CN103791936B - The restorative procedure of space flight level absolute optical encoder signal - Google Patents
The restorative procedure of space flight level absolute optical encoder signal Download PDFInfo
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- CN103791936B CN103791936B CN201410032136.0A CN201410032136A CN103791936B CN 103791936 B CN103791936 B CN 103791936B CN 201410032136 A CN201410032136 A CN 201410032136A CN 103791936 B CN103791936 B CN 103791936B
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- read head
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Abstract
The restorative procedure of space flight level absolute optical encoder signal, relate to scrambler photosignal and repair field, cause scrambler cisco unity malfunction when solving space flight level absolute optical encoder photosignal disappearance and artificial problem of repairing cannot be carried out, the method is as follows: utilize photoelectric encoder matrix code disk figure to draw relation between the thick code photosignal in each road, when the thick code photosignal in Dang You mono-road lacks, the software program in debug system microcontroller is utilized to find the thick code photosignal in that road of disappearance, the thick code photosignal in that road of one or more photosignal synthesis disappearance utilizing all the other normally to export, complete each road photosignal is utilized to obtain correct photoelectric encoder positional information, avoid the positional information of photoelectric encoder output error, decrease workload, improve the reliability and stability of photoelectric encoder work, instead of manual operation, convenient and swift, accuracy is higher, achieve the automatic repair function of photoelectric encoder photosignal.
Description
Technical field
The present invention relates to scrambler photosignal recovery technique field, be specifically related to a kind of restorative procedure of space flight level absolute optical encoder signal.
Background technology
Light emitting diode (LED) life-span is long, thermal value is low, volume is little, peak wavelength can match with photoelectric apparatus, therefore, high precision photoelectric scrambler many employings LED is light source, adopts photodiode, phototriode or photoelectric cell as receiving element simultaneously.Because receiving element is more responsive to temperature, under the high precision photoelectric scrambler overwhelming majority is used for military defense project, industry spot and particular surroundings, applied environment is very severe, temperature contrast is comparatively large, and change is obvious, the uncertainty of working environment and the long-time use of electronic devices and components, very easily cause receiving element damage and aging, these factors all easily make the photosignal of scrambler change, and cause scrambler photosignal to lack, cannot correct output position information.The photosignal of human at periodic intervals to scrambler is needed to readjust in actual use, to guarantee scrambler steady operation.But, for the scrambler be operated in camera space, if the photosignal disappearance of scrambler cannot carry out artificial reparation to it at all, therefore, convenient in the urgent need to one, reliable photosignal self-repairing method.
Summary of the invention
Cannot carry out artificial problem of repairing to cause scrambler cisco unity malfunction when solving space flight level absolute optical encoder photosignal disappearance, the present invention proposes a kind of restorative procedure of space flight level absolute optical encoder signal.
The technical scheme that the present invention adopts for technical solution problem is as follows:
The restorative procedure of space flight level absolute optical encoder signal, condition and the step of the method are as follows:
Step one, the position of analysis photoelectric encoder receiving element and the corresponding relation of matrix code disk code channel, under obtaining normal condition, each receiving element is at the photosignal output state of different code channel;
Step 2, when photoelectric encoder main axis one week, utilize the debug system collection of photoelectric encoder through differential amplification, shaping Hou Ge road photosignal, thick code and smart code photosignal are left in array respectively, analyzes the relation between the thick code photosignal in each road;
Step 3, change by the thick code photosignal of the software program Real-Time Monitoring in debug system microcontroller, when photoelectric encoder main axis many weeks, the thick code photosignal in Ruo You mono-road is always low level, all the other roads all normally convert, the thick code photosignal disappearance in this road is then described, the receiving element corresponding to it damages;
Step 4, when some receiving elements of photoelectric encoder break down, debug system is utilized automatically to find the thick code photosignal in that road of disappearance, the thick code photosignal in that road of one or more the thick code photosignal synthesis disappearance utilizing all the other normally to export by the software program in debug system microcontroller, then square matrix code is decoded as natural binary code.
