code district is adjacent with this distinctive emblem position, and the 3rd code element that this distinctive emblem position is set is at least two first code elements or at least two second code elements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105754469A CN102062615B (en) | 2010-08-27 | 2010-12-07 | Position coding method of single-code channel |
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| CN201010263799 | 2010-08-27 | ||
| CN201010263799.5 | 2010-08-27 | ||
| CN2010105754469A CN102062615B (en) | 2010-08-27 | 2010-12-07 | Position coding method of single-code channel |
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| CN102062615A CN102062615A (en) | 2011-05-18 |
| CN102062615B true CN102062615B (en) | 2012-07-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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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 |
| CN107621822B (en) * | 2017-08-30 | 2021-01-05 | 杭州为诺智能科技有限公司 | Magnetic bar code and reading method thereof and path planning method of magnetic navigation robot |
| CN108981764A (en) * | 2018-05-04 | 2018-12-11 | 广东工业大学 | A kind of rotating grating encoder rotating angle measurement apparatus and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5651187A (en) * | 1994-08-12 | 1997-07-29 | Dr. Johannes Heidenhain Gmbh | Position measuring device |
| CN1493853A (en) * | 2003-10-10 | 2004-05-05 | 杨俊志 | Universal coding method of single loop absolute type angle coder |
| CN1598486A (en) * | 2004-09-10 | 2005-03-23 | 北京交通大学 | Method for encoding absolute position |
| CN101476902A (en) * | 2009-01-13 | 2009-07-08 | 常州大地测绘科技有限公司 | Single-code channel absolute position encoding method |
-
2010
- 2010-12-07 CN CN2010105754469A patent/CN102062615B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5651187A (en) * | 1994-08-12 | 1997-07-29 | Dr. Johannes Heidenhain Gmbh | Position measuring device |
| CN1493853A (en) * | 2003-10-10 | 2004-05-05 | 杨俊志 | Universal coding method of single loop absolute type angle coder |
| CN1598486A (en) * | 2004-09-10 | 2005-03-23 | 北京交通大学 | Method for encoding absolute position |
| CN101476902A (en) * | 2009-01-13 | 2009-07-08 | 常州大地测绘科技有限公司 | Single-code channel absolute position encoding method |
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