Each code channel of described matrix code disk being arranged as from inside to outside:
A encloses, and leads to light in 180 ° ~ 360 ° the half cycle region in, and 0 ° and 90 ° of places arrange read head a respectively
land a
2, be positioned at read head a
land a
2the photosignal that the receiving element at place exports is respectively A
1and A
2, corresponding 1st and the 2nd bit code road respectively;
B encloses, and scribes the 4th and the 3rd bit code road respectively in 0 ° ~ 180 ° and 180 ° ~ 360 ° half cycle regions, and photosignal of its correspondence output is respectively A
4and A
3;
C encloses, and scribes the 8th, the 7th, the 6th and the 5th bit code road respectively in 0 ° ~ 90 °, 90 ° ~ 180 °, 180 ° ~ 270 ° and 270 ° ~ 360 ° sector regions, and its corresponding photosignal exported is respectively A
8, A
7, A
6and A
5.
In A circle, when matrix code disk rotates clockwise, when turning to 0 ° from 180 °, read head a
1no-output, when turning to 180 ° from 360 ° again after turning to 0 ° from 180 °, read head a
1export A
1.
In A circle, when matrix code disk rotates clockwise, when turning to 0 ° from 90 ° or when turning to 270 ° from 360 °, read head a
2no-output, from 90 ° turn to 0 ° or turn to 90 ° from 270 ° again after turning to 270 ° from 360 ° time, read head a
2export A
2.
In B circle, 0 ° of place arranges read head b
1, 180 ° of places arrange read head b
2, when matrix code disk rotates clockwise, when turning to 0 ° from 180 °, read head b
1export A
4, read head b
2export A
3, when turning to 180 ° from 360 ° again after turning to 0 ° from 180 °, read head b
1export A
3, read head b
2export A
4.
In C circle, 0 °, 90 °, 180 ° and 270 ° of four positions arrange read head c respectively
1, c
2, c
3and c
4, when matrix code disk rotates clockwise, when turning to 0 ° from 90 °, read head c
1export A
8, read head c
2export A
7, read head c
3export A
6, read head c
4export A
5, when turning to 90 ° from 180 ° again after turning to 0 ° from 90 °, read head c
1export A
7, read head c
2export A
6, read head c
3export A
5, read head c
4export A
8, when turning to 180 ° from 270 ° again after turning to 90 ° from 180 °, read head c
1export A
6, read head c
2export A
5, read head c
3export A
8, read head c
4export A
7, when turning to 270 ° from 360 ° again after turning to 180 ° from 270 °, read head c
1export A
5, read head c
2export A
8, read head c
3export A
7, read head c
4export A
6.
The invention has the beneficial effects as follows:
1, the situation of manual repair cannot be carried out when method of the present invention is applicable to the absolute optical encoder photosignal disappearance worked in space equipment, avoid the positional information of photoelectric encoder output error, decrease workload, improve the reliability and stability of photoelectric encoder work.
2, the present invention with the debug system of photoelectric encoder for core, the photosignal of debug system to photoelectric encoder gathers, processes, detect each road photosignal when processing and monitor photoelectric encoder data message whether to lack, automatically repair when finding photosignal disappearance, ensure that photoelectric encoder exports correct positional information, overcome photoelectric encoder at work a certain receiving element damage the defect that cannot repair, achieve the automatic repair function of photoelectric encoder photosignal, there is very high using value.
3, the present invention utilizes the design drawing of photoelectric encoder matrix code disk, draw the relation between the thick code photosignal in each road, when the thick code photosignal in Dang You mono-road lacks, the software program in debug system microcontroller is utilized to find the thick code photosignal in that road of disappearance, utilize the thick code photosignal in that road of all the other roads normally exported or multi-path light electric signal synthesis disappearance, thus utilize complete each road photosignal to obtain the positional information of correct photoelectric encoder, method of the present invention instead of manual operation, convenient and swift, accuracy is higher.
Accompanying drawing explanation
Fig. 1 is the matrix code disk design drawing of space flight level absolute optical encoder.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
The restorative procedure of embodiment one, space flight level absolute optical encoder signal of the present invention, the concrete steps of the method are as follows:
Step one, under the condition of the matrix code disk design drawing of known photoelectric encoder, utilize this matrix code disk design drawing, analyze the position of each receiving element and the corresponding relation of matrix code disk code channel on photoelectric encoder dash receiver, obtain each receiving element in normal state at the photosignal output state of different matrix code disk code channel.
As shown in Figure 1, with matrix code disk central point for true origin, be divided into four quadrants, adopt each quadrant of angular dimension, 0 ° ~ 90 ° regions, 90 ° ~ 180 ° regions, 180 ° ~ 270 ° regions, 270 ° ~ 360 ° regions are respectively first, second, third and fourth quadrant, 0 °, 90 °, 180 ° and 270 ° of four points are fixing, namely do not rotate with matrix code disk.
Each code channel of matrix code disk being arranged as from inside to outside:
(1) first lap is A circle, the same with traditional code channel, and logical light in 180 ° ~ 360 ° half cycle regions, namely only scribe a half-turn code channel, 0 ° of place arranges read head a
l, 90 ° of places arrange read head a
2, be positioned at read head a
lwith read head a
2the photosignal that the receiving element at place exports is respectively A
1and A
2, the A just encoded with tradition
land A
2identical, this two-way photosignal is corresponding 1st bit code road and the 2nd bit code road respectively.
When matrix code disk rotates clockwise, when turning to 0 ° from 180 °, read head a
1no-output, when turning to 180 ° from 360 ° again after turning to 0 ° from 180 °, read head a
1export A
1.
When matrix code disk rotates clockwise, when turning to 0 ° from 90 ° or when turning to 270 ° from 360 °, read head a
2no-output, from 90 ° turn to 0 ° or turn to 90 ° from 270 ° again after turning to 270 ° from 360 ° time, read head a
2export A
2.
(2) second circles are B circle, scribe 2 different code channels:
Scribe the 4th traditional bit code road in 0 ° ~ 180 ° half cycle regions, be namely carved with 2 logical light in this region, the photosignal that this code channel exports is A
4.
Scribe the 3rd traditional bit code road in 180 ° ~ 360 ° half cycle regions, be namely carved with 1 logical light in this region, the photosignal that this code channel exports is A
3.
In B circle, 0 ° of place arranges read head b
1, 180 ° of places arrange read head b
2, be positioned at read head b
1with read head b
2the photosignal that the receiving element at place exports has been no longer just single code bit, from figure l, when matrix code disk rotates clockwise, when turning to 0 ° from 180 °, and read head b
1export A
4, read head b
2export A
3, when turning to 180 ° from 360 ° again after turning to 0 ° from 180 °, read head b
1export A
3, read head b
2export A
4.
(3) the 3rd circles are C circle, scribe 4 different code channels:
Scribe the 8th bit code road in 0 ° ~ 90 ° sector regions, be namely carved with 16 logical light in this region, the photosignal that this code channel correspondence exports is A
8.
Scribe the 7th bit code road in 90 ° ~ 180 ° sector regions, be namely carved with 8 logical light in this region, the photosignal that this code channel correspondence exports is A
7.
Scribe the 6th bit code road in 180 ° ~ 270 ° sector regions, be namely carved with 4 logical light in this region, the photosignal that this code channel correspondence exports is A
6.
Scribe the 5th bit code road in 270 ° ~ 360 ° sector regions, be namely carved with 2 logical light in this region, the photosignal that this code channel correspondence exports is A
5.
In C circle, 0 °, 90 °, 180 ° and 270 ° of four positions arrange read head c respectively
1, c
2, c
3and c
4, when matrix code disk rotates clockwise, when turning to 0 ° from 90 °, read head c
1export A
8, read head c
2export A
7, read head c
3export A
6, read head c
4export A
5, when turning to 90 ° from 180 ° again after turning to 0 ° from 90 °, read head c
1export A
7, read head c
2export A
6, read head c
3export A
5, read head c
4export A
8, when turning to 180 ° from 270 ° again after turning to 90 ° from 180 °, read head c
1export A
6, read head c
2export A
5, read head c
3export A
8, read head c
4export A
7, when turning to 270 ° from 360 ° again after turning to 180 ° from 270 °, read head c
1export A
5, read head c
2export A
8, read head c
3export A
7, read head c
4export A
6.
If matrix code disk rotates counterclockwise, then contrary when the scanning sequency of all read heads rotates clockwise with matrix code disk.
Each receiving element of photoelectric encoder in normal state different matrix code disk code channel photosignal output state as shown in Table 1.
Table one
Step 2, when photoelectric encoder main axis one week, utilize the debug system collection of photoelectric encoder through differential amplification, shaping Hou Ge road photosignal, respectively thick code photosignal and smart code photosignal are left in array, analyze the relation between the thick code photosignal in each road, thick code photosignal is the real-time opto-electronic signal output state of each receiving element.
Step 3, change by the thick code photosignal of the software program Real-Time Monitoring in the debug system microcontroller of photoelectric encoder, when photoelectric encoder main axis many weeks, if thick code photosignal Zhong You mono-road photosignal is always low level, all the other roads all normally convert, this Cu Ma road photosignal disappearance is then described, the receiving element corresponding to the thick code photosignal in Ji Gai road damages normally cannot receive photosignal.
One road thick code photosignal of disappearance can not be the highest two, namely occur that the thick code photosignal lacked is the thick code photosignal except the highest two, because the thick code photosignal of the highest two is the basis that all the other thick code photoelectric signal transformation become conventional gray code signal.
Step 4, when some receiving elements of photoelectric encoder break down, the debug system of photoelectric encoder is utilized automatically to find the thick code photosignal in that road of disappearance corresponding to this receiving element, the thick code photosignal in that road of the thick code photosignal synthesis disappearance that one or more receiving element correspondence utilizing all the other normally to work by the software program in debug system microcontroller exports, again the code channel arranged in a matrix fashion is decoded as the code channel identical with conventional code channel, obtains natural binary code.Method of the present invention can be repaired in time when finding photosignal disappearance, ensures that photoelectric encoder exports correct positional information.
In method of the present invention, only can repair when the receiving element of photoelectric encoder breaks down, cannot repair when the light-emitting component of photoelectric encoder breaks down, because all light-emitting components are all cascaded, if there is a luminescent device breakdown, remaining also all can not normally work, and whole photoelectric encoder has just damaged completely.
Embodiment two, present embodiment are the specific embodiments of embodiment one.
With read head c
1the receiving element of the photoelectric encoder that place is corresponding is example, can be found out, read head c by table one
1the receiving element at place exports four groups of different photosignals in photoelectric encoder main axis four quadrants of a week: export A in 0 ° ~ 90 ° regions
8, in 90 ° ~ 180 ° regions, export A
7, in 180 ° ~ 270 ° regions, export A
6, in 270 ° ~ 360 ° regions, export A
5.Read head c
2the photosignal output state of receiving element in four quadrants at place and read head c
1just order is different, as read head c for the receiving element at place
1when the receiving element at place damages, judged the quadrant position of photoelectric encoder main axis by the thick code photosignals of the highest two, by read head c
2the photosignal output state of receiving element in each quadrant at place all leaves in an array, utilizes four groups of data just can synthesize read head c like this
1the photosignal output state of the receiving element at place, is finally decoded as natural binary code by the full matrix code of acquisition, for representing the positional information that photoelectric encoder exports.
Claims (6)
1. the restorative procedure of space flight level absolute optical encoder signal, is characterized in that, condition and the step of the method are as follows:
Step one, the position of analysis photoelectric encoder receiving element and the corresponding relation of matrix code disk code channel, under obtaining normal condition, each receiving element is at the photosignal output state of different code channel;
Step 2, when photoelectric encoder main axis one week, utilize the debug system collection of photoelectric encoder through differential amplification, shaping Hou Ge road photosignal, thick code and smart code photosignal are left in array respectively, analyzes the relation between the thick code photosignal in each road;
Step 3, change by the thick code photosignal of the software program Real-Time Monitoring in debug system microcontroller, when photoelectric encoder main axis many weeks, the thick code photosignal in Ruo You mono-road is always low level, all the other roads all normally convert, the thick code photosignal disappearance in this road is then described, the receiving element corresponding to it damages;
Step 4, when some receiving elements of photoelectric encoder break down, debug system is utilized automatically to find the thick code photosignal in that road of disappearance, the thick code photosignal in that road of one or more the thick code photosignal synthesis disappearance utilizing all the other normally to export by the software program in debug system microcontroller, then square matrix code is decoded as natural binary code.
2. the restorative procedure of space flight level absolute optical encoder signal according to claim 1, is characterized in that, each code channel of described matrix code disk being arranged as from inside to outside:
A encloses, and logical light in 180 ° ~ 360 ° half cycle regions, 0 ° of place arranges read head a
l, 90 ° of places arrange read head a
2; Be positioned at read head a
lthe photosignal that the receiving element at place exports is A
1, corresponding 1st bit code road; Be positioned at read head a
2the photosignal that the receiving element at place exports is A
2, corresponding 2nd bit code road;
B encloses, and scribes the 4th bit code road in 0 ° ~ 180 ° half cycle regions, and its corresponding photosignal exported is A
4; Scribe the 3rd bit code road in 180 ° ~ 360 ° half cycle regions, its corresponding photosignal exported is A
3;
C encloses, and scribes the 8th bit code road in 0 ° ~ 90 ° sector regions, and its corresponding photosignal exported is A
8; Scribe the 7th bit code road in 90 ° ~ 180 ° sector regions, its corresponding photosignal exported is A
7; Scribe the 6th bit code road in 180 ° ~ 270 ° sector regions, its corresponding photosignal exported is A
6; Scribe the 5th bit code road in 270 ° ~ 360 ° sector regions, its corresponding photosignal exported is A
5.
3. the restorative procedure of space flight level absolute optical encoder signal according to claim 2, is characterized in that, in A circle, when matrix code disk rotates clockwise, when turning to 0 ° from 180 °, and read head a
1no-output, when turning to 180 ° from 360 ° again after turning to 0 ° from 180 °, read head a
1export A
1.
4. the restorative procedure of space flight level absolute optical encoder signal according to claim 2, is characterized in that, in A circle, when matrix code disk rotates clockwise, when turning to 0 ° from 90 ° or when turning to 270 ° from 360 °, and read head a
2no-output, from 90 ° turn to 0 ° or turn to 90 ° from 270 ° again after turning to 270 ° from 360 ° time, read head a
2export A
2.
5. the restorative procedure of space flight level absolute optical encoder signal according to claim 2, is characterized in that, in B circle, 0 ° of place arranges read head b
1, 180 ° of places arrange read head b
2, when matrix code disk rotates clockwise, when turning to 0 ° from 180 °, read head b
1export A
4, read head b
2export A
3, when turning to 180 ° from 360 ° again after turning to 0 ° from 180 °, read head b
1export A
3, read head b
2export A
4.
6. the restorative procedure of space flight level absolute optical encoder signal according to claim 2, is characterized in that, in C circle, 0 ° of place arranges read head c
1, 90 ° of places arrange read head c
2, 180 ° of places arrange read head c
3, 270 ° of places arrange read head c
4; When matrix code disk rotates clockwise, when turning to 0 ° from 90 °, read head c
1export A
8, read head c
2export A
7, read head c
3export A
6, read head c
4export A
5, when turning to 90 ° from 180 ° again after turning to 0 ° from 90 °, read head c
1export A
7, read head c
2export A
6, read head c
3export A
5, read head c
4export A
8, when turning to 180 ° from 270 ° again after turning to 90 ° from 180 °, read head c
1export A
6, read head c
2export A
5, read head c
3export A
8, read head c
4export A
7, when turning to 270 ° from 360 ° again after turning to 180 ° from 270 °, read head c
1export A
5, read head c
2export A
8, read head c
3export A
7, read head c
4export A
6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104655156B (en) * | 2014-12-31 | 2017-06-06 | 哈尔滨工业大学 | A kind of error compensating method of the absolute type code-disc of matrix form coded system |
| CN105509779B (en) * | 2015-12-01 | 2018-02-13 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of absolute optical code disc and photoelectric encoder |
| CN106989763A (en) * | 2017-03-31 | 2017-07-28 | 中国科学院长春光学精密机械与物理研究所 | A kind of absolute grating code-disc of image-type photoelectric encoder |
| CN107121072B (en) * | 2017-05-22 | 2019-10-22 | 合肥工业大学 | Two-dimentional absolute displacement encoder |
| CN108981765B (en) * | 2018-07-27 | 2021-03-26 | 上海航天控制技术研究所 | Fault-tolerant design method for measuring channel of absolute photoelectric encoder |
| CN110132327B (en) * | 2019-06-05 | 2021-09-17 | 知恒科技(天津)有限公司 | Photoelectric encoder |
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